CN109179228B - Anti-collision system of building construction tower crane - Google Patents
Anti-collision system of building construction tower crane Download PDFInfo
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- CN109179228B CN109179228B CN201811343551.2A CN201811343551A CN109179228B CN 109179228 B CN109179228 B CN 109179228B CN 201811343551 A CN201811343551 A CN 201811343551A CN 109179228 B CN109179228 B CN 109179228B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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Abstract
The invention discloses an anti-collision system of a building construction tower crane, which comprises an anti-collision early warning central processing unit and a plurality of building construction tower cranes, wherein each tower crane is provided with an alarm device, and the anti-collision early warning central processing unit comprises: a first tower crane cross arm height determination unit module that determines a cross arm height H1 of the first tower crane; a second tower crane cross arm height determination unit module for determining a cross arm height H2 of the second tower crane; the cross arm height comparison unit module compares H1 with H2, determines the tower crane with the lower cross arm height as a low-height tower crane, and determines the tower crane with the higher cross arm height as a high-height tower crane; the lifting rope position determining unit module is used for determining the position of a lifting rope of the high-altitude tower crane; the cross arm position determining unit module is used for determining the position of a cross arm of the low-height tower crane; the spatial distance determining unit module is used for determining the spatial distance between the lifting rope and the cross arm; and the alarm indicating unit module indicates the alarm devices of the first and second tower cranes to alarm when the space distance is smaller than the anti-collision distance.
Description
The application is a divisional application of an invention patent application with the application number of 201710683918.4 and the invention name of an anti-collision early warning auxiliary system for a tower crane group for building construction, which is submitted on 11/8/2017.
Technical Field
The invention relates to an anti-collision early warning method for hoisting operation of a building construction tower crane group.
Background
At present, intensive construction of urban building buildings makes the operation environment of a tower crane become complicated. When the tower crane group is hoisted in building construction, two or more tower cranes are crossed and overlapped, and the existing system for commanding the tower crane group hoisting operation is realized by adopting a combined mode of operators and hoisters. The system has strict requirements on comprehensive quality of people, can complete hoisting operation only by establishing a unified relationship and close cooperation between an operator and a hoist, has a complex operation flow, low intelligence degree and is uneconomical; in addition, safety accidents such as collision between tower cranes or collision between a tower crane and a surrounding building are easily caused by human operation or command errors. In order to avoid collision accidents in the hoisting operation of the tower crane group in the cross overlapping area, a building construction tower crane capable of monitoring the hoisting operation of the tower crane in real time and sending an early warning signal and a hoisting operation anti-collision early warning system thereof are urgently needed.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a solution that alleviates or eliminates one or more of the disadvantages of the prior art, and at least provides a useful alternative.
In order to achieve the above object, the present invention discloses an anti-collision system for a construction tower crane, the system comprising a plurality of construction tower cranes and an anti-collision central processing unit, each of the construction tower cranes having an alarm device, the anti-collision central processing unit comprising: a first tower crane cross arm height determination unit module that determines a cross arm height H1 of a first building construction tower crane; a second tower crane cross arm height determination unit module for determining a cross arm height H2 of a second building construction tower crane; the cross arm height comparison unit module compares H1 with H2, determines the construction tower crane with lower cross arm height as a low-height tower crane, and determines the construction tower crane with higher cross arm height as a high-height tower crane; the lifting rope position determining unit module is used for determining the position of a lifting rope of the high-altitude tower crane; a cross arm position determination unit module that determines a position of a cross arm of the low-height tower crane; the spatial distance determining unit module is used for determining the spatial distance between the lifting rope and the cross arm; and the alarm indicating unit module is used for indicating the alarm devices of the first tower crane and the second tower crane to alarm when the space distance is smaller than the anti-collision distance.
According to the technical scheme of the invention, the process links of a manual system guarding method can be reduced, and the safety of the hoisting operation of the building construction tower crane group is improved.
Drawings
The invention may be better understood with reference to the following drawings. The drawings are exemplary only, and are not intended as limitations on the scope of the invention.
