阅读说明：本技术 一种基于5g技术的智能塔机的远程监控系统和方法 (Remote monitoring system and method of intelligent tower crane based on 5G technology ) 是由 殷利庆 陈公正 刘世涛 潘玉珀 史云飞 王福星 王明绅 于 2021-10-29 设计创作，主要内容包括：本发明专利属于智能塔机技术领域,具体涉及一种基于5G技术的智能塔机的远程监控系统和方法,所述监控系统包括控制室,所述控制室内安装有数据采集控制器；所述塔机上安装有执行机构,所述数据采集控制器装有5G模组,还包括多个5G基站、遥控手柄和决策支持装置；所述5G基站安装在塔机顶部；所述塔机上部周向安装有多个测距雷达,多个所述测距雷达的输出端分别与决策支持装置无线通信连接；所述遥控手柄配置为由地面的现场操作者手持,所述遥控手柄安装有微处理器一、5G模组、定位器一、触摸屏和电源；相比现有技术,利用基于5G技术的智能塔机的远程监控系统,能够实现塔机的无人化和智能化,能够提高塔机自动化程度。(The invention belongs to the technical field of intelligent tower cranes, and particularly relates to a remote monitoring system and a remote monitoring method of an intelligent tower crane based on a 5G technology, wherein the monitoring system comprises a control room, and a data acquisition controller is installed in the control room; the tower crane is provided with an actuating mechanism, the data acquisition controller is provided with a 5G module, and the tower crane further comprises a plurality of 5G base stations, a remote control handle and a decision support device; the 5G base station is installed at the top of the tower crane; a plurality of distance measuring radars are circumferentially arranged on the upper part of the tower crane, and output ends of the distance measuring radars are respectively in wireless communication connection with a decision support device; the remote control handle is configured to be held by a field operator on the ground, and a first microprocessor, a 5G module, a first positioner, a touch screen and a power supply are installed on the remote control handle; compared with the prior art, the remote monitoring system of the intelligent tower crane based on the 5G technology can realize unmanned and intelligent operation of the tower crane and improve the automation degree of the tower crane.)

1. A remote monitoring system of an intelligent tower crane based on a 5G technology is characterized by comprising a control room, wherein a data acquisition controller is installed in the control room; the tower crane is provided with an executing mechanism, and the executing mechanism comprises a rotary motor, a lifting motor and a variable-amplitude motor; the data acquisition controller is provided with a 5G module;

the remote monitoring system also comprises a plurality of 5G base stations (1), a remote control handle and a decision support device (2);

the 5G base station (1) is installed at the top of the tower crane; a plurality of distance measuring radars are circumferentially arranged on the upper part of the tower crane, and output ends of the distance measuring radars are respectively in wireless communication connection with the decision support device (2);

the remote control handle is configured to be held by a field operator on the ground, and a first microprocessor, a 5G module, a first positioner, a touch screen and a power supply are installed on the remote control handle;

a differential positioning system is arranged on the 5G base station (1) and the mobile trolley (3) on the tower arm of the tower crane, and the mobile trolley (3) is used as a mobile station of the differential positioning system; a lifting hook (4) is arranged right below the mobile trolley (3); the coordinates of the 5G base station (1) are known and serve as a reference station of a differential positioning system, and the real-time positions of a mobile trolley (3) and a lifting hook (4) on the tower crane are accurately positioned through the differential positioning system; the mobile trolley (3) is in communication connection with the decision support device (2) through a network bridge;

the decision support device (2) is arranged on a tower arm of the tower crane and is in wireless connection with the control room through a first network bridge; the decision support device (2) comprises a second microprocessor, and the decision support device (2) is in communication connection with an execution mechanism of the tower crane.

2. The remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 1, wherein the 5G base station (1) is provided with a first GPS receiver host, a first GPS receiver power supply, a GPS antenna, a first GPS control recorder, a first switch, a second bridge transmitting terminal and a first data transmission station;

the mobile trolley (3) is provided with a second GPS receiver host, a second GPS receiver power supply, a second GPS built-in antenna, a second GPS control recorder, a second switch, a second network bridge receiving end and a second data transmission radio station, wherein the second network bridge receiving end receives signals transmitted by a second network bridge transmitting end.

