Intelligent tower crane wireless remote control system with pose perception technology and control method
阅读说明：本技术 一种具有位姿感知技术的智能塔机无线遥控系统及控制方法 (Intelligent tower crane wireless remote control system with pose perception technology and control method ) 是由 宋连玉 李楠楠 宋世军 崔康基 于 2020-06-24 设计创作，主要内容包括：一种具有位姿感知技术的智能塔机无线遥控系统,包括：塔机操作控制部、数据处理器、便携式无线遥控盒和强电控制部。本发明基于视频监控、钢结构健康状态诊断、安全监控等,建立多信息融合的多层次智能塔机无线遥控系统,能在安全状态下进行监测,不安全状态下进行风险管控的无线遥控智能系统。本发明通过实验验证塔机在安全状态和不安全状态下塔机遥控智能系统的可靠性。由此极大的保障塔机在本发明所述系统下的安全稳定的工作,避免安全事故的发生。(An intelligent tower crane wireless remote control system with pose perception technology comprises: the system comprises a tower crane operation control part, a data processor, a portable wireless remote control box and a strong current control part. The invention establishes a multi-information-fusion multi-level intelligent tower crane wireless remote control system based on video monitoring, steel structure health state diagnosis, safety monitoring and the like, and can monitor in a safe state and control risks in an unsafe state. The reliability of the remote control intelligent system of the tower crane in the safe state and the unsafe state is verified through experiments. Therefore, the safe and stable work of the tower crane under the system of the invention is greatly ensured, and the occurrence of safety accidents is avoided.)
1. The utility model provides an intelligence tower machine wireless remote control system with position appearance perception technique which characterized in that includes: the system comprises a tower crane operation control part, a data processor, a portable wireless remote control box and a strong current control part;
the tower crane operation control part is used for: the tower crane control room is directly used for controlling the tower crane through a manual control console by tower crane operators, or the tower crane operators control the tower crane through a wireless remote control mode;
the data processor is used for processing data in the data acquisition sensor, the video system and the danger sensing module;
the portable wireless remote control box comprises a wireless transmitter, a wireless receiver, a face recognition module and an industrial personal computer; wherein the wireless transmitter is configured to transmit, but not limited to: controlling the tower crane to lift, rotate and change amplitude; preferably, the emergency stop control device is further used for sending an emergency stop control instruction to the wireless receiver; preferably, when the wireless transmitter exceeds the working range, the wireless transmitter is also used for sending an alarm signal to the wireless receiver; the wireless receiver indirectly controls the operation corresponding to the tower crane by sending different control instruction signals to the variable frequency control cabinet of the tower crane;
the data acquisition sensor transmits data to the data processor in real time through the wireless communication module, and the data processed by the data processor is displayed and output through the industrial personal computer: the system comprises real-time parameter data of the tower crane, video image data of the tower crane and alarm data, wherein the alarm data are obtained by calculating the real-time parameter data of the tower crane and/or the video image data of the tower crane through a danger sensing module;
and the strong current control part carries out limit control on the tower crane according to whether the danger sensing module gives an alarm or not.
2. The control system of claim 1, wherein the tower crane is controlled in a manual operation mode and a wireless remote control mode, and the tower crane is switched and interlocked.
3. A control method for intelligent tower crane wireless remote control with pose perception technology is characterized by comprising the following steps:
switching control of manual mode and invalid remote control mode:
the tower crane is controlled in a tower crane control room directly through a manual control console or in a wireless remote control mode; the manual control console is connected to the tower crane variable frequency control cabinet in a wired mode, and the change-over switches of the manual control console and the wireless remote controller are connected to the buses of the wireless receiver and the tower crane variable frequency control cabinet and the buses of the manual control console and the variable control cabinet, so that switching interlocking of two modes is realized;
data acquisition:
the data acquisition comprises the acquisition of the operating parameters of the multi-tower crane, the acquisition of the working condition video of the tower crane and the face identification acquisition of the operator of the tower crane;
the system comprises a data acquisition sensor, a video system, a portable wireless remote control box and a remote control module, wherein the data acquisition sensor is used for acquiring the operation parameters of the tower crane, the video system is used for acquiring the working condition of the tower crane, and the portable wireless remote control box is used for identifying and acquiring the face of an operator of the tower crane;
and (3) control information transmission:
the wireless receiver acquires a control instruction of the wireless transmitter through the wireless transmission module; the wireless receiver connects different electric control terminals with the corresponding mechanism control ends of the tower crane variable frequency control cabinet;
the strong current control part is connected with the variable frequency control cabinet of the tower crane and the data processor and is used for receiving data collected by the data processor and carrying out limit control on the tower crane according to whether the danger sensing module gives an alarm or not;
the data processor and the industrial personal computer transmit and acquire data of the danger sensing module, the sensor and the video system through the wireless communication module and the network bridge;
the danger sensing module and various sensors are connected to the data processor through wires;
the video system is connected with the data processor through a POE switch connecting network cable.
