CN112758824A - Unmanned control system of tower crane - Google Patents

Abstract

An unmanned control system for a tower crane, the system comprising: cloud server platform, tower machine remote control terminal. The cloud server platform is respectively connected with the client and the central console through a fifth switch; the cloud server platform is connected with the tower crane monitoring terminal through the communication module; and the tower crane monitoring terminal is in communication connection with the fixed base station. The tower crane monitoring terminal comprises a signal and communication part, an operation control part, a video monitoring part, a trolley monitoring part, a lifting hook monitoring part and a field remote controller. The tower crane unmanned control system can realize tower crane unmanned control, reduce manual operation, reduce safety risk of drivers and improve economic benefits of enterprises.

Description

Unmanned control system of tower crane

Technical Field

The invention relates to the technical field of tower crane control, in particular to an unmanned tower crane control system.

Background

The tower crane is an important device for vertical transportation and is an important tool indispensable for building installation engineering, but the building tower cranes all belong to high-altitude operation, and operators operate the control tower crane at a height of hundreds of meters every day, so that the risk is high, and the work efficiency is low; the problems of difficult and expensive labor employment of the post are more prominent due to extremely high safety risk, the development of the industry is severely restricted, and simultaneously, the contradiction of operating the tower crane at the high altitude of hectometer is more and more prominent due to the accelerated aging speed of China.

Chinese patent "a tower crane floor type operating system" (No. CN 206842899U) describes a tower crane operating system, which comprises a wireless remote control system and a video monitoring system. An originally designed tower crane high-altitude cab is changed into a portable control console, the problem of originally designed high-altitude operation is solved, and a video monitoring system is used for realizing real-time monitoring on dangerous working areas and blind areas. The remote control operation is realized, and the safety risk of operators is reduced; and wireless remote control. However, the technical scheme has certain disadvantages, which are mainly shown in that: firstly, aiming at a single tower crane, one person cannot operate a plurality of tower cranes; no positioning function exists; thirdly, the functions of monitoring the swing amplitude of a lifting hook of the tower-free crane, monitoring stress strain and preventing collision of a millimeter wave radar are achieved; and fourthly, the remote control function is not provided. How to improve the working efficiency of the tower crane, realize that one person operates a plurality of tower cranes, make the tower crane safer, it is the purpose that the tower crane unmanned control system pursues more high-efficiently.

Disclosure of Invention

The invention provides an unmanned control system of a tower crane, which can realize unmanned control of the tower crane, reduce manual operation, reduce safety risk of drivers and improve economic benefit of enterprises.

The technical scheme adopted by the invention is as follows:

an unmanned control system for a tower crane, the system comprising: the system comprises a cloud server platform and a tower crane remote control terminal;

the cloud server platform is respectively connected with a client T5820 and a central control station CX-LHJBB03 through a switch 5 HI-08;

the cloud server platform is connected with the tower crane monitoring terminal through a 5G communication module CPEPRO;

and the tower crane monitoring terminal is in communication connection with the GPS fixed base station M300.

The switch 5HI-08 is connected with a streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is connected with a splicing screen CB 5503S.

The tower crane monitoring terminal comprises a signal and communication part, the signal and communication part comprises an exchanger 4HI-08,

the switch 4HI-08 is respectively connected with a 5G communication module CPEPRO and a mobile base station 1CX-E728, and the mobile base station 1CX-E728 is respectively connected with a GPS antenna 1AT300 and a GPS antenna 2AT 300;

the switch 4HI-08 is connected with a torque limiter CX-AV, and the torque limiter CX-AV is connected with a weight sensor SQ-3 and an amplitude sensor CX-FD 01;

the switch 4HI-08 is connected with an anti-collision signal acquisition instrument CX-KC16, and the anti-collision signal acquisition instrument CX-KC16 is connected with a plurality of anti-collision sensors CX-HB 100;

the exchange 4HI-08 is respectively connected with the data transmission station 3SZ02 and the local remote control receiver JT-KP.

The tower crane monitoring terminal also comprises an operation control part, wherein the operation control part comprises a PLC (programmable logic controller) S7-1500 and a touch screen TCP7062 Ti;

the PLC controllers S7-1500 are respectively connected with a left operating handle, a right operating handle and a touch screen TCP70 7062 Ti;

the PLC S7-1500 is connected with an anti-swing module CX-FY400, and the anti-swing module CX-FY400 is connected with a trolley amplitude-variable frequency converter;

the PLC controllers S7-1500 are respectively connected with a lifting control frequency converter, a left rotary frequency converter and a right rotary frequency converter;

the PLC controllers S7-1500 are connected to the switch 4 HI-08.

The PLC controllers S7-1500 are respectively connected with an air speed sensor YS-CF, a steel wire rope abrasion sensor CX-CP-3A, a lifting hook height encoder GM58S10K6MA12WN and a working face height sensor HJ-200A.

The tower crane monitoring terminal also comprises a video monitoring part, wherein the video monitoring part comprises an exchanger 3 HI-08;

the switch 3HI-08 is connected with the switch 4 HI-08;

the switch 3HI-08 is connected with a video recorder DS-7808N-K2, and the video recorder DS-7808N-K2 is connected with a display E1715 SC.

The switch 3HI-08 is respectively connected with a lifting steel wire rope camera, a variable amplitude steel wire rope camera, a lifting arm ball descending machine and a balance arm ball descending machine;

the switch 3HI-08 is connected with the bridge 4MWB505, the bridge 4MWB505 is connected with the bridge 3MWB505, the bridge 3MWB505 is connected with the switch 2005, and the camera CX-SXJ02 under the trolley is connected with the switch 2005;

switch 2005 connects bridge 2MWB505, bridge 2MWB505 connects bridge 1MWB505, and bridge 1MWB505 connects switch 1005; the left hook camera and the right hook camera are both connected with a switch 1005.

The tower crane monitoring terminal further comprises a trolley monitoring part, wherein the trolley monitoring part comprises a constant-torque power supply reel YLJ90-3/6 and an exchanger 2005;

the switch 2005 is respectively connected with the bridge 2MWB505, the hook camera, the bridge 3MWB505 and the mobile base station 2 CX-E728; the mobile base station 2CX-E728 is respectively connected with the GPS antenna 2AT300 and the data transmission radio station 2SZ 02;

the constant-torque power supply winding drum YLJ90-3/6 is connected with the switching power supply RS-75-12, the switching power supply RS-75-12 is connected with the switch 2005, and the switching power supply RS-75-12 is connected with the wireless charger A-PWS-200-DC-70.

The tower crane monitoring terminal further comprises a lifting hook monitoring part, wherein the lifting hook monitoring part comprises a single chip microcomputer STM32F101C8T6, and the single chip microcomputer STM32F101C8T6 is respectively connected with an anti-collision sensor DYP-A05-V1.0, a human body induction sensor HC-SR501 and a horizontal sensor ZCT215 FL-V1;

the single chip microcomputer STM32F101C8T6 is connected with a switch 1005, and the switch 1005 is respectively connected with a network camera BS-CA33-IP and a network bridge 1MWB 505;

the single chip microcomputer STM32F101C8T6 is connected with an audible and visual alarm LTE-1101J;

bridge 1MWB505 connects bridge 4MWB 505.

