CN105347211A - Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane - Google Patents
Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane Download PDFInfo
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- CN105347211A CN105347211A CN201510790191.0A CN201510790191A CN105347211A CN 105347211 A CN105347211 A CN 105347211A CN 201510790191 A CN201510790191 A CN 201510790191A CN 105347211 A CN105347211 A CN 105347211A
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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
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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Abstract
The invention discloses a panorama-visible and controllable intelligent monitoring and protecting integrated system for a tower crane. The panorama-visible and controllable intelligent monitoring and protecting integrated system is characterized by comprising a data collecting module, a data processing module, a control module and a display module; the data collecting module is connected with a video monitoring system on a construction site; the data processing module is connected with the data collecting module; the control module is connected with the data processing module; and the display module is connected with the control module and the data collecting module. Current practical work parameters and rated work capability parameters of the tower crane are displayed in real time through graph numerical values and sounds, and the panorama visible function, the controllable function and the rollover and collision preventing function are integrated.
Description
Technical field
The present invention relates to technical field of engineering machinery, specifically a kind of tower crane panorama visible, controlled, intellectual monitoring and safeguarding integrated system.
Background technology
Tower crane is the rotary crane that a kind of swing arm is contained in towering tower body top, and working space is large, is mainly used in transport and the installation of vertical and horizontal feed and the building element of material in housing construction.
Along with the fast development of building industry, the tower crane demand for high-building construction transport is increasing.But, tower crane is due to the feature that the focus of work is high, lifted load is large, running velocity is fast, in operation process, there is very big potential safety hazard, especially in tower crane hoisting process because the tower body that oblique pull is tiltedly dragged, pile pulling or weight Condition of Sudden Unloading cause is tumbled.
Because the working space of tower crane is large, operator's compartment space is little, causes the driver visual field and easily occurs blind area, and easy and other buildings collide in operation; And in the operation of blind area the radio signal signalman that causes of instability and tower machine driver communication exchange inaccurate, with the closely collision that occurs of cross-operation of Adjacent Buildings or multiple stage, bring all hidden danger all can to tower crane safe construction, the lighter's equipment damage, severe one machine turn over people and die.
Application number be 2014104115574 documents disclose a kind of tower crane long distance control system, its problem solved remote monitoring activities person whether can have the situation of violation operation, occurs long-rangely to make remedial measures if any abnormal condition.This invention is aimed at supervisor's, and operator can not see the situation of blind area, can't resolve the problem that the application will solve.
Application number be 2013105938610 documents disclose a kind of tower crane anti-collision system, method, device and tower crane, its problem solved is the running state parameter by detecting tower machine, and compared with nominal parameter, remind operator's proper operation, play early warning, reduce the effect that collision occurs, but a kind of tower crane anti-collision system judges that the distance between tower crane and obstacle is by projecting on horizontal surface by coordinate points, thus calculate distance, the distance that this system calculates is less than or equals actual distance, spacing can not be judged accurately, and a kind of tower crane anti-collision system simply show obstacle generally, and obstacle situation complexity in reality is various, and a kind of tower crane anti-collision method that therefore this system provides can not be applicable to all obstacles completely.
Summary of the invention
A kind of tower crane panorama visible provided by the invention, controlled, intellectual monitoring and safeguarding integrated system, based on the video monitoring system of camp site, current mode of operation and parameter is shown in real time with figure numerical value and sound, compare with nominal operational parameters, make early warning, warning, and prevent the system of collision function, for solving when high-story architecture construction, easily there is blind area, can not show the problem of lifting situation in real time in tower crane driver lifting.
The present invention solves the technical scheme that its technical matters takes: a kind of tower crane panorama visible, controlled, intellectual monitoring and safeguarding integrated system, is characterized in that, comprise data acquisition module, data processing module, control module and display module; The data collected for gathering the video of camp site, the real-time running state parameter with the Distance geometry tower crane of obstacle, and are sent to data processing module by described data acquisition module; Described data processing module be used for detect and the real-time running state parameter of Distance geometry tower crane of obstacle process, calculate the three-dimensional coordinate of tower crane and obstacle, and result sent to display module and control module; Described control module is for carrying out the operation of early warning and alarming and restriction tower crane; Described display module is used for video display, parameter display and alarm display.