3. The remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 2, wherein the tower crane is provided with a wind speed sensor (5), a height sensor (6), an amplitude sensor (7), a torque sensor (8), an inclination sensor (9) and an orientation sensor (10), and the wind speed sensor (5), the height sensor (6), the amplitude sensor (7), the torque sensor (8), the inclination sensor (9) and the orientation sensor (10) are connected with the decision support device (2) through a switch III.

4. The remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 3, wherein an operator identity authentication module is installed in the remote control handle;

a rotary frequency converter, a lifting frequency converter and a variable amplitude frequency converter are respectively connected among the rotary motor, the lifting motor and the variable amplitude motor and the power supply, and the rotary frequency converter, the lifting frequency converter and the variable amplitude frequency converter are respectively in communication connection with the decision support device (2).

5. The remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 4, wherein the output end of the decision support device (2) is in communication connection with an electronic cam controller and an electronic limit switch, and the electronic cam controller and the electronic limit switch are in communication connection with a rotary motor, a lifting motor and a variable amplitude motor.

6. The remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 5, wherein the tower crane is provided with a three-dimensional scanner, and the output end of the three-dimensional scanner is in communication connection with the decision support device (2).

7. The remote monitoring method of the intelligent tower crane based on the 5G technology based on the remote monitoring system of the intelligent tower crane based on the 5G technology as claimed in claim 6, is characterized by comprising the following steps:

step one, a plurality of 5G base stations (1) are installed on a construction site, a wharf and/or a port where a tower machine group is installed, the 5G base stations (1) are installed on the top of each tower crane, and a 5G network is established within the range of the tower crane group; meanwhile, the coordinate of each 5G base station (1) is known and used as a reference station of a differential positioning system;

secondly, a field operator on the ground holds a remote control handle to reach a to-be-hoisted cargo, the remote control handle sends position information to a data acquisition controller in a control room in real time, the data acquisition controller analyzes mechanical characteristics and working states of a plurality of tower cranes close to the remote control handle according to a distance priority principle, then determines response tower cranes, and sends signals to a decision support device (2) of the response tower cranes through a network bridge;

thirdly, the decision support device (2) of the response tower crane receives position information of the remote control handle and the mobile trolley (3), and a microprocessor II of the decision support device (2) determines a moving route of the lifting hook (4) by combining output information of a wind speed sensor (5), a height sensor (6), an amplitude sensor (7), a torque sensor (8), an inclination angle sensor (9) and an azimuth sensor (10) and output information of a plurality of distance measuring radars;

fourthly, the decision support device (2) controls the rotary motor, the lifting motor and the variable amplitude motor to act until the lifting hook (4) moves to the position of the remote control handle;

fifthly, the decision support device (2) sets the running speed and acceleration of an executing mechanism according to the weight of the goods to be hoisted sent by a control room data acquisition controller or the scanning result of a three-dimensional scanner on the tower crane, and sends instructions to a rotary frequency converter, a hoisting frequency converter and a variable amplitude frequency converter;

sixthly, the field operator on the ground holds the remote control handle to move to a goods placing position, and the third step and the fourth step are repeated;

seventhly, a field operator sends goods placing information through a remote control handle, the decision support device (2) controls a lifting motor to act, and the lifting hook (4) places goods; and the field operator sends the homing information of the lifting hook (4) through the remote control handle to finish the lifting.

8. The remote monitoring method of the intelligent tower crane based on the 5G technology as claimed in claim 7, wherein in the second step, the data acquisition controller judges the working state of the tower crane according to the outputs of the wind speed sensor (5), the height sensor (6), the amplitude sensor (7), the torque sensor (8), the tilt sensor (9) and the azimuth sensor (10) which are installed on the tower crane.

9. The remote monitoring method for the intelligent tower crane based on the 5G technology as claimed in claim 8, wherein the communication between the remote control handle and the data acquisition controller in the control room and the communication between the decision support device (2) and the data acquisition controller in the control room are all encrypted by a retransmission mechanism and information.