FIG. 1 shows a schematic view of an anti-collision system for a construction tower crane;
fig. 2 is a schematic block diagram illustrating an operation within an anti-collision central processing unit of the anti-collision system of the construction tower crane according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the operation of the overlapping pre-judging unit module;
fig. 4 is a schematic block diagram illustrating an operation within an anti-collision central processing unit of a collision prevention system of a construction tower crane according to still another embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto.
Fig. 1 shows a schematic view of an anti-collision system of a construction tower crane. Although fig. 1 shows only two construction tower cranes, it should be understood by those skilled in the art that the construction tower crane cluster of the present invention may include more construction tower cranes, each of which has an alarm device mounted thereon. As shown in fig. 1, the anti-collision early warning auxiliary system for a building construction tower crane group according to the present invention includes two or more building construction tower cranes and an anti-collision central processing device. Each construction tower crane is provided with an alarm device and an information transmitting and receiving device, transmits information required by the anti-collision central processing device, such as the angular velocity, the speed and the like of the suspension arm, and receives instructions from the anti-collision central processing device, such as instructions for alarming and the like. The anti-collision central processing unit also has an information transmitting/receiving device for receiving necessary information from each of the construction tower cranes and transmitting a command to each of the construction tower cranes. Although the anti-collision central processing device is shown as an IPAD type device having a display device, it will be appreciated by those skilled in the art that the anti-collision central processing device may be a computer, a chip, a field programmable gate array, etc., may or may not have a display device, may have an input device such as a mouse, a keyboard, a touch screen, etc. The anti-collision central processing device can be arranged on a certain tower crane and can also be independent from each tower crane.
Through the observation and visit of the inventor, the inventor finds that the important condition that the tower cranes collide with each other in the building construction tower crane group is that the lifting rope of one tower crane collides with and is entangled with the cross arm of another tower crane, as shown in fig. 1.
Fig. 2 is a schematic block diagram illustrating an operation within an anti-collision central processing unit of the anti-collision system of the construction tower crane according to an embodiment of the present invention.
As shown in fig. 2, the anti-collision central processing device of the anti-collision early warning auxiliary system for the building construction tower crane group according to an embodiment of the present invention includes a first cross arm height determining unit module 201, a second cross arm height determining unit module 202, a cross arm height comparing unit module 203, a lifting rope position determining unit module 204, a cross arm position determining unit module 205, a spatial distance determining unit module 206, and an alarm indicating unit module 207. In operation, first the first cross arm height determination unit module 201 determines the cross arm height H1 of the first construction tower crane; the second cross arm height determination unit module 202 then determines a cross arm height H2 of the second building construction tower crane; then the cross arm height comparison unit module 203 compares H1 and H2, determines the construction tower crane with lower cross arm height as a low-height tower crane, and determines the construction tower crane with higher cross arm height as a high-height tower crane; next, the lifting rope position determining unit module 204 determines the position of the lifting rope of the high-altitude tower crane; simultaneously or sequentially, the cross arm position determination unit module 205 determines the position of the cross arm of the low-height tower crane; then, the spatial distance determination unit module 206 determines the spatial distance of the lifting rope from the cross arm; finally, if the spatial distance is smaller than the anti-collision distance, the alarm indication unit module 207 indicates alarm devices of the first building construction tower crane and the second building construction tower crane to alarm. These alarm devices are for example any alarm device capable of emitting audio, video, or light or sound.
According to one embodiment, the anti-collision central processing unit of the system of the present invention further includes an overlap pre-determination unit module 208 for determining whether the working ranges of the first and second building construction tower cranes overlap, wherein the overlap pre-determination may be performed by a processor implementing the determination unit module itself or may be a determination result received from the outside.
In the self-determination, according to one embodiment, the overlap pre-determination unit 208 includes drawing circles with the tower body of the first building construction tower crane and the tower body of the second building construction tower crane as the center of a circle, and the cross arm length of the first building construction tower crane and the cross arm length of the second building construction tower crane as the radius, respectively, and determining that the working ranges of the first building construction tower crane and the second building construction tower crane overlap if the two circles intersect on the ground plane where the tower bodies are located.