Further, described data acquisition module comprises the weight sensor that hoists, amplitude sensor, lifting altitude sensor, degreeof turn sensor, torque sensor, air velocity transducer, obliquity sensor and ultrasonic transduter; Described ball machine camera is arranged on by operator's compartment, and is connected with data processing module by video frequency collection card, for gathering the video information of camp site; The described weight sensor that hoists is arranged on the center shaft of proving ring; Described amplitude sensor, for detecting the position of amplitude variation trolley on derrick runway girder, is arranged on the motor shaft of luffing mechanism; Described lifting altitude sensor, for detecting the lifting altitude of lift heavy, is arranged on the steel wire rope coiler axis of lifting mechanism; Described degreeof turn sensor, for detecting the degreeof turn of tower arm, is arranged on gyration gear ring; Described torque sensor, for detecting hoisting moment, is arranged on tower machine tower head coxostermum; Described air velocity transducer, for detecting wind speed, is arranged on tower machine top; Described obliquity sensor, for detecting tower body inclining angle, is arranged on the main limb of slewing tower; Described ultrasonic transduter, for detecting the distance of tower crane and obstacle, is arranged on the position of intersecting point of tower body and tower arm.
Further, described real-time running state parameter comprises the lifting weight of tower crane, carriage amplitude varying, lifting altitude, degreeof turn, hoisting moment, wind speed and inclination angle.
Further, distance between described tower crane and obstacle be crane arm tip and and column obstacle between Distance geometry equilibrium arm arm point and column obstacle between distance, its concrete measurement process is: described ultrasonic transduter detects the distance of intersection point to column obstacle of tower arm and tower body, and described degreeof turn sensor detects the degreeof turn of tower arm; Described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, calculate the three-dimensional coordinate of column obstacle to the distance of column obstacle, the degreeof turn of tower arm and the altimeter of tower arm according to the intersection point of tower arm and tower body; The three-dimensional coordinate of crane arm tip and equilibrium arm arm point is calculated according to the brachium of crane arm and equilibrium arm; According to crane arm tip, equilibrium arm arm point and the three-dimensional coordinate of column obstacle calculate described crane arm tip and and column obstacle between the arm point of Distance geometry equilibrium arm and column obstacle between distance.
Further, distance between described tower crane and obstacle is the distance between the arm point of Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing, its concrete measurement process is: described degreeof turn sensor detects the degreeof turn of tower arm, the intersection point that described ultrasonic transduter detects tower arm and tower body to the intersection point of the line of centers of the line of centers of tower body and tower arm for the center of circle, the distance of the intersection of the disc being radius with the brachium of described crane arm and impediment in plane thing, described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, according to the coordinate of degreeof turn with the distance determination any two points detected, determine the equation of straight line of intersection, the sharp vertical distance to this intersection of arm of crane arm and equilibrium arm is the distance between the arm point of the Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing.
Further, distance between described tower crane and obstacle is the distance in tower arm arm and between obstacle, its concrete measurement process is: described ultrasonic transduter detects the distance between tower arm and tower body intersection point to obstacle, described degreeof turn sensor detects the degreeof turn of tower arm, and described amplitude sensor detects tower crane luffing distance; Described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, the three-dimensional coordinate of obstacle is calculated, according to crane arm and the high computational crane arm of the brachium of equilibrium arm, the degreeof turn of tower arm and tower arm and the three-dimensional coordinate of equilibrium arm arm point according to the degreeof turn of the distance between tower arm and tower body intersection point to obstacle, tower arm and the altimeter of tower arm; According to two point coordinate in tower crane luffing distance, the degreeof turn of tower arm and tower arm high computational tower arm, determine tower arm place equation of straight line; The three-dimensional coordinate of described data processing module dyscalculia thing is to the shortest distance of the equation of straight line of tower arm place straight line, and described obstacle is the shortest distance of three-dimensional coordinate to the equation of straight line of tower arm place straight line of obstacle to the distance in tower arm arm.
