CN102659042A - Tower crane group anti-collision monitoring system and monitoring method - Google Patents
Tower crane group anti-collision monitoring system and monitoring method Download PDFInfo
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- CN102659042A CN102659042A CN2012101310947A CN201210131094A CN102659042A CN 102659042 A CN102659042 A CN 102659042A CN 2012101310947 A CN2012101310947 A CN 2012101310947A CN 201210131094 A CN201210131094 A CN 201210131094A CN 102659042 A CN102659042 A CN 102659042A
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Abstract
The invention relates to a tower crane group anti-collision monitoring system and a monitoring method, belonging to the technical field of tower crane safety in urban infrastructure construction. The tower crane group anti-collision monitoring system and the monitoring method solve the problem that operation collision exists during cross working of a plurality of tower cranes in a tower crane group. The monitoring system comprises a plurality of anti-collision monitoring subsystems. Each anti-collision monitoring subsystem is arranged on each tower crane in the tower crane group and comprises a microprocessor, a clock, a sensor unit, a wireless transmission unit, a keyboard, a display and an alarm circuit. The monitoring method is that the anti-collision monitoring subsystem of each tower crane can receive the operation information of other tower cranes in the tower crane group, whether the operation of the tower crane is safe or not is determined through calculation by adopting an anti-collision algorithm, and then whether an alarm signal is given or not is determined. The tower crane group anti-collision monitoring system and the monitoring method are suitable for tower crane group anti-collision monitoring.
Description
Technical field
The present invention relates to crashproof monitored control system of a kind of tower crowd and method for supervising, belong to tower machine safety method field in the urban infrastructure.
Background technology
Along with the continuous expansion of urban infrastructure scale, heavy construction and colony's engineering are more and more, and separate unit tower machine can't satisfy the construction needs, and many tower group of planes body forked workings are customary.For in guaranteeing to construct to whole coverings of job engineering, the overlapped phenomenon in tower machine operation plane will inevitably appear, in servicely just possibly have the operation collision, in case the operation collision takes place, will cause unnecessary loss.Therefore, multitower machine anticollision technology has become the essential condition of current building operation and the focus that people pay close attention to.At present, though construction machinery and equipment unit intellectualized technology comparative maturity, group of planes intellectualized technology then still is in the elementary step.
Summary of the invention
The present invention is the problem that has the operation collision in many tower group of planes body forked workings in order to solve, and crashproof monitored control system of a kind of tower crowd and method for supervising are provided.
The crashproof monitored control system of tower crowd according to the invention, it comprises a plurality of crashproof Monitor And Control Subsystems, each crashproof Monitor And Control Subsystem is separately positioned on each the tower machine in the tower crowd,
Each crashproof Monitor And Control Subsystem comprises microprocessor, clock, sensor unit, wireless transmission unit, keyboard, telltale and warning circuit,
The temporal information mouth of clock connects the temporal information input end of microprocessor; The acquired signal mouth of sensor unit connects the acquired signal input end of microprocessor; The preset signal mouth of keyboard connects the preset signal input end of microprocessor; The shows signal mouth of microprocessor connects the shows signal input end of telltale; The alarm signal output ends of microprocessor connects the alerting signal input end of warning circuit, and the transmission of control signals input/output terminal of wireless transmission unit connects the transmission of control signals I/O of microprocessor
Mode through radio communication between the wireless transmission unit of all crashproof Monitor And Control Subsystems is carried out data transmission.
It also comprises memory module, and the storage control signal input/output terminal of memory module connects the storage control signal I/O of microprocessor.
Said memory module is the mobile storage module, the buffer that this mobile storage module is made up of two SDRAM, two non-volatile memory or SD cards that the flash memory device is formed.
It also comprises usb circuit, and said usb circuit connects a USB serial data port of microprocessor respectively.
Said sensor unit is made up of air velocity transducer, temperature sensor, weight sensor, height sensor, amplitude sensor and angular transducer,
Air velocity transducer is used to gather the wind speed information of place tower machine environment of living in;
Temperature sensor is used to gather the temperature information of place tower machine environment of living in;
Weight sensor is used to gather tower crane weight of heavy information;
Height sensor is used to gather the elevation information of tower crane weight;
The amplitude sensor is used to gather the amplitude information of amplitude variation trolley;
Angular transducer is used to gather the rotation angle information of arm.