Fig. 3 schematically illustrates the working principle of such an overlap pre-determination. When the construction tower crane works, the tower body is basically fixed for a long time, the cross arm rotates around the tower body, and the projection of the moving range of the cross arm on the ground forms a circle. And the rotation range is limited, and the rotation range can be semicircular or arc-shaped. The invention of drawing circles should thus be understood to include drawing arcs. The suspension ropes are not always at the ends of the cross-arm, possibly following a trolley on the cross-arm to move along the cross-arm, but as a pre-decision the ends of the cross-arm are taken as measurement points with risk of overlap. The cross-arm will often rest on the tower, i.e. the cross-arm as a whole will not normally start with the tower, but for convenience of presentation, the cross-arm may refer to the section from the tower to the end of the cross-arm, which section has a suspension for lowering and retracting the suspension ropes, depending on the context. If the two circles drawn do not intersect, the two building construction tower cranes do not have working overlapping areas, collision does not occur, and judgment can be finished at the moment. If there is an overlap region, the work of the first cross arm height determination unit module 201 and the units thereafter is performed.
According to one embodiment, the overlapping pre-determination unit module includes drawing circles with the tower body of the first construction tower crane and the tower body of the second construction tower crane as centers of circles, the product of the length of the cross arm of the first construction tower crane and a first coefficient greater than 1, and the length of the cross arm of the second construction tower crane as a radius, respectively, and determining that the working ranges of the first construction tower crane and the second construction tower crane overlap if the two circles intersect on the ground plane on which the tower bodies are located. The difference between this embodiment and the embodiment described above is that the length of a certain crossbar is extended by a first coefficient greater than 1, and a circle is drawn with the extended length as a radius, and the calculation formula of the first coefficient is as follows:
in the formula: n is a first coefficient greater than 1; l, LRopeThe length of a cross arm and the length of a lifting rope of the high-height tower crane are respectively; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; vWind power、aWind powerThe wind speed and the wind acceleration can be input from the outside and can be measured on a construction tower crane. When measuring on the construction tower crane, a wind speed measuring device may be provided on the construction tower crane.
This is to take into account that the lifting rope may drift out a distance without carrying the hook vertically below the cross arm due to inertia or wind, so that the length of one cross arm is extended by a first factor greater than 1 for safer and more reliable pre-determination. It will be clear to those skilled in the art that the circle described herein may be a virtual circle, and need not necessarily be a solid circle, but may be an electronic simulation or an electronic operation.
Fig. 4 is a schematic block diagram illustrating an operation within an anti-collision central processing unit of a construction tower crane anti-collision system according to still another embodiment of the present invention. As shown in fig. 4, in contrast to the embodiment shown in fig. 2, according to the embodiment shown in fig. 4, an overlap determination unit module 209 is added, which determines whether the working range of the low-height tower crane overlaps with the hoist rope of the high-height tower crane, based on the position of the cross arm end of the low-height tower crane and the position of the hoist rope of the high-height tower crane. For example, after the positions of the lifting rope and the cross arm of the high-altitude tower crane are obtained, whether the projection of the cross arm and the lifting rope on a vertical plane intersects can be judged, if the projection of the cross arm and the lifting rope on the vertical plane does not intersect, the working area does not intersect, and no collision occurs. And when the overlapping judgment unit module judges that the working range of the low-height tower crane is overlapped with the lifting rope of the high-height tower crane, the spatial distance determination unit module determines the spatial distance between the lifting rope and the cross arm.
The overlapping judgment unit module respectively takes the tower body of the high-height building construction tower crane and the tower body of the low-height building construction tower crane as the circle centers, respectively draws circles by taking the sum of the length from the cross arm of the high-height building construction tower crane to the suspension position of the lifting rope along the line and the extension length, and the length of the cross arm of the low-height building construction tower crane as the radius; if the two circles intersect on the ground plane where the tower body is located, the working ranges of the high-height building construction tower crane and the low-height building construction tower crane are judged to be overlapped, and the calculation formula of the extension length is as follows:
in the formula: l isKIs the epitaxial length; l isRopeThe length of the lifting rope of the high-height tower crane is long; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; vWind power、aWind powerRespectively the speed and acceleration of the wind.