Further, distance between described tower crane and obstacle is the distance between the tower arm of lift heavy and adjacent tower crane, the relative position image of described this tower crane of ball machine camera collection and adjacent tower crane tower arm, described data acquisition module sends to display module to carry out video display.
Further, described control module comprises warning module, alarm module and brake module; The entry condition of described warning module is the 70%-90% that real-time running state parameter reaches specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 100%-120%; The entry condition of described alarm module is that real-time running state parameter is not less than specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 80%-100%; Described brake module comprises lifting altitude range limiter, degreeof turn range limiter and amplitude range limiter; Described lifting altitude range limiter is arranged on the steel wire rope coiler axis of the lifting mechanism of tower crane, for cutting off lifting motor power supply when lifting altitude is too high; Described degreeof turn range limiter is arranged on gyration gear ring, for cutting off turning motor power supply when degreeof turn is excessive; Described amplitude range limiter is arranged on the motor shaft of luffing mechanism, for cutting off luffing motor power when luffing amplitude is excessive.
Further, the entry condition of described lifting altitude range limiter is that the data that weight sensor collects that hoist are not less than specified lifting weight or/and the data that torque sensor collects are not less than specified hoisting moment; The entry condition of described degreeof turn range limiter is that the data that degreeof turn sensor collects are not less than specified degreeof turn; The entry condition of described amplitude range limiter is that the data that amplitude sensor collects are not less than specified carriage amplitude varying.
Further, described display module comprises video image district, precaution alarm police region, running state parameter display space and voice guard, described video image district comprises panoramic video image area and relative position image area, for showing the relative position of panorama real-time video image within the scope of tower crane lifting and tower crane and obstacle, described precaution alarm police region comprises warning light and alarm lamp, described running state parameter display space comprises lifting weight actual value display space, lifting weight rated value display space, lifting altitude actual value display space, lifting altitude rated value display space, hoisting moment actual value display space, hoisting moment rated value display space, carriage amplitude varying actual value display space, carriage amplitude varying limit value display space, degreeof turn actual value display space, degreeof turn limit value display space, wind speed actual value display space, tower crane can bear the limit display space of wind speed, distance display space between tower crane and obstacle and predetermined safety distance display space, the condition that described voice guard starts is that alarm module starts.
Further, described warning light comprises lifting weight super-limit prewarning lamp, lifting altitude super-limit prewarning lamp, hoisting moment super-limit prewarning lamp, carriage amplitude varying super-limit prewarning lamp, crane arm corner super-limit prewarning lamp, wind speed super-limit prewarning lamp and anti-collision warning lamp; Described alarm lamp comprises lifting weight overload alarm lamp, lifting altitude overload alarm lamp, hoisting moment overload alarm lamp, carriage amplitude varying overload alarm lamp, crane arm corner overload alarm lamp, wind speed overload alarm lamp and collision warning lamp.
The invention has the beneficial effects as follows: the invention provides a kind of tower crane panorama visible, controlled, intellectual monitoring and safeguarding integrated system, the ball machine camera that data acquisition module of the present invention is located with video frequency collection card and the arm point being arranged on crane arm is connected, make full use of camp site video monitoring system, by monitor video image guiding construction and the collision evading lift heavy tower crane adjacent with other.
Data acquisition module gathers the real-time running state parameter of tower crane by various types of sensor, and send to data processing module, specified running state parameter and real-time running state parameter compare by data processing module, if over range, then early warning and alarming can be carried out, and remind driver's proper operation, the potential risk that early warning tower machine exists.When the actual distance with obstacle beyond predetermined safety distance time, control module also can carry out early warning and alarming prompting.