The lifting hook monitoring part also comprises a wireless charging receiver B-PWS-200-DC-70 and a lithium battery DLP-24V;

the wireless charging receiver B-PWS-200-DC-70 is connected with a lithium battery DLP-24;

the DLP-24V lithium battery is connected with a battery voltage sensor LTC2944, and the battery voltage sensor LTC2944 is connected with the single chip microcomputer STM32F101C8T 6;

the single chip microcomputer STM32F101C8T6 is connected with a control relay ZZ-0071, and the control relay ZZ-0071 is connected with a data transmission station 1SZ 02.

The invention discloses an unmanned control system of a tower crane, which has the following technical effects:

1. the invention uses a GIS map to digitize the tower crane and the site, establishes a digital model for the tower crane and the surrounding buildings, and realizes digital control and management on the basis of the digital model;

2. the invention has the remote unmanned remote control function; the coordinates of the starting point and the falling point of the tower crane are set on a GIS electronic map, and various operation controls such as remote lifting, descending, gyration, amplitude variation and the like of the tower crane are realized by utilizing a satellite positioning technology and a local remote control relay technology;

3. the remote control system has the advantages that the remote control system can automatically operate by one person to remotely control the multiple tower cranes, and the remote control system of the cloud platform combines remote intelligent control and local remote control to achieve the aim of remotely controlling the multiple tower cranes by one person, so that labor cost is effectively reduced;

4. the invention has the 5G communication function, ensures that the wireless communication bandwidth meets the requirements of a control system, and does not have data blockage and jamming;

5. the invention has the function of anti-swing control, effectively inhibits the swing amplitude of the lifting hook of the tower crane through big data and artificial intelligence, and ensures the stable and reliable lifting, amplitude variation and descending of the tower crane;

6. the invention has a trolley operation visualization function, the trolley is provided with a satellite mobile base station and a long-focus camera for monitoring the lifting hook, the positions of the trolley and the lifting hook can be clearly monitored through the trolley satellite mobile base station, and the amplitude of the trolley, the angle of an arm support, the minimum safety distance from a peripheral obstacle and the like can be clearly judged; the operating condition of the lower lifting hook of the trolley can be clearly monitored through the camera;

7. the invention has the intelligent function of the lifting hook, and the human body induction alarming function comprises the following steps: a human body induction sensor is arranged on the lifting hook, and whether a person is under the lifting hook and whether the control system is decelerated or stops the lowering operation can be judged through the human body induction sensor; secondly, the video monitoring function under the lifting hook can monitor the real-time working condition under the lifting hook remotely through a lifting hook camera; the lifting hook transversely pulls and obliquely pulls the monitoring and alarming function of the illegal operation, whether the lifting hook exists during hanging the object can be judged through the level sensor, and the lifting hook monitoring equipment can be prevented from being damaged by oblique pressing when the lifting hook falls to the ground; the PLC controller commands the lifting hook to automatically charge when the lifting hook is idle, and manual intervention or frequent battery replacement is not needed; the intelligent management function of the hook power supply is realized, when the hook is idle, the PLC controller can command the power supply management relay to act through the wireless data transmission station to cut off a power supply loop, so that the power consumption is saved, and the service life of a battery is prolonged;

8. the crane has a video monitoring function, omnibearing video monitoring is carried out under the crane boom and the balance boom, the lifting hook operates the video monitoring and the hook head operation video monitoring, working conditions of a working surface under the crane boom and the balance boom, working conditions under a trolley and working conditions under the hook head are listed in a list, and omnibearing video support is provided for correctly judging on-site working conditions;

9. the invention has the function of anti-tipping alarm of the tower body, monitors the inclination of the tower body by utilizing the GPS satellite positioning technology, automatically alarms and automatically controls when the inclination of the tower body exceeds a set value, and lays an important safety foundation for remote control of the tower crane;

10. the anti-collision alarm system has an anti-collision alarm function of the arm support and the lifting hook, a safety protection barrier is constructed on the arm support and the lifting hook of the tower crane by using a microwave radar, when an adjacent tower crane moves towards the arm support or the lifting hook of the tower crane, or the arm support or the lifting hook of the tower crane moves towards a peripheral building, a barrier, an adjacent tower crane and equipment to enter the arm support or the lifting hook safety protection barrier, the system alarms and automatically controls the system, so that the arm support and the lifting hook are prevented from colliding with the adjacent tower crane, the peripheral building, the barrier, the adjacent equipment;

11. the system has the function of omnibearing monitoring of safe operation of the tower crane, is provided with a tower crane safety monitoring and management system, a tower crane electrical fault monitoring and alarming system, a tower crane high-strength bolt fastening torque monitoring system, a steel wire rope abrasion monitoring and alarming system, a tower crane boom key part stress strain monitoring system and the like, and ensures that any part of the tower crane does not reach the standard and is not healthy to be fed back on a GIS remote monitoring platform in real time;

12. the invention has the functions of mobile monitoring, inquiry and the like of the mobile phone.

Drawings

FIG. 1 is a system architecture diagram of the present invention.

Fig. 2 is a process diagram for making a site GIS electronic map.

Fig. 3 is a schematic diagram of a fixed base station.

Fig. 4 is a digital modeling flow chart of a tower crane boom.

Fig. 5 is a flow chart of digital modeling of the surrounding building.

Fig. 6 is a schematic diagram of an unmanned control system of the tower crane.

Fig. 7 is a working schematic diagram of the tower crane monitoring terminal.

Fig. 8 is a flow chart of the work flow of the platform remote control and the field remote control.

Fig. 9 is a schematic diagram of a video monitoring portion.

Fig. 10 is a schematic diagram of tower body inclination monitoring and alarming.

Fig. 11 is an electronic anti-swing schematic diagram of the tower crane.

Fig. 12 is a schematic diagram of secondary acceleration and secondary deceleration.

Fig. 13 is an active anti-collision alarm schematic diagram of a tower crane boom.

FIG. 14 is a schematic diagram of a monitoring portion of the cart.

Fig. 15 is a schematic diagram of a monitoring portion of the hook.

Fig. 16 is a flow chart of the building of the surrounding building and obstacle electric safety fence.

Detailed Description

An unmanned control system of a tower crane is characterized in that an SOA technical architecture and a B/S structure are adopted to build an unmanned remote control management platform of the tower crane, and a digital and visual foundation is built for automatic control of the tower crane by utilizing a GIS electronic information technology, a big data and AI technology; then advanced means such as GPS positioning, anti-swing control, 5G communication and the like are adopted to realize remote control, automatic position finding, space anti-collision, intelligent hook identification and the like of the tower crane, so that unmanned control of the tower crane is realized, and the system architecture is shown in figure 1. The system is divided into three parts: the system comprises a data acquisition control and alarm part, a cloud server platform part and a management control part; the data acquisition control and alarm part mainly comprises various sensors, a PLC, a frequency converter, a touch screen, a remote controller and the like and is mainly responsible for information acquisition and local control of the tower crane; the cloud server platform part mainly comprises a GIS electronic map, a cloud server, a database and the like and is mainly responsible for providing GIS electronic map support and cloud computing and AI computing support services for the intelligent control terminal of the tower crane and laying a foundation for reliable data storage, data analysis and the like. The management control part is mainly responsible for remote operation, control, inquiry, supervision and the like of the tower crane, so that unmanned control of the tower crane is realized, manual operation is reduced, safety risk of a driver is reduced, and economic benefit of an enterprise is improved.