According to another embodiment, the overlap determination unit module draws circles with the tower body of the high-altitude tower crane and the tower body of the low-altitude tower crane as the center, and the length of the cross arm of the low-altitude building construction tower crane and the length of the cross arm of the high-altitude tower crane along the line to the suspension position of the lifting rope multiplied by a predetermined coefficient larger than 1 as well as the radius of the cross arm of the high-altitude tower crane and the length of the low-altitude tower crane respectively; if the two circles intersect on the ground plane where the tower body is located, the working ranges of the high-height tower crane and the low-height tower crane are judged to be overlapped, and the calculation formula of the preset coefficient is as follows:
in the formula: m is a predetermined coefficient greater than 1; l isRopeThe length of the lifting rope of the high-height tower crane is long; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; vWind power、aWind powerRespectively the speed and acceleration of the wind.
On the other hand, as shown in fig. 4, the anti-collision cpu according to the embodiment of the present invention further includes a high-height tower crane hook change determining unit module 210 configured to detect a change in the position of the high-height tower crane hook, and when the change in the position of the high-height tower crane hook meets a predetermined condition, the overlap determining unit determines whether the operating range of the low-height tower crane overlaps with the lifting rope of the high-height tower crane. For example, if the position of the hook of the high-altitude tower crane changes rapidly and the rate of change thereof exceeds a predetermined threshold, the working ranges that were not overlapped may become overlapped, and the distance between the hoist rope and the cross arm that was not reached the predetermined threshold may change shorter than a predetermined distance, so that the overlap determination unit should immediately determine whether the working range of the low-altitude tower crane overlaps the hoist rope of the high-altitude tower crane. Additionally, if a change in the position of the high-rise tower crane hook indicates a particular trajectory of the hook, this may indicate a particular situation, such as a sling flying, a tower collapse, etc. Instead of calculating the distance between the hook and the cross arm, this is a calculation of the distance between the lifting rope and the cross arm. Namely, the space distance determining unit determines the distance between the lifting hook and the perpendicular line of the cross arm; and when the distance of the vertical line is less than a preset distance, the alarm unit gives an alarm.
In this case, each construction tower crane of the system of the present invention includes a hook position determining means that works in cooperation with the high-height tower crane hook change determination unit module 210.
According to an embodiment, the cross arm position determination unit may include:
the azimuth angle determining unit is used for determining the azimuth angle of the cross arm, and the cross arm rotates around the tower body, so that the azimuth angle can be determined according to the angle of the cross arm rotating clockwise around the tower body relative to the true north reference direction; in this case, each tower crane includes a cross arm azimuth angle measuring unit, and the azimuth angle of each cross arm is measured and sent to the azimuth angle determining unit. The cross arm azimuth angle measuring unit can be a mechanical measuring device or an electronic measuring device;
the cross arm end point coordinate determination unit is used for determining the coordinate of the cross arm end point according to the azimuth angle and the vertical distance between the tower body of the low-height tower crane and the cross arm end point; the formula can be
Wherein alpha isiIs the azimuth angle (x)Ti,yTi,HRi) As a tower position coordinate, SiThe length of the cross arm, i.e. the vertical distance between the tower body and the end point of the cross arm, corresponds to R2 in the figure. (x)Bi,yBi,HBi) Is the coordinates of the cross arm end point;
and the cross arm drawing unit is used for determining the position of the cross arm by using the coordinates of the end point of the cross arm and the coordinates of the tower body of the low-height tower crane. It is obvious that these two coordinates can already describe a line segment or a straight line.
According to another embodiment, each tower crane has a GNSS rover on its crossbar, and the crossbar position determination unit includes: the rover coordinate acquisition unit is used for acquiring the coordinates of the GNSS rover of the low-height tower crane; a crossbar expression determination unit that determines a linear expression of the crossbar using coordinates of the GNSS rover and coordinates of a tower body of the low-altitude tower crane; and the cross arm drawing unit determines the position of the cross arm according to the straight line expression of the cross arm and the vertical distance between the tower body of the low-height tower crane and the end point of the cross arm.