The relative position image of on-the-spot panoramic video image, tower crane and obstacle, tower machine real-time running state parameter, the specified running state parameter of tower machine and early warning and alarming are integrated on display module and show, be arranged on driver operation indoor, can along with the real-time display video image of the operation of driver and running state.
Accompanying drawing explanation
Fig. 1 is modular construction connection diagram of the present invention;
Fig. 2 is system construction drawing of the present invention;
Fig. 3 is display module schematic diagram of the present invention;
Fig. 4 is the distance schematic diagram between the arm point of crane arm of the present invention and equilibrium arm and column obstacle;
Fig. 5 is the distance schematic diagram between the arm point of crane arm of the present invention and equilibrium arm and impediment in plane thing;
Fig. 6 is the distance schematic diagram in tower arm arm of the present invention and between obstacle;
In figure: 1, lifting weight super-limit prewarning lamp, 2, lifting weight overload alarm lamp, 3, lifting altitude super-limit prewarning lamp, 4, lifting altitude overload alarm lamp, 5, hoisting moment super-limit prewarning lamp, 6, hoisting moment overload alarm lamp, 7, anti-collision warning lamp, 8, carriage amplitude varying super-limit prewarning lamp, 9, carriage amplitude varying overload alarm lamp, 10, crane arm corner super-limit prewarning lamp, 11, crane arm corner overload alarm lamp, 12, wind speed super-limit prewarning lamp, 13, wind speed overload alarm lamp, 14, collision warning lamp, A, video image district, B, lifting weight actual value display space, C, lifting weight rated value display space, D, lifting altitude actual value display space, E, lifting altitude rated value display space, F, hoisting moment actual value display space, G, hoisting moment rated value display space, H, carriage amplitude varying actual value display space, I, carriage amplitude varying limit value display space, K, degreeof turn actual value display space, L, degreeof turn limit value display space, M, wind speed actual value display space, N, tower crane can bear the limit display space of wind speed, O, distance display space P between tower crane and obstacle, predetermined safety distance display space.
Detailed description of the invention
As shown in Figure 1, the present invention includes data acquisition module, data processing module, control module and display module; Described data acquisition module is connected by the ball machine camera that video frequency collection card is other with being arranged on operator's compartment, for gathering the video of camp site, the real-time running state parameter with the Distance geometry tower crane of obstacle, and the data collected are sent to data processing module; Described data processing module be used for detect and the real-time running state parameter of Distance geometry tower crane of obstacle process, calculate the three-dimensional coordinate of tower crane and obstacle, and result sent to display module and control module; Described control module is for carrying out the operation of early warning and alarming and restriction tower crane; Described display module is used for video display, parameter display and alarm display.
As shown in Figure 2, data acquisition module comprises the weight sensor that hoists, amplitude sensor, lifting altitude sensor, degreeof turn sensor, torque sensor, air velocity transducer, obliquity sensor and ultrasonic transduter;
The weight sensor that hoists is arranged on the center shaft of proving ring, for detecting the lifting weight of tower crane; Amplitude sensor, for detecting the position of amplitude variation trolley on derrick runway girder, is arranged on the motor shaft of luffing mechanism; Lifting altitude sensor, for detecting the lifting altitude of lift heavy, is arranged on the steel wire rope coiler axis of lifting mechanism; Described degreeof turn sensor, for detecting the degreeof turn of tower arm, is arranged on gyration gear ring; Described torque sensor, for detecting hoisting moment, is arranged on tower machine tower head coxostermum; Described air velocity transducer, for detecting wind speed, is arranged on tower machine top; Described obliquity sensor, for detecting tower body inclining angle, is arranged on the main limb of slewing tower; Described ultrasonic transduter, for detecting the distance of tower crane and obstacle, is arranged on the position of intersecting point of tower body and tower arm.