A kind of method for supervising based on the crashproof monitored control system of above-mentioned tower crowd, it may further comprise the steps:
Step 1: microprocessor reads the height H that presets tower machine arm, tower seat safe spacing and the tower machine safe spacing M of keyboard input;
Step 2: the current time information that the microprocessor acquisition clock is sent, and through this temporal information of telltale demonstration;
Step 3: microprocessor is through the brachium radius of wireless transmission unit collection except that its arm of the wireless transmission unit transmission of the crashproof Monitor And Control Subsystem on other all tower machines tower machine of place; Then with the brachium radius of its place tower machine one by one respectively with other all tower horn major radius additions; Judge whether the situation of addition result greater than tower seat safe spacing; If, execution in step four; Otherwise, execution in step eight;
Step 4: microprocessor with the amplitude of the amplitude variation trolley of its place tower machine one by one with step 3 in all judged results be the brachium radius addition of other tower machine of being, judge whether the situation of addition result greater than tower machine safe spacing M, if, execution in step five; Otherwise, execution in step eight;
Step 5: microprocessor one by one in the determining step four all judged results be whether other tower machine of being has the height H of arm to be higher than the situation of the height of this microprocessor place tower machine lifted weight, if, execution in step six; Otherwise, execution in step eight;
Step 6: microprocessor judge one by one all judged results in maximum amplitude position and the step 5 of its place tower machine amplitude variation trolley be distance between the end of other tower machine arm of being whether exist less than safety distance situation; If, execution in step seven; Otherwise, execution in step eight;
Step 7: report to the police; Then, execution in step eight;
Step 8: finish.
Advantage of the present invention is: signal transmission of the present invention is based on wireless-transmission network; The crashproof Monitor And Control Subsystem of every tower machine can both be received the operation information of other tower machine in the tower crowd, passes through the calculating of crashproof algorithm then, confirms that whether the tower machine moves safety; And then whether decision sends alerting signal; In case result of calculation shows between the tower machine collision risk is arranged, send alerting signal then for tower machine driver, on the contrary then normally operation.
The present invention is through the collection to the information of each tower machine in many tower group of planes bodies; Judge whether every tower machine can guarantee safe forked working; Effectively avoided the generation of collision case between the tower machine in operation process; Can prevent heavy losses, make security monitoring more be tending towards improving reliable tower machine on the building ground.
The present invention has realized the stabilized communication between the tower group of planes on the heavy construction building site; Can guarantee can not be in contact with one another between the different tower machines; And can be used for the crashproof monitoring of polytype tower machine.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the crashproof illustraton of model of tower machine.
The specific embodiment
The specific embodiment one: below in conjunction with Fig. 1 to Fig. 2 this embodiment is described, the crashproof monitored control system of the said tower crowd of this embodiment, it comprises a plurality of crashproof Monitor And Control Subsystems 9, each crashproof Monitor And Control Subsystem 9 is separately positioned on each the tower machine in the tower crowd,
Each crashproof Monitor And Control Subsystem 9 comprises microprocessor 1, clock 2, sensor unit 3, wireless transmission unit 4, keyboard 5, telltale 6 and warning circuit 7,
The temporal information mouth of clock 2 connects the temporal information input end of microprocessor 1; The acquired signal mouth of sensor unit 3 connects the acquired signal input end of microprocessor 1; The preset signal mouth of keyboard 5 connects the preset signal input end of microprocessor 1; The shows signal mouth of microprocessor 1 connects the shows signal input end of telltale 6; The alarm signal output ends of microprocessor 1 connects the alerting signal input end of warning circuit 7, and the transmission of control signals input/output terminal of wireless transmission unit 4 connects the transmission of control signals I/O of microprocessor 1
Mode through radio communication between the wireless transmission unit 4 of all crashproof Monitor And Control Subsystems 9 is carried out data transmission.
The crashproof monitored control system of said tower crowd is based on a kind of collision avoidance system of WLAN; Crashproof Monitor And Control Subsystem 9 can be collected each item information in the tower machine operational process, makes the information mutual communication between the tower machine through wireless transmission unit 4 then, and the microprocessor 1 of each crashproof Monitor And Control Subsystem 9 is according to the various information of receiving; Can judge then whether place tower machine has the possibility of colliding with other tower machine; If possibly bump, then send alarm message, alert quits work.
Said microprocessor 1 can be selected the industrial grade ARM9 chip ATRM9200 of atmel corp for use.
The specific embodiment two: this embodiment is described below in conjunction with Fig. 1; This embodiment is further specifying embodiment one; It also comprises memory module 8, and the storage control signal input/output terminal of memory module 8 connects the storage control signal I/O of microprocessor 1.
The specific embodiment three: this embodiment is described below in conjunction with Fig. 1; This embodiment is further specifying embodiment two; Said memory module 8 is the mobile storage module, the buffer that this mobile storage module is made up of two SDRAM, two non-volatile memory or SD cards that the flash memory device is formed.
The described a plurality of mobile storage modules of this embodiment can exist simultaneously, so that the mode of several data storage to be provided.
The specific embodiment four: this embodiment is for to the further specifying of embodiment one, two or three, and it also comprises usb circuit, and said usb circuit connects a USB serial data port of microprocessor 1 respectively.