In this case, the system may further comprise a GNSS reference station cooperating with the GNSS rover station. The GNSS mobile station receives the differential correction signal from the GNSS reference station, and the positioning precision is improved.
For determining the position of the hoist rope, the coordinates of the position where the hoist rope starts to hang down on the cross arm and the coordinates of the position of the hook may be determined. According to one embodiment, a GNSS rover may be provided on the hook and at the crossbar corresponding to the position where the hoist line begins to hang, so that the coordinates of the hook and the position where the hoist line begins to hang from the crossbar may be obtained, enabling the definition of the hoist line.
According to another embodiment of the invention, a high-precision odometer can be arranged on the tower crane, and the odometer can be arranged on a certain static pulley for taking up and paying off the lifting rope. The high-precision odometer can be used for measuring the length of the lifting rope (called as the mileage data of the lifting rope) in a high-precision manner, so that the lifting amount of the lifting hook can be calculated. The elevation position of the lifting hook of the tower crane can be simply determined by performing addition and subtraction calculation according to the mileage of the high-precision odometer and the elevation of the GNSS rover. The planar position of the tower crane hook may be replaced with the coordinates of the GNSS rover. According to the embodiment, a GNSS rover or the like does not need to be installed on the lifting hook, the complexity of the lifting hook is reduced, and damage to GNSS instrument equipment caused by collision of the lifting hook is avoided.
According to one embodiment, the alarm indication unit module 207 determines the collision avoidance distance as follows:
in the formula: d is an anti-collision distance; l isXD、LZGThe early warning distances are respectively the early warning distances under the condition of relative movement or pursuit movement between the two tower cranes; v1、a1Respectively the speed of movement and the normal braking acceleration of the first tower crane, a1Is the fixing of the first tower craneA parameter, which is a known quantity; v2、a2The movement speed and the normal braking acceleration, a, of the second tower crane, respectively2Is a fixed parameter of the second tower crane, is a known quantity, V1、V2The anti-collision early warning system can be transmitted to an anti-collision early warning central processing unit by a first tower crane and a second tower crane; v3、a3Respectively the motion speed and the acceleration of the tower crane to be chased; t is t0A reaction time for the driver, which may be an empirical value or a value determined for each driver; t is t1Total time of normal braking process for chasing tower crane, including driver reaction time and normal braking time of equipment, VWind power、aWind powerRespectively the speed and acceleration of the wind.
According to another embodiment, the alarm indication unit module 207 may further determine the collision avoidance distance as follows:
in the formula: d is an anti-collision distance; l isXD、LZGRespectively the alarm distance increment when the two tower cranes move relatively or catch up; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; l is the length of the space distance between the cross arm of the low-height tower crane and the lifting rope of the high-height tower crane along the line to the cross arm of the low-height tower crane at the orthogonal point on the cross arm; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; omega2、a2The motion angular velocity and the normal braking acceleration of the low-height tower crane are respectively; omega3、a3Respectively the motion angular velocity and the acceleration of the tracked tower crane; t is t0Reaction time for the driver; t is t1Total time of normal braking process for chasing tower crane, including driver reaction time and normal braking time of equipment, VWind power、aWind powerThe velocity and acceleration of the wind, omega1、ω2The anti-collision early warning center can be transmitted to the anti-collision early warning center by the first tower crane and the second tower craneAnd a processing device.
According to the embodiment of the invention, the spatial positions of the lifting hook and the cross arm of each tower crane can be monitored in real time when the tower crane group for building construction is hoisted, so that the collision accident caused by intensive overlapping and cross hoisting operation of the tower crane group for building construction is avoided, and the safe operation of the tower crane group for building construction is intelligently ensured.
The invention systematically provides a scientific, simple, convenient, high-precision, all-weather, non-visual and intelligent anti-collision early warning auxiliary system for the tower crane group for building construction, which is suitable for being installed on two or more than two tower crane devices of various brands and building construction sites with crossed and overlapped hoisting operation, and improves the safety of equipment use and technical workers in the operation process while quickly, accurately and efficiently completing the hoisting task between the auxiliary tower cranes during the hoisting operation.