Distance between tower crane and obstacle comprise crane arm tip and and column obstacle between Distance geometry equilibrium arm arm point and column obstacle between distance, concrete computation process is: ultrasonic transduter detects the distance of intersection point to column obstacle of tower arm and tower body, and degreeof turn sensor detects the degreeof turn of tower arm; Data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, calculate the three-dimensional coordinate of column obstacle to the distance of column obstacle, the degreeof turn of tower arm and the altimeter of tower arm according to the intersection point of tower arm and tower body; The three-dimensional coordinate of crane arm tip and equilibrium arm arm point is calculated according to the brachium of crane arm and equilibrium arm; According to crane arm tip, equilibrium arm arm point and the three-dimensional coordinate of column obstacle calculate described crane arm tip and and column obstacle between the arm point of Distance geometry equilibrium arm and column obstacle between distance.
Distance between tower crane and obstacle comprises the distance between the arm point of the Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing, concrete computation process is: degreeof turn sensor detects the degreeof turn of tower arm, the intersection point that ultrasonic transduter detects tower arm and tower body to the intersection point of the line of centers of the line of centers of tower body and tower arm for the center of circle, the distance of the intersection of the disc being radius with the brachium of crane arm and impediment in plane thing, data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, according to the coordinate of degreeof turn with the distance determination any two points detected, determine the equation of straight line of intersection, the sharp vertical distance to this intersection of arm of crane arm and equilibrium arm is the distance between the arm point of the Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing.
Distance between tower crane and obstacle comprises the distance in tower arm arm and between obstacle, concrete computation process is: ultrasonic transduter detects the distance between tower arm and tower body intersection point to obstacle, described degreeof turn sensor detects the degreeof turn of tower arm, and amplitude sensor detects tower crane luffing distance; Data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, the three-dimensional coordinate of obstacle is calculated, according to crane arm and the high computational crane arm of the brachium of equilibrium arm, the degreeof turn of tower arm and tower arm and the three-dimensional coordinate of equilibrium arm arm point according to the degreeof turn of the distance between tower arm and tower body intersection point to obstacle, tower arm and the altimeter of tower arm; According to two point coordinate in tower crane luffing distance, the degreeof turn of tower arm and tower arm high computational tower arm, determine tower arm place equation of straight line; The three-dimensional coordinate of data processing module dyscalculia thing is to the shortest distance of the equation of straight line of tower arm place straight line, and obstacle is the shortest distance of three-dimensional coordinate to the equation of straight line of tower arm place straight line of obstacle to the distance in tower arm arm.
Control module comprises warning module, alarm module and brake module;
The entry condition of warning module is the 70%-90% that real-time running state parameter reaches specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 100%-120%;
The entry condition of alarm module is that real-time running state parameter is not less than specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 80%-100%;
Brake module comprises lifting altitude range limiter, degreeof turn range limiter and amplitude range limiter; Lifting altitude range limiter is arranged on the steel wire rope coiler axis of the lifting mechanism of tower crane, for cutting off lifting motor power supply when lifting altitude is too high; Degreeof turn range limiter is arranged on gyration gear ring, for cutting off turning motor power supply when degreeof turn is excessive; Amplitude range limiter is arranged on the motor shaft of luffing mechanism, for cutting off luffing motor power when luffing amplitude is excessive.
The entry condition of lifting altitude range limiter is that the data that weight sensor collects that hoist are not less than specified lifting weight or/and the data that torque sensor collects are not less than specified hoisting moment; The entry condition of degreeof turn range limiter is that the data that degreeof turn sensor collects are not less than specified degreeof turn; The entry condition of amplitude range limiter is that the data that amplitude sensor collects are not less than specified carriage amplitude varying.
As shown in Figure 3, display module comprises video image district A, precaution alarm police region, running state parameter display space and voice guard.
Video image district A comprises panoramic video image area and relative position image area, for showing the relative position of panorama real-time video image within the scope of tower crane lifting and tower crane and obstacle.