Increased USB port in this embodiment, can be connected with exterior data storage device through this serial data communication port.
The specific embodiment five: this embodiment is described below in conjunction with Fig. 1; This embodiment is further specifying embodiment one, two, three or four; Said sensor unit 3 is made up of air velocity transducer, temperature sensor, weight sensor, height sensor, amplitude sensor and angular transducer
Air velocity transducer is used to gather the wind speed information of place tower machine environment of living in;
Temperature sensor is used to gather the temperature information of place tower machine environment of living in;
Weight sensor is used to gather tower crane weight of heavy information;
Height sensor is used to gather the elevation information of tower crane weight;
The amplitude sensor is used to gather the amplitude information of amplitude variation trolley;
Angular transducer is used to gather the rotation angle information of arm.
The specific embodiment six: below in conjunction with Fig. 1 to Fig. 2 this embodiment is described, this embodiment is that it may further comprise the steps based on the method for supervising of the crashproof monitored control system of embodiment one, two, three, four or five described tower crowds:
Step 1: microprocessor 1 reads the height H that presets tower machine arm, tower seat safe spacing and the tower machine safe spacing M of keyboard 5 inputs;
Step 2: the current time information that microprocessor 1 acquisition clock 2 is sent, and through telltale 6 these temporal informations of demonstration;
Step 3: microprocessor 1 is gathered the brachium radius except that its arm of wireless transmission unit 4 transmission of the crashproof Monitor And Control Subsystem 9 on other all tower machines tower machine of place through wireless transmission unit 4; Then with the brachium radius of its place tower machine one by one respectively with other all tower horn major radius additions; Judge whether the situation of addition result greater than tower seat safe spacing; If, execution in step four; Otherwise, execution in step eight;
Step 4: microprocessor 1 with the amplitude of the amplitude variation trolley of its place tower machine one by one with step 3 in all judged results be the brachium radius addition of other tower machine of being, judge whether the situation of addition result greater than tower machine safe spacing M, if, execution in step five; Otherwise, execution in step eight;
Step 5: microprocessor 1 one by one in the determining step four all judged results be whether other tower machine of being has the height H of arm to be higher than the situation of the height of this microprocessor 1 place tower machine lifted weight, if, execution in step six; Otherwise, execution in step eight;
Step 6: microprocessor 1 judge one by one all judged results in maximum amplitude position and the step 5 of its place tower machine amplitude variation trolley be distance between the end of other tower machine arm of being whether exist less than safety distance situation; If, execution in step seven; Otherwise, execution in step eight;
Step 7: report to the police; Then, execution in step eight;
Step 8: finish.
Crashproof Monitor And Control Subsystem 9 all is provided with a special independently ID; ID is made up of 8 bit binary number; Circulate successively by each tower machine according to ID value order from low to high during communication and send the information such as brachium radius R of arm height H of self and arm; The ID value is every to differ from a numerical value, and transmission lag 10ms, other tower machines receive information simultaneously and carry out the computing of crashproof algorithm.Wireless transmission unit 4 is selected wireless bridge for use, and stable transfer can reach more than the 1KM apart from maximum, and speed can reach the Mbps rank.
The modern architecture construction environment is very complicated, and the tower group of planes anticollision problem that has caused thus being under this complex job environment is also more complicated various.Be example with most typical high tower machine lifting rope and the collision of low tower machine forearm below, introduce anti-collision algorithm.The crashproof model of whole tower machine is as shown in Figure 2, and R1 is the brachium radius of high-order tower machine arm, and R2 is the brachium radius of low level tower machine arm; L1 is the amplitude of high-order tower machine dolly; H1 is the height of high-order tower machine weight, and H2 is the height of low level tower machine arm, and M is the spacing of said two tower machines; If the safety distance of high-order tower machine lifting rope and low level tower machine forearm is Ω, promptly when distance is less than or equal to Ω, thinking has the possibility that bumps.During crashproof algorithm practical application, be integrated among microprocessor 1 chip, whether microprocessor 1 might bump with other tower machine at continual calculating tower machine always.
Claims (6)
1. crashproof monitored control system of tower crowd, it is characterized in that: it comprises a plurality of crashproof Monitor And Control Subsystems (9), each crashproof Monitor And Control Subsystem (9) is separately positioned on the tower machine in the tower crowd,
Each crashproof Monitor And Control Subsystem (9) comprises microprocessor (1), clock (2), sensor unit (3), wireless transmission unit (4), keyboard (5), telltale (6) and warning circuit (7),
The temporal information mouth of clock (2) connects the temporal information input end of microprocessor (1); The acquired signal mouth of sensor unit (3) connects the acquired signal input end of microprocessor (1); The preset signal mouth of keyboard (5) connects the preset signal input end of microprocessor (1); The shows signal mouth of microprocessor (1) connects the shows signal input end of telltale (6); The alarm signal output ends of microprocessor (1) connects the alerting signal input end of warning circuit (7), and the transmission of control signals input/output terminal of wireless transmission unit (4) connects the transmission of control signals I/O of microprocessor (1)
Carry out data transmission through the mode of radio communication between the wireless transmission unit (4) of all crashproof Monitor And Control Subsystems (9).