The realization of each part function:

1: developing a site GIS electronic map: the invention adopts MO (map objects) component type GIS software of ESRI company in America to organize and manage vector data and image data in a file form, thereby displaying multisource spatial data in the same environment and realizing the operation function of geographic spatial data. And then establishing an oracle-based database, and connecting the graph and the attribute data by using the ID to realize the comprehensive application of the spatial information and the attribute information. The method comprises the steps of using Microsoft VB (Visual Basic) Enterprise Edition as a software development tool, combining the GIS function and the oracle relational database management function of MO, establishing a system user interface, providing system tools for space and attribute data browsing, querying, counting, calling, drawing and the like, and realizing an application platform for real-time and dynamic navigation positioning, display, storage and release of various devices in a field; the process of making a site GIS electronic map is shown in fig. 2.

2: digital modeling processing of the tower crane:

after the electronic map is designed, the tower crane can be modeled digitally by using the electronic map, and then the model is solidified and numbered and stored in a database.

2.1, establishing a fixed base station:

firstly, a satellite positioning fixed base station M300 is installed on the roof of a wide area within the range of 75KM (as far as possible in the center of the area) of a tower crane construction site, a satellite positioning antenna AT300 and a digital transmission station SZ02 are connected to the fixed base station, so that the positioning accuracy of a satellite positioning receiver of a tower crane mobile base station is improved, and the schematic diagram is shown in figure 3.

2.2. Digital modeling of a tower crane boom:

2 mobile base stations CX-E728 for positioning the satellite of the tower crane intelligent control terminal (the swing arm tower crane is a CX-E728 mobile base station; the flat arm tower crane is a 2CX-E728 mobile base station); a CX-E728 mobile base station on the swing arm tower crane is arranged in an intelligent control cabinet of the balance arm platform; a CX-E728 mobile base station on the flat arm tower crane is arranged in an intelligent control cabinet of the balance arm platform, and a CX-E728 host of the other mobile base station is arranged on a mobile trolley; 2 GPS positioning antennas AT300 are used for the movable arm tower crane, one GPS positioning antenna AT300 is arranged AT a proper position of the rotation center of the tower crane, and the other GPS positioning antenna AT300 is arranged AT the head of the arm support; the flat-arm tower crane is provided with 3 GPS positioning antennas AT300, one GPS positioning antenna AT300 is arranged on the rotation center line of the tower crane, the other GPS positioning antenna AT300 is arranged AT the head of the arm support, and the third GPS positioning antenna AT300 is arranged on the upper trolley; after the satellite positioning equipment is installed, the length and the width of a balance arm and a cargo boom of the tower crane can be calibrated by using a hand-held positioning instrument G200, then the balance arm and the cargo boom are digitalized on a map by using a theodolite, and the digitalized tower crane number is solidified by using a program and then stored in a database for calling when in use; the flow chart is shown in fig. 4.

2.3. Digital modeling of surrounding buildings:

if the customer has a CAD drawing, the dimension of the CAD drawing can be directly used for modeling, if no CAD drawing exists, the model is measured and modeled by a manual method, and the method comprises the following steps: the length and the width of the building are calibrated by using a handheld locator G200, then the building is digitalized on a map by using a theodolite, the digitalized building number is solidified by using a program and then is stored in a database for calling when in use, and a flow chart is shown in fig. 5.

3. The unmanned control function of the tower crane is realized:

3.1 the working principle of the tower crane unmanned control system is as follows:

the tower crane unmanned control system comprises: the system comprises 12 parts including a cloud server platform containing a site electronic map, an internet network, a client T5820, a central control station CX-LHJBB03, a streaming media server DVSCAR-51, a spliced screen CB5503S, a tower crane remote control terminal S7-1500, a GPS fixed base station M300, a trolley monitoring part CX-E728, a hook head monitoring part STM32M101C8T6, a field remote controller JT-KP, a video monitoring part CX-SXJ03, a 5G communication part CPEPRO and the like, and the schematic diagram is shown in FIG. 6.

During work, an operator enters an internet network through a client T5820 or a central control desk CX-LHJBB03 and a GIS monitoring platform, and then issues various remote control commands to the tower crane monitoring terminals S7-1500 through a 5G communication module CPEPRO, the GIS monitoring cloud platform forwards the commands to the tower crane monitoring terminals S7-1500 through the 5G communication module CPEPRO, and the tower crane monitoring terminals S7-1500 execute the commands according to the client T5820; after the lifting hook is in place, the lifting hook is lowered to a proper position by operating a remote controller JT-KP by an on-site crane worker, then lifted by the on-site remote controller JT-KP, and then automatically handed to a GIS monitoring platform to control the lifting hook to a specified place. When the GPS fixed base station M300 works, satellite positioning information received by the GPS fixed base station M300 is continuously communicated with a mobile base station 1CX-E728 and a mobile base station 2CX-E728 of a tower crane control terminal, the coordinates of the GPS fixed base station M are continuously sent to the mobile base station 1CX-E728 and the mobile base station 2CX-E728, and the coordinates of the GPS fixed base station M are continuously corrected by the mobile base station 1CX-E728 and the mobile base station 2CX-E728, so that the accuracy of the position of a tower crane and the position of a trolley is improved, and the positioning of a tower crane control system. The sensors and the cameras of the hook head monitoring part and the trolley monitoring part serve the unmanned control system of the tower crane, the sensors and the cameras send monitoring information obtained by the sensors to the tower crane monitoring system S7-1500, the tower crane monitoring system feeds the information back to the cloud server platform through the 5G communication module CPEPRO when in use, and an operator at the client T5820 obtains the current working state of the tower crane through the cloud platform, so that the current working state of the tower crane is analyzed, judged and then the next operation control strategy is determined.

3.2. The working principle of the tower crane intelligent control terminal is as follows:

the tower crane monitoring terminal comprises: the schematic diagram of the system is shown in fig. 7, and the system consists of a signal and communication part, an operation control part, a video monitoring part, a trolley monitoring part, a lifting hook monitoring part, a field remote controller and the like.

The signal and communication part comprises a 5G communication module CPEPRO, a tower crane mobile base station 1CX-E728, a GPS antenna 1AT300, a GPS antenna 2AT300, a moment limiter CX-AV, a weight sensor SQ-3, an amplitude sensor CX-FD01, an anti-collision signal acquisition instrument CX-KC16, an anti-collision sensor CX-HB100, a data transmission radio station 3SZ02, a local remote control receiver JT-KP, a switch 4HI-08, a wind speed sensor YS-CF, a height encoder GM58S10K6MA12WN and the like.