10. The remote monitoring method for the intelligent tower crane based on the 5G technology as claimed in claim 8 or 9, wherein when the decision support device (2) receives two identical instructions from the three instructions sent by the data acquisition controller of the control room, the decision support device (2) executes the identical instructions.

Technical Field

The invention belongs to the technical field of intelligent tower cranes, and particularly relates to a remote monitoring system and method of an intelligent tower crane based on a 5G technology.

Background

With the vigorous advancement of intellectualization and informatization of the country, the intellectualization of the tower crane is far behind that of other industries, for example, no humanization is realized in ports, but the tower crane is not yet humanization and intellectualization. The tower crane driver is extremely short of the existing intelligent tower crane, the labor cost is increased year by year, the communication between the signal worker and the tower crane driver is not smooth in the actual working process, the tower crane is not operated according to commands, and the tower crane industry calls the intelligent tower crane.

There are many problems in traditional tower machine driver operation: the operation time is long, the work is simple and repeated (generally more than ten hours, very easy fatigue), the working environment is severe, (the traditional cab is about 1 square meter, covered by one layer of iron sheet, cold in winter and hot in summer), a tower crane driver needs to climb the tower crane dozens of meters on duty and off duty, the labor intensity is high, and certain safety risk exists.

The environments of construction sites, ports and the like where tower crane groups are located are relatively complex, the height of buildings or cargos is continuously increased along with the propulsion of the building process or the stacking of cargos, the buildings and the structures or cargos which are basically reinforced concrete are stacked in the form of containers, wireless signals in the areas of the tower crane groups are easily shielded, and are seriously attenuated, so that dead zones of some wireless networks are caused, operation instructions cannot be issued, execution results are difficult to feed back, and the problem of great safety operation of the tower cranes is caused.

Disclosure of Invention

The invention provides a remote monitoring system and a remote monitoring method of an intelligent tower crane based on a 5G technology, aiming at the problems that the intelligentization of the tower crane is far behind that of other industries and the like.

In order to achieve the purpose, the invention adopts the technical scheme that: a remote monitoring system of an intelligent tower crane based on a 5G technology comprises a control room, wherein a data acquisition controller is installed in the control room; the tower crane is provided with an executing mechanism, and the executing mechanism comprises a rotary motor, a lifting motor and a variable-amplitude motor; the data acquisition controller is provided with a 5G module and also comprises a plurality of 5G base stations, a remote control handle and a decision support device;

the 5G base station is installed at the top of the tower crane; a plurality of distance measuring radars are circumferentially arranged on the upper part of the tower crane, and output ends of the distance measuring radars are respectively in wireless communication connection with a decision support device;

the remote control handle is configured to be held by a field operator on the ground, and a first microprocessor, a 5G module, a first positioner, a touch screen and a power supply are installed on the remote control handle;

a differential positioning system is arranged on the mobile trolley on the tower arms of the 5G base station and the tower crane, and the mobile trolley is used as a mobile station of the differential positioning system; a lifting hook is arranged right below the movable trolley; the coordinates of the 5G base station are known, and the real-time positions of a moving trolley and a lifting hook on the tower crane are accurately positioned through the differential positioning system; the mobile trolley is in communication connection with the decision support device through a network bridge;

the decision support device is arranged on a tower arm of the tower crane and is in wireless connection with the control room through a first network bridge; the decision support device comprises a second microprocessor, and the decision support device is in communication connection with an execution mechanism of the tower crane.

Preferably, the 5G base station is provided with a first GPS receiver host, a first GPS receiver power supply, a GPS antenna, a first GPS control recorder, a first switch, a second bridge transmitting end and a first digital transmission station;

the mobile trolley is provided with a second GPS receiver host, a second GPS receiver power supply, a second GPS built-in antenna, a second GPS control recorder, a second switch, a second network bridge receiving end and a second data transmission radio station, wherein the second network bridge receiving end receives signals transmitted by the second network bridge transmitting end.