4. The control method of claim 3, wherein the video system comprises four sets of camera sites:
(1) the camera shooting point of the tower crane control room is used for shooting the working condition of a driver when the tower crane control room is switched to a manual state;
(2) the camera position of a hoisting winch of the tower crane is used for monitoring whether the wire arrangement of the hoisting steel wire rope is normal;
(3) the system comprises a tower crane, a jacket frame railing camera position, a crane boom, a camera and a display, wherein the jacket frame railing camera position is used for shooting a working area of a jacket frame facing to a crane boom direction;
(4) and the camera position of the top end of the crane boom of the tower crane is used for automatically zooming, tracking and shooting the lifting hook.
Technical Field
The invention relates to an intelligent tower crane wireless remote control system with a pose sensing technology and a control method, and belongs to the technical field of tower crane construction control.
Background
The tower crane under the traditional operating condition, hereinafter referred to as the tower crane for short, realizes the operation control to the tower crane through driver's operation linkage platform in the tower crane control room, and whether the tower crane under operating condition has the state anomaly also can only be judged by driver's daily experience, lacks scientific and effective tower crane safety monitoring means, and this is inevitable has increased the potential safety hazard of tower crane, easily leads to the emergence of incident. If during the operation of the tower crane, the visibility of the surrounding environment is poor, the visual field is not clear or the distance between the building construction material and the tower crane is too large, a driver of the tower crane cannot visually see the material, and the communication operation is carried out with ground workers through the existing communication equipment, so that the whole operation process becomes complicated, the efficiency is extremely low, and the danger is easy to occur. And the tower crane driver works in the tower crane driver cab for a long time, and the working environment becomes very poor in cold and hot seasons, so that the working state of the driver is seriously influenced. Therefore, on the basis, the work of reducing tower crane accidents, realizing the real-time monitoring of the state of the tower crane, improving the working environment of a driver and improving the safety performance and the working efficiency of the tower crane is urgent.
On the other hand, tower crane accidents frequently occur in recent years, and the safety problem of the tower crane not only relates to the safety and health of individual life, but also has extremely important influence on social stability and economic development. Once an accident occurs, economic loss is heavy and social influence is severe. How to avoid and timely find and eliminate the fault or hidden danger of the tower crane, the technical method capable of sensing the tower crane state and processing information is used for comprehensively and comprehensively monitoring the safety state, diagnosing the state and managing and controlling the risk of the tower crane, so that the operation reliability of the tower crane is improved, and the method becomes a focus of great attention in the industry.
Therefore, at the present stage, an intelligent operation system and an intelligent operation method for the tower crane, which can ensure the safety and the high efficiency of the tower crane to perform construction operation, perform all-around safety monitoring on the tower crane and investigate operation hidden dangers of the tower crane, are urgently needed in the tower crane industry so as to perform state monitoring in a safe state and risk management and control in an unsafe state on the tower crane.
Disclosure of Invention
In order to solve a series of problems, the invention provides an intelligent tower crane wireless remote control system with a pose perception technology.
The invention also discloses a control method for the intelligent tower crane wireless remote control.
The invention aims to integrate related advanced technologies such as wireless remote control, video monitoring, diagnosis of the health state of a tower crane steel structure, safety monitoring, early warning of the working process state of a tower crane and the like, provides an intelligent wireless remote control system suitable for construction site practical use and an implementation method, solves the technical problems of current manpower shortage and frequent tower crane safety accidents, and realizes functions of hoisting real-time video transmission, intelligent diagnosis of the safety state of the tower crane, intelligent management and control of safety risks and the like.