The operation control section is composed of: the device comprises PLC controllers S7-1500, a touch screen TCP7062Ti, a left operating handle, a right operating handle, an anti-swing module CX-FY400, a lifting control frequency converter AV930, a trolley amplitude-changing frequency converter AV930, a left rotary frequency converter AV930, a right rotary frequency converter AV930 and the like. The remote controller on site is JT-KP.

When the system works, firstly, a control center operator performs patrol inspection on a construction working face through an internet network, a 5G communication module CPEPRO, an exchanger 4HI-08, an exchanger 5HI-08, a ball machine DHK-EX300 for remotely controlling a lifting arm and a balance arm on a splicing screen CB5503S, observes whether a scene which is inconsistent with remote unmanned operation exists in the site situation of a construction site, sets coordinates from a starting point to a drop point and the height of a hook intersection point of each tower crane to be operated on a site electronic map of a GIS monitoring management platform through a client T5820 if no abnormal situation exists, enables the tower crane to enter an automatic mode, then sends a setting result to the 5G communication module CPEPRO through the internet network by the GIS monitoring management platform, forwards a command to a PLC controller S7-1500 through the exchanger 4HI-08 by the 5G communication module CPEPRO, and forwards the command to a TCP screen 7062Ti by the S7-1500, the touch screen TCP7062Ti issues a control command according to the program design, the PLC controller drives the lifting frequency converter ATV930 to lift the lifting hook to a specified height, the height value is fed back and stopped by a height encoder GM58S10K6MA12WN, then the PLC controller S7-1500 drives the left or right rotary frequency converter ATV930 to rotate the arm support back to the specified angle, the rotary angle value is fed back by a GPS positioning antenna 2AT300 of a trolley moving base station 2CX-E728, then the PLC controller S7-1500 drives the lifting frequency converter ATV930 to rotate reversely to lower the lifting hook to the set height, the height value is fed back by the height encoder GM58S10K6MA12WN and then stops, AT the moment, the touch screen TCP70 7062Ti gives a command to the PLC, a red alarm lamp LTE1101J gives an alarm, when a lifting worker hears that the lifting hook reaches an alarm sound, the lifting hook is put to a proper position by using a field remote controller JT-KP operation, and the steel wire rope can. When a lifting worker hooks hung articles and materials after binding, a remote controller JT-KP lifting button is operated, the lifting hook is lifted slowly to reach a set height, the height value is fed back by a height encoder GM58S10K6MA12WN, the lifting hook enters an automatic operation mode, according to the program setting, a PLC (programmable logic controller) S7-1500 drives a trolley amplitude transformer ATV930 to move a trolley to a proper position of the root of an arm support under the working condition of a heavy object, position data is fed back by a GPS (global positioning system) positioning antenna 2AT300 of a mobile base station 2CX-E728 on the trolley, then the PLC S7-1500 drives a left/right rotary frequency transformer ATV930 to rotate the arm support to the set position, the rotary angle is fed back by a GPS positioning antenna 2AT300 of the mobile base station 2CX-E728 on the trolley, then the PLC S7-1500 drives the trolley frequency transformer ATV930 to move in an amplitude manner, the materials or the articles are lifted to the designated position, the position data is fed back by a GPS positioning antenna 2AT300 of a mobile base station 2CX-E728 on the trolley, then the lifting hook is placed to a set height, the height value is fed back by a height encoder GM58S10K6MA12WN, AT the moment, a touch screen TCP7062Ti gives a command to the PLC, a red alarm lamp LTE1101J gives an alarm, a terminal crane waits for receiving the lifting hook material through a remote controller JT-KP to carry out unloading operation, and after the unloading operation is finished, a lifting button of the remote controller JT-KP is pressed, and the lifting hook can enter into second circulation operation.

4. One person controls the realization of the functions of the multiple tower cranes:

according to the working principle of the tower crane unmanned control system, the tower crane unmanned control system is composed of a cloud server platform, a control terminal and a local remote controller, when the tower crane is in unmanned control, a central console operator sets lifting point coordinates and falling point position coordinates of each tower crane through a GIS monitoring management platform in a control center through a client T5820, then sends commands to the tower crane control terminal through a 5G communication module CPEPRO, the tower crane intelligent control terminal enters an automatic operation mode according to the commands, and the tower crane intelligent control terminal controls the tower crane to perform back-and-forth operation according to program setting. When each tower crane reaches a starting point coordinate, the lifting hook can be automatically stopped, the later operation is given to an on-site crane worker, the on-site crane worker puts the lifting hook down to a proper position through JT-KP operation of a remote controller, the on-site material is hooked completely, then the lifting hook can be slowly lifted by pressing a JT-KP lifting button of the remote controller, the lifting hook reaches a set height, a tower crane control terminal PLC S7-1500 can drive a rotary frequency converter to command the tower crane to automatically rotate, after the coordinates of an end point position are automatically reached, a drop point crane worker waits for a drop point crane worker command, the drop point crane worker commands whether the lifting hook descends or not through the JT-KP lifting button of the remote controller, whether the lifting hook stops or not, and the like, when the material is completely put down, the drop point crane worker presses the JT-KP lifting button. Therefore, each time the tower crane operator only needs to set the lifting point coordinate and the falling point coordinate of each tower crane on the GIS monitoring management platform, the tower crane enters an automatic operation mode, and the tower crane can carry out back-and-forth operation according to the flow; at this time, an operator only needs to monitor the operation of each tower crane on the spliced screen, the relay operation of the starting point and the drop point is completed by an on-site crane through an on-site remote controller JT-KP, so that the operator can operate and control a plurality of tower cranes to operate, and an unmanned control flow chart of the tower cranes is shown in fig. 8.

5. The video monitoring function of the tower crane is realized:

the video monitoring part comprises: the system comprises a left hook camera BS-CA33-IP, a right hook camera BS-CA33-IP, a switch 1005, a bridge 1MWB505, a bridge 2MWB505, a camera CX-SXJ02 under a trolley, a switch 2005, a bridge 3MWB505, a bridge 4MWB505, a ball machine DHK-EX300 under a lifting arm, a ball machine DHK-EX300 under a balance arm, a lifting wire rope monitoring camera BS-CA33-IP, a luffing wire rope BS-CA33-IP, a switch 3HI-08, a video recorder DS-7808N-K2, a display E1715SC, a switch 4HI-08, a 5G communication module CPEPRO, a switch 5HI-08, a client T5820, a streaming media server DVSCAR-51, a spliced screen CB5503S and the like, and the schematic diagram is shown in FIG. 9.