2. the crashproof monitored control system of tower crowd according to claim 1 is characterized in that: it also comprises memory module (8), and the storage control signal input/output terminal of memory module (8) connects the storage control signal I/O of microprocessor (1).
3. the crashproof monitored control system of tower crowd according to claim 2; It is characterized in that: said memory module (8) is the mobile storage module, the buffer that this mobile storage module is made up of two SDRAM, two non-volatile memory or SD cards that the flash memory device is formed.
4. the crashproof monitored control system of tower crowd according to claim 1, it is characterized in that: it also comprises usb circuit, said usb circuit connects a USB serial data port of microprocessor (1) respectively.
5. according to claim 1,2, the crashproof monitored control system of 3 or 4 described tower crowds, it is characterized in that: said sensor unit (3) is made up of air velocity transducer, temperature sensor, weight sensor, height sensor, amplitude sensor and angular transducer,
Air velocity transducer is used to gather the wind speed information of place tower machine environment of living in;
Temperature sensor is used to gather the temperature information of place tower machine environment of living in;
Weight sensor is used to gather tower crane weight of heavy information;
Height sensor is used to gather the elevation information of tower crane weight;
The amplitude sensor is used to gather the amplitude information of amplitude variation trolley;
Angular transducer is used to gather the rotation angle information of arm.
6. method for supervising based on the crashproof monitored control system of the said tower crowd of claim 1, it is characterized in that: it may further comprise the steps:
Step 1: microprocessor (1) reads the height H that presets tower machine arm, tower seat safe spacing and the tower machine safe spacing M of keyboard (5) input;
Step 2: the current time information that microprocessor (1) acquisition clock (2) is sent, and show this temporal information through telltale (6);
Step 3: microprocessor (1) is gathered the brachium radius except that its arm of wireless transmission unit (4) transmission of the crashproof Monitor And Control Subsystem (9) on other all tower machines tower machine of place through wireless transmission unit (4); Then with the brachium radius of its place tower machine one by one respectively with other all tower horn major radius additions; Judge whether the situation of addition result greater than tower seat safe spacing; If, execution in step four; Otherwise, execution in step eight;
Step 4: microprocessor (1) with the amplitude of the amplitude variation trolley of its place tower machine one by one with step 3 in all judged results be the brachium radius addition of other tower machine of being; Judge whether the situation of addition result greater than tower machine safe spacing M; If, execution in step five; Otherwise, execution in step eight;
Step 5: microprocessor (1) one by one in the determining step four all judged results be whether other tower machine of being has the height H of arm to be higher than the situation of the height of this microprocessor (1) place tower machine lifted weight, if, execution in step six; Otherwise, execution in step eight;
Step 6: microprocessor (1) judge one by one all judged results in maximum amplitude position and the step 5 of its place tower machine amplitude variation trolley be distance between the end of other tower machine arm of being whether exist less than safety distance situation; If, execution in step seven; Otherwise, execution in step eight;
Step 7: report to the police; Then, execution in step eight;
Step 8: finish.
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| CN2012101310947A CN102659042A (en) | 2012-04-28 | 2012-04-28 | Tower crane group anti-collision monitoring system and monitoring method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105712205A (en) * | 2016-04-17 | 2016-06-29 | 昆山克鲁克机电设备有限公司 | Crane safety protection system |
| CN108163718A (en) * | 2017-12-27 | 2018-06-15 | 西安理工大学 | Group's tower intelligent accurate hoist controlling method based on Internet of Things |
| CN109052201A (en) * | 2018-10-17 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of lifting equipment anti-collision early warning system and its method |
| CN110467117A (en) * | 2019-09-11 | 2019-11-19 | 广州力环工程科技有限公司 | A kind of tower crane with monitoring system |
| CN111653078A (en) * | 2020-05-28 | 2020-09-11 | 北京萨达智能技术有限公司 | Tower crane anti-collision data transceiving device and method based on wireless data transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110467117A (en) * | 2019-09-11 | 2019-11-19 | 广州力环工程科技有限公司 | A kind of tower crane with monitoring system |
| CN111653078A (en) * | 2020-05-28 | 2020-09-11 | 北京萨达智能技术有限公司 | Tower crane anti-collision data transceiving device and method based on wireless data transmission |
| CN111653078B (en) * | 2020-05-28 | 2024-02-06 | 北京萨达智能技术有限公司 | Tower crane anti-collision data receiving and transmitting device and method based on wireless data transmission |
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Application publication date: 20120912 |