Each unit module of the present invention can be realized by a processor executing software, and can also be realized by hardware such as a field programmable gate array.
The above detailed description of the invention is merely to give the person skilled in the art further insight into implementing preferred aspects of the invention, and does not limit the scope of the invention. Only the claims are presented to determine the scope of the invention. Therefore, combinations of features and elements in the foregoing detailed description are not necessary to practice the invention in the broadest scope, and are instead taught only to particularly detailed representative embodiments of the invention. Furthermore, the various features of the teachings presented in this specification may be combined in various ways, which, however, are not specifically exemplified, in order to obtain additional useful embodiments of the present invention.
Claims (6)
1. A building construction tower crane anti-collision system, the system comprises a plurality of building construction tower cranes and an anti-collision central processing device, each building construction tower crane is provided with an alarm device, and the anti-collision central processing device comprises:
a first tower crane cross arm height determination unit module that determines a cross arm height H1 of a first building construction tower crane;
a second tower crane cross arm height determination unit module for determining a cross arm height H2 of a second building construction tower crane;
the cross arm height comparison unit module compares H1 with H2, determines the construction tower crane with lower cross arm height as a low-height tower crane, and determines the construction tower crane with higher cross arm height as a high-height tower crane;
the lifting rope position determining unit module is used for determining the position of a lifting rope of the high-altitude tower crane;
a cross arm position determination unit module that determines a position of a cross arm of the low-height tower crane;
the spatial distance determining unit module is used for determining the spatial distance between the lifting rope and the cross arm;
the alarm indicating unit module is used for indicating alarm devices of the first tower crane and the second tower crane to alarm when the space distance is smaller than the anti-collision distance;
the anti-collision central processing device further comprises an overlap judgment unit module, the overlap judgment unit module determines whether the working range of the low-height tower crane overlaps with the lifting rope of the high-height tower crane according to the position of the end part of the cross arm of the low-height tower crane and the position of the lifting rope of the high-height tower crane, and the spatial distance determination unit module determines the spatial distance between the lifting rope and the cross arm when the overlap judgment unit module determines that the working range of the low-height tower crane overlaps with the lifting rope of the high-height tower crane,
the overlapping judgment unit module respectively takes the tower body of the high-height building construction tower crane and the tower body of the low-height building construction tower crane as the circle centers, and respectively draws circles by taking the sum of the length from the cross arm of the high-height building construction tower crane to the suspension position of the lifting rope along the line and the extension length and the length of the cross arm of the low-height building construction tower crane as the radius; if the two circles intersect on the ground plane where the tower body is located, the working ranges of the high-height building construction tower crane and the low-height building construction tower crane are judged to be overlapped, and the calculation formula of the extension length is as follows:
in the formula: l isKIs the epitaxial length; l isRopeThe length of the lifting rope of the high-height tower crane is long; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; vWind power、aWind powerRespectively the speed and acceleration of the wind.
2. The system of claim 1, wherein the collision avoidance central processing unit further comprises an overlap determination unit module,
the overlap determination unit module determines whether a working range of the low-height tower crane overlaps a lifting rope of the high-height tower crane according to a position of a cross arm end of the low-height tower crane and a position of a lifting rope of the high-height tower crane, and the spatial distance determination unit module determines a spatial distance between the lifting rope and the cross arm when the overlap determination unit module determines that the working range of the low-height tower crane overlaps the lifting rope of the high-height tower crane,
the overlapping judgment unit module takes the tower body of the high-height tower crane and the tower body of the low-height tower crane as the circle centers, and draws circles respectively by taking the product of the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line and a preset coefficient which is more than 1 and the length of the cross arm of the low-height building construction tower crane as the radius; if the two circles intersect on the ground plane where the tower body is located, the working ranges of the high-height tower crane and the low-height tower crane are judged to be overlapped, and the calculation formula of the preset coefficient is as follows:
in the formula: m is a predetermined coefficient greater than 1; l isRopeLifting rope for high-height tower craneLength; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; vWind power、aWind powerRespectively the speed and acceleration of the wind.