Preferably, the tower crane is provided with an air speed sensor, a height sensor, an amplitude sensor, a torque sensor, an inclination angle sensor and an orientation sensor, and the air speed sensor, the height sensor, the amplitude sensor, the torque sensor, the inclination angle sensor and the orientation sensor are connected with the decision support device through a third switch.

Preferably, an operator identity authentication module is installed in the remote control handle; and a rotary frequency converter, a lifting frequency converter and a variable amplitude frequency converter are respectively connected among the rotary motor, the lifting motor and the variable amplitude motor and the power supply, and are respectively in communication connection with the decision support device.

Preferably, the output end of the decision support device is in communication connection with an electronic cam controller and an electronic limit switch, and the electronic cam controller and the electronic limit switch are in communication connection with a rotary motor, a lifting motor and a variable amplitude motor.

Preferably, the tower crane is provided with a three-dimensional scanner, and the output end of the three-dimensional scanner is in communication connection with the decision support device.

The remote monitoring method of the intelligent tower crane based on the 5G technology based on the remote monitoring system of the intelligent tower crane based on the 5G technology comprises the following steps:

step one, a plurality of 5G base stations are installed on a construction site, a wharf or a port where a tower crane group is installed, the 5G base stations are installed on the top of each tower crane, and a 5G network is established in the range of the tower crane group;

secondly, a field operator on the ground holds a remote control handle to reach a to-be-hoisted cargo, the remote control handle sends position information to a data acquisition controller in a control room in real time, the data acquisition controller analyzes mechanical characteristics and working states of a plurality of tower cranes close to the remote control handle according to a distance priority principle, then determines response tower cranes, and sends signals to a decision support device of the response tower cranes through a network bridge;

thirdly, the decision support device of the response tower crane receives position information of the remote control handle and the mobile trolley, and a microprocessor II of the decision support device determines a moving route of the lifting hook by combining output information of the wind speed sensor, the height sensor, the amplitude sensor, the torque sensor, the inclination angle sensor and the azimuth sensor and output information of a plurality of distance measuring radars;

fourthly, the decision support device controls the rotary motor, the lifting motor and the amplitude variation motor to act until the lifting hook moves to the position of the remote control handle;

fifthly, the decision support device sets the running speed and acceleration of the executing mechanism according to the weight of the goods to be hoisted, which is sent by the control room data acquisition controller, or according to the scanning result of the three-dimensional scanner on the tower crane, and sends instructions to the rotary frequency converter, the hoisting frequency converter and the variable amplitude frequency converter;

sixthly, the field operator on the ground holds the remote control handle to move to a goods placing position, and the third step and the fourth step are repeated;

seventhly, a field operator sends goods placing information through a remote control handle, the decision support device controls a lifting motor to act, and the lifting hook places goods; and the field operator sends out the homing information of the lifting hook through the remote control handle to finish the lifting.

Preferably, the data acquisition controller in the second step judges the working state of the tower crane according to the outputs of the wind speed sensor, the height sensor, the amplitude sensor, the torque sensor, the inclination angle sensor and the azimuth sensor which are arranged on the tower crane.

Preferably, the communication between the remote control handle and the data acquisition controller in the control room and the communication between the decision support device and the data acquisition controller in the control room are both encrypted by a retransmission mechanism and information.

Preferably, when the decision support device receives two identical instructions of three instructions sent by a data acquisition controller of a control room, the decision support device executes the identical instructions.

Compared with the prior art, the invention has the advantages and positive effects that:

(1) by utilizing the remote monitoring system of the intelligent tower crane based on the 5G technology, the unmanned and intelligent tower crane can be realized, and the automation degree of the tower crane can be improved;

(2) a plurality of 5G base stations are installed on a construction site, a wharf or a port provided with a tower machine group, the 5G base stations are installed on the top of each tower machine, and a 5G network is established in the range of the tower machine group, so that the communication in the tower machine group realizes high speed, high capacity, low time delay and high reliability;

(3) the communication between the remote control handle and the data acquisition controller in the control room and the communication between the decision support device and the data acquisition controller in the control room adopt a retransmission mechanism and information encryption, so that the reliability and the safety of information transmission are improved;