The technical scheme of the invention is as follows:
the utility model provides an intelligence tower machine wireless remote control system with position appearance perception technique which characterized in that includes: the system comprises a tower crane operation control part, a data processor, a portable wireless remote control box and a strong current control part;
the tower crane operation control part is used for: the tower crane control room is directly used for controlling the tower crane through a manual control console by tower crane operators, or the tower crane operators control the tower crane through a wireless remote control mode;
the data processor is used for processing data in the data acquisition sensor, the video system and the danger sensing module;
the portable wireless remote control box comprises a wireless transmitter, a wireless receiver, a face recognition module and an industrial personal computer; wherein the wireless transmitter is configured to transmit, but not limited to: controlling the tower crane to lift, rotate and change amplitude; preferably, the emergency stop control device is further used for sending an emergency stop control instruction to the wireless receiver; preferably, when the wireless transmitter exceeds the working range, the wireless transmitter is also used for sending an alarm signal to the wireless receiver; the wireless transmitter comprises an operating button and an emergency stop button for realizing the control instruction; the wireless receiver indirectly controls the operation corresponding to the tower crane by sending different control instruction signals to the variable frequency control cabinet of the tower crane; the wireless transmitter and the wireless receiver are communicated in real time, and the wireless receiver is provided with double CPUs (microprocessors) so as to ensure that the automatic closing function of a receiving system is realized under any abnormal working condition and avoid that any error signal generates an error instruction on an output relay or a communication interface of the wireless receiver; the face recognition module is used for carrying out identity verification on tower crane operators and recording the working time period of the tower crane operators, and the use permission of the industrial personal computer and the portable wireless remote control box can be obtained only after the identity authentication of the tower crane operators is correct;
the data acquisition sensor transmits data to the data processor in real time through the wireless communication module, and the data processed by the data processor is displayed and output through the industrial personal computer: the system comprises real-time parameter data of the tower crane, video image data of the tower crane and alarm data, wherein the alarm data are obtained by calculating the real-time parameter data of the tower crane and/or the video image data of the tower crane through a danger sensing module;
wherein the data acquisition sensors include, but are not limited to: the height sensor is used for acquiring the height of the tower crane, the amplitude sensor is used for acquiring the displacement condition of a variable-amplitude trolley of the tower crane, the weight sensor is used for acquiring the weight of a lifting object of the tower crane, the rotary sensor is used for acquiring the rotary angle of the tower crane, and the anemoscope is used for acquiring the wind speed on the tower crane; the tower crane video image data sets a plurality of video system positions through a high-definition network camera (IPC) to carry out an all-round video monitoring to the tower crane, for example, be equipped with and carry out the automatic tracking function that zooms to the lifting hook for catch the lifting hook under the motion state. The video image data is uploaded to a display interface of the industrial personal computer through a wireless network bridge in a point-to-point transmission mode;
the danger sensing module comprises a pose sensing device and/or an anti-collision module, and the pose sensing and anti-collision functions can be realized by pre-installing relevant software. For example, the pose sensing device is a tower crane anti-tipping monitor described in chinese patent ZL2007200330472.7, and is configured to collect state data of pose change of the tower top end of the tower crane, define a safe displacement area of the tower crane top end in model coordinate systems x ', y ', z ' by establishing a complete state stiffness space model of a tower steel structure, and collect and record pose points (x, y) of the tower crane in different temporal states when the tower crane is in different states of forward tipping, backward tipping and lateral tipping:
when the coordinates (x, y) of the top end point of the tower body of the tower crane are within the safe displacement area, the tower crane is judged to be in a safe state;
when the coordinates (x, y) of the top end point of the tower body of the tower crane are outside the safe displacement area, the tower crane is judged to be in a dangerous state;
the anti-collision module is used for realizing real-time information interaction among the tower cranes through the wireless communication module based on parameter information such as height, amplitude, gyration angle and the like acquired by the height sensor, the amplitude sensor and the gyration sensor in the data processor of each tower crane during tower group operation to form a safe area image of the tower group operation and avoid collision accidents during the tower group operation; when the anti-collision module works in an area with an obstacle, a dangerous area for the tower crane to work is obtained according to the distance between the obstacle and the tower crane and the size of the occupied area, so that the tower crane avoids the angle area where the dangerous area is located when rotating, and the obstacle is avoided for operation; the anti-collision module can send out an area alarm signal when monitoring that the tower crane is about to enter a dangerous range. The danger sensing module can effectively make up the defect that the running state of the tower crane is monitored without sensory perception of a driver in the working state of the tower crane in the wireless remote control system of the intelligent tower crane, can more accurately and effectively monitor the operation process and the non-operation process of the tower crane in real time, and has great significance for improving the safety of the tower crane under the wireless remote control operation;
and the strong current control part carries out limit control on the tower crane according to whether the danger sensing module gives an alarm or not.