When the system works, a left hook camera BS-CA33-IP and a right hook camera BS-CA33-IP continuously send collected video signals to a switch 1005, the switch 1005 sends the video signals to a bridge 1MWB505, the bridge 1MWB505 sends the video signals to a bridge 2MWB505 through wireless, the bridge 2MWB505 sends the signals to a switch 2005, the switch 2005 sends the signals to a bridge 3MWB505, the bridge 3MWB505 sends the signals to the bridge 4MWB505 through wireless, the bridge 4MWB505 sends the signals to a switch 3HI-08, the switch 3HI-08 sends the signals to a video recorder DS-7816N-K2 all the way, and the signals are stored and sent to a display E7-E1715 SC; one path is sent to the switch 4HI-08, the switch 4HI-08 is sent to the switch 5HI-08 through a 5G communication module OPEPO, the switch 5HI-08 is sent to the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for display, so that an operator can monitor and use the display. Video signals of a camera CX-SXJ02 under the trolley are sent to a bridge 3MWB505 through a switch 2005, the bridge 3MWB505 is sent to a bridge 4MWB505 through wireless, the bridge 4MWB505 sends the signals to a switch 3HI-08, the switch 3HI-08 sends one path of the signals to a video recorder DS-7816N-K2, and the signals are stored and sent to a display E7-E1715 SC; one path is sent to the switch 4HI-08, the switch 4HI-08 is sent to the switch 5HI-08 through a 5G communication module OPEPO, the switch 5HI-08 is sent to the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for display, so that an operator can monitor and use the display. Video signals of a lifting arm descending dome camera DHK-EX300, a balance arm descending dome camera DHK-EX300, a lifting wire rope monitoring camera BS-CA33-IP, a luffing wire rope camera BS-CA33-IP and the like are sent to a video recorder DS-7808N-K2 through an exchanger 3HI-08, stored by the video recorder DS-7808N-K2 and sent to a display E1715SC for display. And the other path is sent to the switch 4HI-08, the switch 4HI-08 is sent to the 5G communication module CPEPRO, the 5G communication module CPEPRO is sent to the switch 5HI-08 through the network, and the switch 5HI-08 is sent to the streaming media server DVSCAR-51, and the streaming media server DVSCAR-51 is sent to the splicing screen CB5503S for display, so that the display is used for monitoring by an operator. The operation control of the ball machine under the lifting arm DHK-EX300 and the ball machine under the balance arm DHK-EX300 is completed by the client T5820, when an operator needs to operate the ball machine under the lifting arm DHK-EX300 and the ball machine under the balance arm DHK-EX300, the client T5820 issues a command, the command enters a network through the switch 5HI-08, then the command enters the switch 4HI-08 through the communication module CPEPRO of the switch 5 and then enters the switch 3HI-08, and then the ball machine under the lifting arm DHK-EX300 or the ball machine under the balance arm DHK-EX300 is driven respectively, so that the omnibearing video monitoring of the working face under the tower crane is realized.

6. The realization of the monitoring and alarming function of the inclination of the tower body is as follows:

whether the perpendicularity of the tower body meets the safety standard of the tower crane is the basic condition of safe operation of the tower crane, if the tower crane is sunk in the foundation, the bolts of the tower body are loosened, the arm support of the tower crane is deformed, the tower crane is attached to the wall abnormally, and the like, the tower body is inclined, the deviation occurs on the perpendicularity of the tower body, if the inclination of the tower body exceeds the standard requirement, the perpendicularity does not reach the standard, and the tower crane is not subjected to the basic condition through remote. The tower body inclination monitoring alarm sensor is a GPS antenna 1AT300 of a mobile base station 1CX-E728 of the tower crane, the GPS antenna 1AT300 is installed AT the rotation center of the tower crane, a coordinate point of the rotation center of the tower crane is a tower crane verticality base point concerned by the invention, and if the tower crane inclines, a tower crane verticality reference point can be deviated, so that the inclination of the tower crane can be judged by detecting the deviation of the coordinate of the tower crane rotation center reference point. The system comprises the following components: the system comprises a GIS monitoring management platform, a client T5820, an exchanger 5HI-08, a 5G communication module CPEPRO, a tower crane intelligent monitoring terminal S7-1500, a touch screen TCP7062Ti, a GPS fixed base station M300, a fixed base station GPS antenna AT300, a fixed base station data transmission radio SZ02, a tower crane mobile base station 1CX-E728, a mobile base station GPS antenna 1AT300, a mobile base station data transmission radio 1SZ02, an exchanger 4HI-08, a PLC controller S7-1500, a touch screen TCP7062Ti, a lifting control frequency converter AV930, a trolley amplitude converter AV930, a left rotary frequency converter AV930, a right rotary frequency converter AV930 and the like, and the schematic diagram is shown in FIG. 10.

During working, the GPS antenna 1AT300 of the tower crane mobile base station 1CX-E728 continuously receives a position signal sent by a Beidou satellite, a GPS coordinate value is obtained after differential calculation of the tower crane mobile base station 1CX-E728, meanwhile, the tower crane mobile base station 1CX-E728 continuously receives a coordinate correction signal sent by the fixed base station GPS antenna AT300 from a data transmission radio station SZ02 of the GPS fixed base station M300 through a data transmission radio station 4SZ02, the tower crane mobile base station 1CX-E728 sends the corrected coordinate signal to the 5G communication module CPEPRO through the exchanger 4HI-08, the 5G communication module CPEPRO sends the coordinate signal to the GIS monitoring management platform, the GIS monitoring management platform sets coordinate values sent by the tower crane mobile base station 1CX-E728 continuously and the original reference point coordinate value according to a program for comparison and calculation, when the current coordinate value and the original reference point coordinate value are found to be displaced beyond a set range, the alarm signal is sent to the client T5820 through the ietemet and the switch 5 HI-08; meanwhile, the 5G communication module CPEPRO and the exchanger 4HI-08 are used for alarming to the PLC controller S7-1500 of the intelligent tower crane monitoring terminal, the PLC controller S7-1500 of the intelligent tower crane monitoring terminal sends an alarm signal to the touch screen TCP7062Ti, and the alarm signal is displayed and alarmed by the touch screen TCP7062 Ti. If the current coordinate value and the original reference point coordinate value are found to be greatly displaced beyond a set range, when an alarm and control level is reached, the GIS monitoring management platform alarms to a client T5820 and simultaneously alarms to a tower crane monitoring terminal PLC controller S7-1500 through a 5G communication module CPEPRO and an exchanger 4HI-08, the tower crane monitoring terminal PLC controller S7-1500 sends an alarm signal to a touch screen TCP7062Ti, the touch screen TCP7062Ti commands the tower crane monitoring terminal PLC controller S7-1500 to start a control signal, and the work of a lifting frequency converter ATV930, a rotary frequency converter ATV930 and a variable frequency converter ATV930 is automatically forbidden, so that safety accidents are prevented; the alarm can not be relieved until the current coordinate value is consistent or close to the coordinate value of the original datum point, and the tower crane can not normally work.

7. The realization of the electronic anti-swing function of the tower crane:

in order to improve the stability of the lifting hook in the motion process, the anti-swing module CX-FY400 is installed in the loop of the trolley amplitude-variable frequency converter ATV930 so as to quickly restrain the swing amplitude of the lifting hook and achieve the aim of quick lifting;

the system comprises the following components: the system is composed of a client T5820, a switch 5HI-08, an internet network, a GIS monitoring management platform site electronic map, a 5G communication module CPEPRO, a tower crane mobile base station 1CX-E728, a GPS antenna 1AT300, a moment limiter CX-AV, a weight sensor SQ-3, an amplitude sensor CX-FD001, a trolley mobile base station 2CX-E728, a GPS antenna 2AT300, a switch 2SZ02, a bridge 3MWB505, a bridge 4MWB505, a switch 3HI-08, a switch 4HI-08, a wind speed sensor FS-CF, a height encoder GM58S10K6MA12WN, a PLC controller S7-1500, a touch screen TCP70 7062Ti, a sway prevention module CX-FY400, a variable amplitude trolley frequency converter ATV930, a local remote control receiver JT-KP and the like, and the schematic diagram is shown in FIG. 11.