(4) the decision support device performs reinforcement processing on the received instruction sent by the control room data acquisition controller by taking two out of three, so that the execution accuracy is ensured;

(5) a differential positioning system is arranged on a 5G base station at the top of the tower crane and a movable trolley on a tower arm of the tower crane, and the movable trolley is used as a mobile station of the differential positioning system; a lifting hook is arranged right below the movable trolley; the coordinates of the 5G base station are known, and the real-time positions of a moving trolley and a lifting hook on the tower crane are accurately positioned through a differential positioning system;

(6) and the decision support device receives the position information of the mobile trolley and the lifting hook, and plans the moving route of the lifting hook by taking the position of the remote control handle as a target to drive the actuating mechanism to act.

Drawings

In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below, fig. 1 is a schematic diagram of a remote monitoring system of an intelligent tower crane based on the 5G technology provided in embodiment 1,

fig. 2 is a schematic view of a security reinforcement technology adopted in the remote monitoring system of the intelligent tower crane based on the 5G technology provided in embodiment 1,

FIG. 3 is a schematic diagram of a remote control handle in a remote monitoring system of an intelligent tower crane based on 5G technology,

fig. 4 is a schematic view of installation positions of a 5G base station and a decision support device in the remote monitoring system of the intelligent tower crane based on the 5G technology provided in embodiment 1,

FIG. 5 is a schematic diagram of the installation positions of different sensors in the remote monitoring system of the intelligent tower crane based on the 5G technology,

fig. 6 is a schematic diagram of communication between a data acquisition controller and a tower crane in a remote monitoring system of an intelligent tower crane based on a 5G technology.

Description of the drawings:

the system comprises a base station 1-5G, a decision support device 2, a moving trolley 3, a lifting hook 4, an air speed sensor 5, a height sensor 6, an amplitude sensor 7, a torque sensor 8, an inclination angle sensor 9 and an azimuth sensor 10.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.

Example 1

The invention is further described with reference to fig. 1-6, and a remote monitoring system of an intelligent tower crane based on 5G technology, as shown in fig. 1, 4 and 6, comprises a control room, in which a data acquisition controller is installed; the tower crane is provided with an actuating mechanism, and the actuating mechanism comprises a rotary motor, a lifting motor and a variable-amplitude motor; the data acquisition controller is provided with a 5G module and also comprises a plurality of 5G base stations 1, a remote control handle and a decision support device 2.

As shown in fig. 4, the 5G base station 1 is installed on the top of the tower crane; a plurality of distance measuring radars are circumferentially arranged on the upper part of the tower crane, and the output ends of the distance measuring radars are respectively in wireless communication connection with the decision support device 2; the plurality of range radars provide the decision support device 2 with surrounding obstacle information and support the decision support device 2 to determine the movement route of the hook 4.

As shown in fig. 3, the remote control handle is configured to be held by a field operator on the ground, and is equipped with a first microprocessor (ARM processor), a 5G module (MH5000), a first locator (GPS locator), a touch screen, and a power supply.

As shown in fig. 4 and 6, a differential positioning system (GNSS positioning system) is installed on the 5G base station 1 and the mobile trolley 3 on the tower arm of the tower crane, and the mobile trolley 3 serves as a mobile station of the differential positioning system; a lifting hook 4 is arranged under the movable trolley 3; the coordinates of the 5G base station 1 are known, and the real-time positions of the mobile trolley 3 and the lifting hook 4 on the tower crane are accurately positioned through a differential positioning system; the mobile trolley 3 and the decision support device 2 are connected through network bridge communication.

As shown in fig. 4 and 6, the decision support device 2 is installed on the tower arm of the tower crane and is wirelessly connected with the control room through a first network bridge; the decision support device 2 comprises a second microprocessor, and the decision support device 2 is in communication connection with an execution mechanism of the tower crane.

The network bridge can realize bidirectional data transmission, can be used for transmitting and receiving when transmitting video signals, only needs to pair the transmitting and receiving, and the equipment can be used flexibly.