According to the invention, the tower crane is preferably controlled in a manual operation mode and a wireless remote control mode, and the interlocking is switched.
An intelligent tower crane wireless remote control system with a pose perception technology and a control method are characterized in that the control method comprises the following steps:
switching control of manual mode and invalid remote control mode:
the tower crane is controlled in a tower crane control room directly through a manual control console or in a wireless remote control mode; the manual control console is connected to the tower crane variable frequency control cabinet in a wired mode, and the change-over switches of the manual control console and the wireless remote controller are connected to the buses of the wireless receiver and the tower crane variable frequency control cabinet and the buses of the manual control console and the variable control cabinet, so that switching interlocking of two modes is realized;
data acquisition:
the data acquisition comprises the acquisition of the operating parameters of the multi-tower crane, the acquisition of the working condition video of the tower crane and the face identification acquisition of the operator of the tower crane;
the system comprises a data acquisition sensor, a video system, a portable wireless remote control box and a remote control module, wherein the data acquisition sensor is used for acquiring the operation parameters of the tower crane, the video system is used for acquiring the working condition of the tower crane, and the portable wireless remote control box is used for identifying and acquiring the face of an operator of the tower crane;
and (3) control information transmission:
the wireless receiver acquires a control instruction of the wireless transmitter through the wireless transmission module; the wireless receiver connects different electric control terminals with the corresponding mechanism control ends of the tower crane variable frequency control cabinet;
the strong current control part is connected with the variable frequency control cabinet of the tower crane and the data processor and is used for receiving data collected by the data processor and carrying out limit control on the tower crane according to whether the danger sensing module gives an alarm or not;
the data processor and the industrial personal computer transmit and acquire data of the danger sensing module, the sensor and the video system through the wireless communication module and the network bridge;
the danger sensing module and various sensors are connected to the data processor through wires;
the video system is connected with the data processor through a POE switch connecting network cable.
Preferably, according to the present invention, the video system includes four sets of camera positions:
(1) the camera shooting point of the tower crane control room is used for shooting the working condition of a driver when the tower crane control room is switched to a manual state;
(2) the camera position of a hoisting winch of the tower crane is used for monitoring whether the wire arrangement of the hoisting steel wire rope is normal;
(3) the system comprises a tower crane, a jacket frame railing camera position, a crane boom, a camera and a display, wherein the jacket frame railing camera position is used for shooting a working area of a jacket frame facing to a crane boom direction;
(4) and the camera position of the top end of the crane boom of the tower crane is used for automatically zooming, tracking and shooting the lifting hook.
The invention has the beneficial effects that:
the invention establishes a multi-information-fusion multi-level intelligent tower crane wireless remote control system based on video monitoring, steel structure health state diagnosis, safety monitoring and the like, and can monitor in a safe state and control risks in an unsafe state. The reliability of the remote control intelligent system of the tower crane in the safe state and the unsafe state is verified through experiments. Therefore, the safe and stable work of the tower crane under the system of the invention is greatly ensured, and the occurrence of safety accidents is avoided.
Drawings
FIG. 1 is a schematic diagram of a portable remote control box assembly of the present invention;
FIG. 2 is an installation distribution diagram of an intelligent tower crane wireless remote control system with pose sensing technology on a tower crane;
in the attached figures 1 and 2, a wireless
FIG. 3 is a schematic diagram of the system of the present invention;
in fig. 3, a portable wireless
a
a strong
the tower crane
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and all other embodiments obtained by one of ordinary skill in the art based on the embodiments of the present invention without making any creative effort fall within the protection scope of the present invention.
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