Precaution alarm police region comprises warning light and alarm lamp.Warning light comprises lifting weight super-limit prewarning lamp 1, lifting altitude super-limit prewarning lamp 3, hoisting moment super-limit prewarning lamp 5, carriage amplitude varying super-limit prewarning lamp 8, crane arm corner super-limit prewarning lamp 10, wind speed super-limit prewarning lamp 12 and anti-collision warning lamp 7; Alarm lamp comprises lifting weight overload alarm lamp 2, lifting altitude overload alarm lamp 4, hoisting moment overload alarm lamp 6, carriage amplitude varying overload alarm lamp 9, crane arm corner overload alarm lamp 11, wind speed overload alarm lamp 13 and collision warning lamp 14.
Running state parameter display space comprises lifting weight actual value display space B, lifting weight rated value display space C, lifting altitude actual value display space D, lifting altitude rated value display space E, hoisting moment actual value display space F, hoisting moment rated value display space G, carriage amplitude varying actual value display space H, carriage amplitude varying limit value display space I, degreeof turn actual value display space K, degreeof turn limit value display space L, wind speed actual value display space M, tower crane can bear the limit display space N of wind speed, distance display space O between tower crane and obstacle and predetermined safety distance display space P.
The weight sensor that hoists in data acquisition module, amplitude sensor, lifting altitude sensor, degreeof turn sensor, torque sensor, air velocity transducer, obliquity sensor and ultrasonic transduter gather the distance of the lifting weight of tower crane, carriage amplitude varying, lifting altitude, degreeof turn, hoisting moment, wind speed, inclination angle and tower crane and obstacle respectively; Send to data processing module and display module, the actual value at lifting weight, carriage amplitude varying, lifting altitude, degreeof turn, hoisting moment, wind speed and inclination angle and rated value contrast by data processing module, if when actual value reaches 80% of rated value, then data processing module control display module carries out early warning, warning light lights, if when actual value equals rated value, data processing module controls display module and reports to the police, alarm lamp lights, voice guard carries out audible alarm simultaneously, and controls the operation of control module restriction tower crane simultaneously.Display module display sensor sends data, and data are presented on running state parameter display space, what lifting weight actual value display space B showed lifting weight is actual value, lifting weight rated value display space C shows lifting weight rated value, lifting altitude actual value display space D shows lifting altitude actual value, lifting altitude rated value display space E shows lifting altitude rated value, hoisting moment actual value display space display hoisting moment actual value, hoisting moment rated value display space G shows hoisting moment rated value, carriage amplitude varying actual value display space H shows carriage amplitude varying actual value, carriage amplitude varying limit value display space I shows carriage amplitude varying rated value, degreeof turn actual value display space K shows degreeof turn actual value, degreeof turn limit value display space L shows degreeof turn rated value, wind speed actual value display space M shows wind speed actual value, the limit display space N that tower crane can bear wind speed shows wind speed rated value, distance display space O between tower crane and obstacle shows the actual distance between tower crane and obstacle, predetermined safety distance display space P shows the predetermined safety distance between tower crane and obstacle.
As shown in Figure 4, when obstacle is the tower body of column obstacle or adjacent tower crane, data processing module needs the arm point calculating crane arm and equilibrium arm respectively to arrive the distance of column obstacle, and set up system of axes, with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, ultrasonic transduter in data acquisition module detects tower arm and the tower body intersection point distance L to column obstacle, degreeof turn sensor detects the degreeof turn θ of tower arm, the height h of tower arm, data processing module is according to tower arm and the tower body intersection point distance to column obstacle, the degreeof turn of tower arm and the altimeter of tower arm calculate the three-dimensional coordinate of column obstacle: the coordinate of B1 point is (x3, y3, z3), the three-dimensional coordinate of crane arm tip and equilibrium arm arm point is calculated: the coordinate of A1 is (x1 according to the brachium of crane arm and equilibrium arm, y1, z1), the coordinate of A2 point is (x2, y2, z2), (x1, y1, z1, x2, y2, z2, x3, y3, z3 is constant, and z1=z2=z3) data processing module is according to the position coordinate of crane arm tip A1 point and equilibrium arm arm point A2 point, calculate B1 point respectively to the Distance geometry B1 point of A1 point to the distance of A2 point, B1 point to the distance of A1 point is:
B1 point to the distance of A2 point is
Contrast with safe early warning distance again, if when any one distance in two distances reaches 110% of safe early warning distance, data processing module then controls display module and carries out anti-collision warning, anti-collision warning lamp 7 is bright, voice guard carries out voice message simultaneously, if when any one distance in two distances reaches 90% of safe early warning distance, data processing module then controls display module and carries out collision warning, collision warning lamp 8 is bright, voice guard carries out voice message simultaneously, and controls the operation of control module restriction tower crane simultaneously.