As shown in fig. 6, a 5G base station 1 is provided with a first GPS receiver host, a first GPS receiver power supply, a GPS antenna, a first GPS control recorder, a first switch, a second bridge transmitting terminal and a first digital telegraph station; the mobile trolley 3 is provided with a GPS receiver host II, a GPS receiver power supply II, a GPS built-in antenna, a GPS control recorder II, a switch II, a network bridge II receiving end and a data transmission radio station II, wherein the network bridge II receiving end receives signals transmitted by the network bridge II transmitting end.

The construction and operation principle of differential positioning systems (GNSS positioning systems) are prior art.

As shown in fig. 5 and 6, the tower crane is provided with an air speed sensor 5, a height sensor 6, an amplitude sensor 7, a torque sensor 8, an inclination sensor 9 and an orientation sensor 10 (gyroscope), and the air speed sensor 5, the height sensor 6, the amplitude sensor 7, the torque sensor 8, the inclination sensor 9 and the orientation sensor 10 are connected with the decision support device 2 through a third switch.

As shown in fig. 3, an operator identity authentication module (fingerprint authentication module) is installed in the remote control handle; a rotary frequency converter, a lifting frequency converter and a variable-amplitude frequency converter are respectively connected among the rotary motor, the lifting motor and the variable-amplitude motor and the power supply, and the rotary frequency converter, the lifting frequency converter and the variable-amplitude frequency converter are respectively in communication connection with the decision support device 2.

The protection function of the frequency converter is as follows: (1) the overcurrent protection function is that when the frequency converter has an overlarge current peak value due to sudden load change, short circuit on the output side and the like, the current peak value may exceed the allowable value of the power semiconductor device of the main circuit, and at the moment, the frequency converter can adopt protection measures to limit the current value or cut off an inverter bridge of the main circuit to stop the work of the frequency converter, which is commonly called 'trip'; in an actual electric drive system, most of the loads are constantly fluctuating, and short-time overcurrent is difficult to avoid. The principle of the frequency converter for processing the overcurrent is to prevent tripping as much as possible, and therefore, a tripping-preventing function (namely a stalling-preventing function) is arranged, and the frequency converter can trip quickly only when the impact current is too large or the tripping-preventing function cannot solve the problem. And (2) an overload protection function, which is mainly used for overload protection of the motor. When the output current of the frequency converter exceeds a rated value and the duration time reaches a specified time, the frequency converter is subjected to overload protection in order to prevent a motor driven by the frequency converter from being burnt. Overload protection requires an inverse time-limited characteristic.

The limiting soft protection in fig. 2 is: the output end of the decision support device 2 is in communication connection with an electronic cam controller and an electronic limit switch, and the electronic cam controller and the electronic limit switch are in communication connection with a rotary motor, a lifting motor and a variable amplitude motor. The electronic cam controller and the electronic limit switch work together to limit the running position of the motor in the action process of the motor, so that accidents caused by the fact that machinery driven by the motor runs out of position are prevented.

The tower crane is provided with a three-dimensional scanner, and the output end of the three-dimensional scanner is in communication connection with the decision support device 2. After the structure of the three-dimensional scanner is output to the decision support device 2, the decision support device 2 can calculate the volume of the goods, and then the running speed and the acceleration of the execution mechanism are set according to the mechanical characteristics of the tower crane, so that the tower crane can hoist the goods to the specified position at the highest speed.

The remote monitoring method of the intelligent tower crane based on the 5G technology based on the remote monitoring system of the intelligent tower crane based on the 5G technology comprises the following steps:

step one, a plurality of 5G base stations 1 are installed on a construction site, a wharf or a port where a tower machine group is installed, the 5G base stations 1 are installed on the top of each tower machine, and a 5G network is built in the range of the tower machine group;

secondly, a field operator on the ground holds a remote control handle to reach a to-be-hoisted cargo, the remote control handle sends position information to a data acquisition controller (utilizing 5G module communication) in a control room in real time, as shown in fig. 1, the data acquisition controller analyzes mechanical characteristics and working states of a plurality of tower cranes close to the remote control handle according to a distance priority principle, then determines response tower cranes, and sends signals to a decision support device 2 of the response tower cranes through a network bridge;