Before the system works, the speed control of the amplitude variation trolley is programmed by the lifting hook under the working conditions of different heights, different hoisting weights, different speeds and different wind speeds according to the working principle of secondary acceleration and secondary deceleration, and the acceleration-deceleration is equal to zero in time during working, so that most of the swing amplitude of the lifting hook in the motion process can be basically eliminated; then, the program is solidified into the anti-swing module CX-FY400, once the anti-swing mode is started during the operation of the tower crane, the CX-FY400 mileage sequence automatically controls the amplitude variable frequency converter ATV930 to perform the anti-swing operation so as to achieve the effect of inhibiting the swing amplitude, thereby improving the operation efficiency, and the principles of secondary acceleration and secondary deceleration are shown in fig. 12: in fig. 12, V represents the speed and T represents the operating time.

When the system works, an operator sets the working starting point coordinate, the intersection point height, the lifting hook running end point coordinate, the intersection point height and the like of the tower crane lifting hook to be constructed on a client T5820 through a site electronic map on a GIS monitoring management platform, then the client T5820 enters an automatic mode, the client T5820 sends the setting result to a tower crane PLC controller S7-1500 through an internet network, a 5G communication module CPEPRO and a switch 4HI-08 through the GIS monitoring management platform, the tower crane PLC controller S7-1500 sends a command to a touch screen TCP7062Ti, the touch screen TCP70 7062Ti controls the operation of the tower crane PLC controller S7-1500 according to the client command and the flow of 'firstly rotating and then changing amplitude', when the GPS antenna 1AT300 of a tower crane mobile base station 1CX-E728 and the GPS antenna 2AT300 coordinate of a trolley mobile base station 2CX-E728 are on the same straight line, the rotation action is automatically stopped, then the anti-swing module CX-FY400 is automatically started to work, the anti-swing module automatically calculates the anti-swing distance according to the terminal coordinate, then the anti-swing curve is automatically called according to the weight of the hoisted object, the height of the lifting hook, the running speed, the ambient wind speed and the like, and the amplitude-variable frequency converter ATV930 is automatically driven to run in an anti-swing mode.

8. The implementation of the active anti-collision alarm function of the tower crane boom:

the system comprises the following components: the system comprises a client T5820, a switch 5HI-08, an internet network, a GIS monitoring management platform, a 5G communication module CPEPRO, a switch 4HI-08, an active induction anti-collision sensor TD24GB003, an anti-collision signal acquisition instrument CX-KC16, a data transmission radio station 3SZ02, a PLC controller S7-1500, a touch screen TCP7062Ti, a rotary frequency converter ATV930, a lifting frequency converter ATV930 and the like.

In order to prevent safety accidents caused by collision between a tower crane boom and an adjacent tower crane, a peripheral building, an obstacle and the like, active induction anti-collision sensors TD24GB003 are arranged at the two sides of the front part of the tower crane boom, the two sides of the tail part of a balance boom and the like, the distance between the tower crane boom and the obstacle is judged by actively detecting the phase difference fed back by the peripheral building, the obstacle and the like by utilizing the Doppler effect principle, then the acquired signals are sent to an anti-collision signal acquisition instrument CX-KC16, the anti-collision signal acquisition instrument CX-KC16 sorts the signals and then sends the signals to a switch 4HI-08, the switch 4HI-08 is then sent to a tower crane monitoring terminal PLCS7-1500, the tower crane monitoring terminal PLCS7-1500 is then sent to a touch screen TCP70 7062ti, and the touch screen TCP70 7062ti is analyzed and compared, if the tower crane boom and the adjacent tower crane and the, When the moving distance of the obstacles is smaller than a set value, a control command is immediately issued to the tower crane monitoring terminal PLCS7-1500, the tower crane rotation frequency converter ATV930 is forbidden to continue to rotate towards the dangerous direction, and meanwhile, the lifting frequency converter ATV930 is forbidden to continue lifting operation, so that the serious safety accident caused by collision of the tower crane arm support with the adjacent tower crane, the surrounding buildings, the obstacles and the like is avoided. Meanwhile, the touch screen TCP7062ti sends an alarm signal to the GIS monitoring management cloud platform through the 5G communication module CPEPRO, and the GIS monitoring management cloud platform immediately gives an alarm to the client T5820 through the internet network. The touch screen TCP7062ti sends an alarm signal to the data transfer radio station 3SZ02 through the switch 4 while issuing a control command to the tower crane intelligent monitoring terminal PLCS7-1500, the data transfer radio station 3SZ02 sends the alarm signal to the adjacent tower crane controller PLC, if the adjacent tower crane moves to the arm support of the tower crane in the same direction, the adjacent tower crane controller PLC immediately controls the rotary frequency converter of the adjacent tower crane, and the adjacent tower crane is forbidden to continuously approach the arm support of the tower crane; the schematic diagram is shown in fig. 13.

9. The realization of the visual function of the trolley lifting hook:

the trolley monitoring part comprises: the wireless power supply comprises a constant torque power supply reel YLJ90-3/6, a switching power supply RS-75-12, a wireless charger A-PWS-200-DC-70, a switch 2005, a mobile base station 2CX-E728, a satellite positioning antenna AT300, a data transmission radio station 2SZ02, a bridge 3MWB505, a hook camera CX-SXJ02, a bridge 2MWB505 and the like, and the working principle diagram is shown in FIG. 14.