3. The system according to claim 1, wherein the collision avoidance central processing unit includes an overlap pre-determination unit module that determines whether the working ranges of the first and second tower cranes overlap, the overlap pre-determination unit module either self-determines or receives a determination result from the outside, the overlap pre-determination unit module draws circles around the tower body of the first construction tower crane and the tower body of the second construction tower crane, respectively, and around the cross arm length of the first construction tower crane and the cross arm length of the second construction tower crane, respectively, and determines that the working ranges of the first and second tower cranes overlap if the circles intersect at the ground level where the tower bodies are located.
4. The system of claim 1, wherein the alarm indication unit module determines the collision avoidance distance as follows:
in the formula: d is an anti-collision distance; l isXD、LZGThe early warning distances are respectively the early warning distances under the condition of relative movement or pursuit movement between the two tower cranes; v1、a1The motion speed and the normal braking acceleration of the first tower crane are respectively; v2、a2The motion speed and the normal braking acceleration of the second tower crane are respectively; v3、a3Respectively the motion speed and the acceleration of the tower crane to be chased; t is t0Reaction time for the driver; t is t1Total time of normal braking process for chasing tower crane, including driver reaction time and normal braking time of equipment, VWind power、aWind powerRespectively windSpeed and acceleration of motion.
5. The system of claim 1, wherein the alarm indication unit module is configured to determine the collision avoidance distance as follows:
in the formula: d is an anti-collision distance; l isXD、LZGRespectively the alarm distance increment when the two tower cranes move relatively or catch up; l is the length from the cross arm of the high-height tower crane to the suspension position of the lifting rope along the line; l is the length of the space distance between the cross arm of the low-height tower crane and the lifting rope of the high-height tower crane along the line to the cross arm of the low-height tower crane at the orthogonal point on the cross arm; omega1、a1The motion angular velocity and the normal braking acceleration of the high-altitude tower crane are respectively; omega2、a2The motion angular velocity and the normal braking acceleration of the low-height tower crane are respectively; omega3、a3Respectively the motion angular velocity and the acceleration of the tracked tower crane; t is t0Reaction time for the driver; t is t1Total time of normal braking process for chasing tower crane, including driver reaction time and normal braking time of equipment, VWind power、aWind powerRespectively the speed and acceleration of the wind.
6. The system of claim 1, wherein each of the construction tower cranes has an alarm device and a message transceiver device for transmitting information required by the anti-collision cpu and receiving instructions from the anti-collision cpu, the anti-collision cpu also having a message transceiver device for receiving the required information from each of the construction tower cranes and transmitting alarm commands to each of the construction tower cranes.
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| CN111061987B (en) * | 2019-12-11 | 2024-01-26 | 北京工业大学 | Group tower scheduling optimization method considering active avoidance |
| CN111039184A (en) * | 2019-12-19 | 2020-04-21 | 大器物联科技（广州）有限公司 | Anti-collision method and anti-collision equipment of tower crane |
| CN111196572A (en) * | 2019-12-31 | 2020-05-26 | 大器物联科技（广州）有限公司 | Safety protection method for tower crane |
| CN112173984B (en) * | 2020-09-22 | 2022-04-05 | 广州珠江建设发展有限公司 | Method, device, equipment and medium for managing operation safety of tower group based on Internet of things |
| CN112678692A (en) * | 2020-12-23 | 2021-04-20 | 中哲国际工程设计有限公司 | Anti-collision early warning auxiliary system for building construction tower crane group |
| CN114455490B (en) * | 2022-02-08 | 2023-03-24 | 张家港市中联建设机械有限公司 | Tower crane safety control method and system |
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| CN110615368B (en) | 2020-08-28 |
| CN109160419A (en) | 2019-01-08 |
| CN109160419B (en) | 2020-04-17 |
| CN107539887A (en) | 2018-01-05 |
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| CN109179228A (en) | 2019-01-11 |
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