step three, as shown in fig. 1 and 6, receiving position information of a remote control handle and a mobile trolley 3 by a decision support device 2 of a response tower crane, and determining a moving route of a hook 4 by a microprocessor II of the decision support device 2 (through an SIFT algorithm) by combining output information of a wind speed sensor 5, a height sensor 6, an amplitude sensor 7, a torque sensor 8, an inclination sensor 9 and an azimuth sensor 10 and output information of a plurality of distance measuring radars;

fourthly, the decision support device 2 controls the rotary motor, the lifting motor and the amplitude variation motor to act until the lifting hook 4 moves to the position of the remote control handle;

step five, the decision support device 2 sets the running speed and acceleration of the executing mechanism according to the weight of the goods to be hoisted sent by the control room data acquisition controller or the scanning result of the three-dimensional scanner on the tower crane, and sends instructions to the rotary frequency converter, the hoisting frequency converter and the amplitude-variable frequency converter;

sixthly, the field operator on the ground holds the remote control handle to move to a goods placing position, and the third step and the fourth step are repeated;

seventhly, a field operator sends goods placing information through a remote control handle, the decision support device 2 controls the lifting motor to act, and the lifting hook 4 places goods; and the field operator sends the homing information of the lifting hook 4 through the remote control handle to finish the lifting.

And in the second step, the data acquisition controller judges the working state of the tower crane according to the outputs of the wind speed sensor 5, the height sensor 6, the amplitude sensor 7, the torque sensor 8, the inclination angle sensor 9 and the azimuth sensor 10 which are arranged on the tower crane.

The skip detection and 2/4 rope detection in fig. 1: the method is used for monitoring whether the steel wire rope on the tower crane is on the winding drum in real time, and the groove jumping detection monitors whether the steel wire rope of the tower crane jumps out of the winding drum according to the real-time offset information of the steel wire rope of the winding drum monitored by the laser radar. And 2/4 rope detects whether the pulley of the hook is two ropes or four ropes through laser radar, the two ropes and the four ropes can work normally, only the rising and falling speed of the two ropes is faster, and the safety of the four ropes is higher.

The authorization control process in fig. 1 is calibrated as: the authorization control comprises tower crane operator authorization and remote control terminal authorization, once a tower crane driver is liberated from a cab, the tower crane is remotely controlled to operate through a remote control handle, and at the moment, the misoperation condition of the tower crane is easier to occur. Therefore, the operation of the tower crane needs stricter authorization operation, and the tower crane can be operated only by obtaining corresponding qualification authorization after safety training, unmanned tower crane operation training and other processes; the remote control handle is authorized to be accessed, the remote control handle of the tower crane and the tower crane data acquisition controller need to be correspondingly bound, and only the remote control handle authorized by the tower crane data acquisition controller can be accessed to the data acquisition controller, so that the tower crane control is realized.

The redundancy control exception handling in fig. 1 is: the redundancy control Exception handling ensures the system to operate stably and normally by writing an implementation class and an interface (Handler Exception Resolver) program.

The communication between the remote control handle and the data acquisition controller in the control room and the communication between the decision support device 2 and the data acquisition controller in the control room are all encrypted by adopting a retransmission mechanism and information. The retransmission mechanism is that when the wireless device checks the clock and the ACK is over time (ACK), the device retransmits the data packet according to the check clock, thereby increasing the reliability of transmission.

As shown in fig. 2, the decision support apparatus 2 performs two-out-of-three reinforcement processing on the received instruction sent by the control room data acquisition controller. The two-out-of-three command reinforcement processing means that when the decision support device 2 receives three commands, if two commands are the same, the command is executed, and the execution accuracy is guaranteed.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in other forms, and any person skilled in the art may apply the above-mentioned technical details to other fields by using the equivalent embodiments with equivalent changes or modifications, but any simple modification and equivalent changes made to the above embodiments according to the technical spirit of the present invention may still fall within the protection scope of the technical solution of the present invention.