When the constant torque power supply device works, the constant torque power supply reel YLJ90-3/6 sends AC220V power supply in the main cabinet to the trolley through the reel, the constant torque motor only provides take-up torque to the reel, when the trolley moves to the head of the arm support, the trolley pulls the reel steel wire rope cable bound on the trolley to rotate, and the reel drives the constant torque motor rotor to rotate, so that the tension of the cable is always kept; the cable reel is sent from an AC220V power supply, and one way is sent to a switching power supply RS-75-12, the switching power supply RS-75-12 is converted into a DC12V power supply to supply power to a switch 2005, a mobile base station 2CX-E728, a GPS positioning antenna 2AT300, a data transmission radio station 2SZ02, a bridge 3MWB505, a hook camera CX-SXJ02, the bridge 2MWB505 and the like, and the other way is from the AC220V to a wireless charger A-PWS-200-DC-70 to charge the hook wireless charger B-PWS-200-DC-70. The trolley moving base station 2CX-E728, the GPS positioning antenna 2AT300 and the data transmission radio station 2SZ02 are responsible for trolley moving positioning and arm support rotation angle positioning, the satellite positioning antenna 2AT300 sends the received differential signal to the trolley moving base station 2CX-E728, the differential signal is resolved by the trolley moving base station 2CX-E728, the positioning signal is sent to the network bridge 4MWB505 through the network bridge 3MWB505, and then is sent to the PLC controllers S7-1500 through the switchboard 3 for the PLC controllers S7-1500 to use; meanwhile, the data are transmitted to a GIS monitoring management cloud platform through a 4HI-08 to 5G communication module CPEPRO of the switch, and the data are transmitted to a client T5820 through IETERNET by the GIS monitoring management cloud platform for the client T5820 to use. The data transfer station 2SZ02 is responsible for communicating with the fixed base station and continuously receiving the position calibration parameters sent from the fixed base station M300 for the mobile base station CX-E728 to correct the position of the GPS antenna 2AT 300. The lifting hook camera CX-SXJ02 is a long-focus camera and can monitor 0-400M video signals, and the touch screen TCP7062Ti can automatically focus and adjust the distance of the lifting hook camera CX-SXJ02 according to lifting hook height signals detected by a lifting hook height encoder GM58S10K6MA12WN, so that the video working condition under the trolley is clearer; the lifting hook camera CX-SXJ02 sends the video signal under the trolley to the network bridge 4MWB505 through the network bridge 3MWB505 and then to the video recorder DS-7808N-K2 through the switch 3HI-08 for storage and display; one path is transmitted to the exchanger 4HI-08 through the exchanger 3HI-08 and then transmitted to the streaming media server DVSCAR-51 through the 5G communication module CPEPRO, and then transmitted to the splicing screen CB5503S through the streaming media server DVSCAR-51 for monitoring and querying use by operators. Bridge 2MWB505 is responsible for receiving hook monitoring information and forwarding the hook monitoring information to bridge 3MWB 505; sent by bridge 3MWB505 to bridge 4MWB 505.

10. The realization of intelligent lifting hook function:

the intelligent lifting hook comprises the following parts: the anti-collision system comprises 4 anti-collision sensors DYP-A05-V1.0, 2 personal induction sensors HC-SR501, 2 network cameras BS-CA33-IP, 1 horizontal sensor ZCT215FL-V1, 1 switch 1005, a single chip microcomputer STM32F101C8T6, an audible and visual alarm LTE-1101J, a wireless charging receiver B-PWS-200-DC-70, a battery voltage sensor LTC2944, a lithium battery DLP-24V, a control relay ZZ-0071, a data transmission station 1SZ02 and the like, and the schematic diagram is shown in FIG. 15.

When the lifting hook works, the human body induction sensors 1HC-SR501 and the human body induction sensors 2HC-SR501 are responsible for sensing whether a person is under the lifting hook when the lifting hook is close to the ground? If a person is sensed under the hook, an induction signal is sent to the single chip microcomputer STM32F101C8T6, the single chip microcomputer STM32F101C8T6 sends an induction distance and an alarm signal to the bridge 1MWB505 through the switch 1005, the bridge 1MWB505 sends the signal to the bridge 2MWB505 on the trolley, the bridge 2MWB505 passes through the switch 2005 on the trolley, the switch 2005 forwards the signal to the bridge 3MWB505, the bridge 3MWB505 transfers the signal to the bridge 4MWB505 through wireless transmission and then reaches the cab switch 3HI-08, the cab switch 3HI-08 transfers the signal to the PLC controllers S7-1500, and the PLC controllers S7-1500 immediately prohibit the lifting converter ATV930 from continuously descending according to a program setting issuing command, so that the safety of the person under the hook is protected. The signal transmission of the level sensor ZCT215FL-V1 is also from the bridge 1MWB505 to the bridge 4MWB505 to the PLC controller S7-1500, and the PLC controller S7-1500 immediately prohibits the lifting frequency converter ATV930 from continuously descending or lifting according to the program setting issuing command, thereby preventing the operation against the regulations. When the hook moves up and down, 4 anti-collision sensors DYP-A05-V1.0 continuously detect the safety distance between the hook and the peripheral obstacle, once the safety distance between one side of the hook and the peripheral obstacle is smaller than a set value, the anti-collision sensor DYP-A05-V1.0 on the side outputs a switching value, a switching value signal enters a single chip microcomputer STM32F101C8T6, the single chip microcomputer STM32F101C8T6 sends an induction distance and an alarm signal to a bridge 1MWB505 through a switch 1005, the bridge 1MWB505 sends the signal to a bridge 2MWB505 on the trolley, the bridge 2MWB505 passes through a switch 2005 on the trolley, the switch 2005 forwards the signal to a bridge 3MWB505, the bridge 3MWB505 wirelessly transmits the signal to the bridge 4MWB505 and then reaches a cab switch 3HI-08, the cab switch 3HI-08 sends the signal to a PLC controller S7-1500, the PLC controller S7-1500 immediately issues a lifting command 930 to continuously prohibit the ATV930 according to the program setting, meanwhile, measures can be taken to move the lifting hook from the alarm side in the reverse direction until the anti-collision sensor stops alarming, so that the safety of the lifting hook is protected. The network camera 1BS-CA33-IP and the network camera 2BS-CA33-IP collect video signals under the hook head, and the video signals are sent to the bridge 4MWB505 through the bridge 1MWB505, then to the cab switch 3HI-08, then to the video recorder DS-7808N-K2 through one way, and the other way is sent to the streaming media server DVSCAR-51 through the switch 4HI-08 to the 5G communication module CPEPRO, and then sent to the splicing screen CB5503S through the streaming media server DVSCAR-51 for monitoring and inquiry of operators. In order to ensure that a power supply of hook equipment is not powered off, the invention designs a wireless charging receiver B-PWS-200-DC-70, when a hook is idle, a PLC controller S7-1500 commands a lifting frequency converter to lift the hook to the vicinity of an arm support to be in butt joint with a wireless charger A-PWS-200-DC-70 of a trolley for charging, the charger B-PWS-200-DC-70 outputs a constant-voltage and constant-current power supply to a lithium battery DLP-24V, when the battery is fully charged, a battery voltage sensor LTC2944 can send a battery voltage signal to a PLC controller S7-1500 through a singlechip STM32F101C8T6 and a bridge 4MWB505 in real time, the PLC controller S7-1500 can drive the lifting frequency converter ATV930 to reversely rotate and disengage from charging, when the lithium battery DLP-24V is undervoltage, the singlechip STM32F101C8T6 can send an alarm signal to the PLC controller S7-1500, PLC controller S7-1500 will be sent to GIS control management cloud platform through 5G communication module CPEPRO, and GIS control management cloud platform is sent to client T5820 again. When receiving a JT-KP working instruction of a remote controller, the lifting hook can stop charging at any time and is put into operation. In order to save electricity and prolong the service life of a battery, the invention designs an intelligent power supply control circuit on a hook, when the hook does not work, a PLC controller S7-1500 sends an instruction to a hook data transmission radio station 1SZ02 through a data transmission radio station 2SZ02, the hook data transmission radio station 1SZ02 sends the instruction to a control relay ZZ-0071 to be disconnected, and a hook singlechip STM32F101C8T6, a human body induction sensor HC-SR501, a horizontal sensor ZCT215FL-V1, a network camera BS-CA33-IP, an audible and visual alarm LTE-1101J, a network bridge 1MWB505 and the like are all not powered on, so that the purposes of saving electricity and prolonging the service life of the battery are achieved.

11. The establishment of the surrounding buildings and barriers electronic safety fence:

the establishment of the electronic safety fences of buildings, barriers, high-voltage lines and the like around the tower crane is realized by linkage alarm through a field GIS electronic map, a database technology, a 5G communication module CPEPRO, a PLC controller S7-1500 of an intelligent monitoring terminal of the tower crane, a touch screen TCP7062Ti, a tower crane mobile base station CX-E728, a GPS positioning antenna AT300 and the like; on a GIS electronic map of a cloud service monitoring platform, forbidden entering ranges of buildings, obstacles, high-voltage lines and the like are defined, once a tower crane boom GPS antenna 2AT300 or a trolley GPS antenna 3AT300 enters the forbidden entering ranges, an alarm of the GIS monitoring cloud service platform is triggered, the GIS monitoring cloud platform alarms to a PLC controller S7-1500 and a touch screen TCP7062Ti of a tower crane intelligent monitoring terminal through a 5G communication module CPEPRO, and the touch screen TCP70 7062Ti commands the PLC controller S7-1500 to stop a rotary frequency converter ATV930 or a variable-amplitude frequency converter to continue running, so that a lifting hook on the tower crane boom or the trolley is protected from colliding with surrounding buildings, obstacles or high-voltage lines. The modeling flow chart is shown in fig. 16.

12. The mobile monitoring and inquiring functions of the mobile phone are realized:

mobile monitoring and query of the mobile phone are realized by binding a cloud server platform and the WeChat applet; the monitoring, the query and the like of the unmanned control of the tower crane can be realized through the WeChat small program.

Claims (10)

1. An unmanned control system of a tower crane is characterized by comprising: the system comprises a cloud server platform and a tower crane remote control terminal; the cloud server platform is respectively connected with the client and the central console through a fifth switch;

the cloud server platform is connected with the tower crane monitoring terminal through the communication module;

and the tower crane monitoring terminal is in communication connection with the fixed base station.

2. The unmanned tower crane control system according to claim 1, wherein: the fifth switch is connected with the streaming media server, and the streaming media server is connected with the splicing screen.

3. The unmanned tower crane control system according to claim 1, wherein: the tower crane monitoring terminal comprises a signal and communication part, the signal and communication part comprises a fourth switch,

the fourth switch is respectively connected with the 5G communication module and the first mobile base station, and the first mobile base station is respectively connected with the first GPS antenna and the second GPS antenna;

the fourth switch is connected with a torque limiter, and the torque limiter is connected with a weight sensor and an amplitude sensor;

the fourth switch is connected with an anti-collision signal acquisition instrument, and the anti-collision signal acquisition instrument is connected with a plurality of anti-collision sensors;

the fourth exchanger is connected with the third data transmission station and the local remote control receiver respectively.

4. The unmanned tower crane control system according to claim 3, wherein: the tower crane monitoring terminal also comprises an operation control part, wherein the operation control part comprises a PLC (programmable logic controller) and a touch screen;

the PLC controller is respectively connected with the left operating handle, the right operating handle and the touch screen;

the PLC is connected with an anti-swing module, and the anti-swing module is connected with a trolley variable-amplitude frequency converter;

the PLC controller is respectively connected with a lifting control frequency converter, a left rotary frequency converter and a right rotary frequency converter.

5. The unmanned tower crane control system as claimed in claim 4, wherein: the PLC controller is connected with a fourth switch;

and the PLC is respectively connected with an air speed sensor, a steel wire rope abrasion sensor, a lifting hook height encoder and a working face height sensor.

6. The tower crane unmanned control system of claim 3, 4 or 5, wherein: the tower crane monitoring terminal also comprises a video monitoring part, and the video monitoring part comprises a third switch;

the third switch is connected with the fourth switch;

the third switch is connected with the video recorder, and the video recorder is connected with the display;

the third switch is respectively connected with a lifting steel wire rope camera, a variable amplitude steel wire rope camera, a lifting arm ball descending machine and a balance arm ball descending machine;

the third switch is connected with a fourth network bridge, the fourth network bridge is connected with a third network bridge, the third network bridge is connected with a second switch, and the camera under the trolley is connected with the second switch;

the second switch is connected with the second bridge, the second bridge is connected with the first bridge, and the first bridge is connected with the first switch; the left lifting hook camera and the right lifting hook camera are both connected with the first switch.

7. The tower crane unmanned control system of claim 3, 4 or 5, wherein: the tower crane monitoring terminal also comprises a trolley monitoring part, and the trolley monitoring part comprises a constant-torque power supply reel and a second switch; the second switch is respectively connected with the second network bridge, the hook camera, the third network bridge and the second mobile base station; the second mobile base is respectively connected with the GPS antenna and the second data transmission radio station; the constant-torque power supply winding drum is connected with a switching power supply, the switching power supply is connected with a second switch, and the switching power supply is connected with a wireless charger.

8. The tower crane unmanned control system of claim 3, 4 or 5, wherein: the tower crane monitoring terminal also comprises a lifting hook monitoring part, the lifting hook monitoring part comprises a singlechip,

the single chip microcomputer is respectively connected with the anti-collision sensor, the human body induction sensor and the horizontal sensor;

the singlechip is connected with a first switch, and the first switch is respectively connected with the network camera and the first network bridge;

the singlechip is connected with an audible and visual alarm;

the first bridge is connected to the fourth bridge.

9. The unmanned tower crane control system as claimed in claim 8, wherein: the lifting hook monitoring part also comprises a wireless charging receiver and a lithium battery;

the wireless charging receiver is connected with the lithium battery;

the lithium battery is connected with a battery voltage sensor, and the battery voltage sensor is connected with the single chip microcomputer;

the singlechip is connected with a control relay, and the control relay is connected with a first data transmission station.

10. An unmanned control method for a tower crane is characterized by comprising the following steps:

when the tower cranes are in unmanned control, a central console operator sets the coordinates of a lifting point and a drop point of each tower crane through a cloud server platform in a control center through a client, then sends a command to a tower crane monitoring terminal through a communication module, the tower crane monitoring terminal enters an automatic operation mode according to the command, and the tower crane monitoring terminal controls the tower cranes to perform reciprocating operation according to the program setting;

when each tower crane reaches the coordinate of the starting point, the lifting hook can be automatically stopped, the subsequent operation is given to an on-site crane worker, the on-site crane worker puts down the lifting hook to a proper position through the operation of a remote controller, the on-site material is hooked, then a lifting button of the remote controller is pressed, the lifting hook can be slowly lifted, the lifting hook reaches the set height, the tower crane monitoring terminal can drive a rotary frequency converter to command the tower crane to automatically rotate, after the on-site crane worker automatically reaches the coordinate of the end point, the on-site crane worker waits for the instruction of a drop point crane worker, the drop point crane worker commands whether the lifting hook descends or not through the remote controller, whether the lifting hook stops or not, when the material is completely put down, the drop point crane worker presses the button.

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