As shown in Figure 5, when obstacle is the impediment in plane thing such as building or vertical body of wall, data processing module needs the arm point calculating crane arm and equilibrium arm respectively to arrive the distance of impediment in plane thing, and set up system of axes, with the intersection point O of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, ultrasonic transduter detects with the intersection point o of the line of centers of the line of centers of tower body and tower arm as the center of circle, any two segment distance oB1 and oB2 of the intersection of the disc being radius with the brachium of described crane arm and impediment in plane thing, degreeof turn sensor detects degreeof turn θ 1 and the θ 2 of tower arm, data processing module is according to oB1, oB2, degreeof turn θ 1, θ 2 and lifting altitude calculate the coordinate of B1 and B2 2, the coordinate of B1 is (x3, y3, z3), the coordinate of B2 is (x4, y4, z4), the equation of straight line ax+by+c=0 of intersection is calculated according to the coordinate of B1 and B2 2, (a, b, c is constant), data processing module is according to degreeof turn, the brachium of crane arm and equilibrium arm and lifting altitude calculate the coordinate of crane arm and equilibrium arm arm point, the coordinate of crane arm tip A1 is (x1, y1, z1), the coordinate of equilibrium arm arm point A2 is (x2, y2, z2), data processing module calculates the distance of crane arm tip A1 to straight line
equilibrium arm arm point A2 is to the distance of straight line
(a1, a2, b1, b2, c1, c2 are constant), this distance and safe early warning distance are compared, if when reaching 110% of safe early warning distance, data processing module then controls display module and carries out anti-collision warning, and anti-collision warning lamp 7 is bright, and voice guard carries out voice message simultaneously, if when reaching 90% of safe early warning distance, data processing module then controls display module and carries out collision warning, and collision warning lamp 8 is bright, and voice guard carries out audible alarm simultaneously, and controls the operation of control module restriction tower crane simultaneously.
As shown in Figure 6, obstacle is except easy and tower arm arm point collide, also can with tower arm arm in collide, now, data processing module needs to calculate the distance in tower arm arm and between obstacle, and set up system of axes, with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, ultrasonic transduter detects the distance L between tower arm and tower body intersection point to column obstacle, degreeof turn sensor detects the degreeof turn θ of tower arm, according to the height h of tower arm, data processing module is according to the degreeof turn θ of tower arm, amplitude sensor detects tower crane luffing distance, tower wall height h, calculate the three-dimensional coordinate A1 (x1 of any two points in cargo boom, y2, z3), A2 (x2, y2, z2), determine the equation of straight line of Ta Bi place straight line, according to the distance between tower arm and tower body intersection point to column obstacle, the degreeof turn of tower arm and the altimeter of tower arm calculate the three-dimensional coordinate of column obstacle: the coordinate of B1 point is (x3, y3, z3), the abscissa of B1 point is the shortest distance to obstacle in tower arm arm, this distance and safe early warning distance compare by data processing module, if when reaching 110% of safe early warning distance, data processing module then controls display module and carries out anti-collision warning, anti-collision warning lamp 7 is bright, voice guard carries out voice message simultaneously, if when reaching 90% of safe early warning distance, data processing module then controls display module and carries out collision warning, and collision warning lamp 8 is bright, and voice guard carries out voice message simultaneously, and controls the operation of control module restriction tower crane simultaneously.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. tower crane panorama visible, controlled, intellectual monitoring and a safeguarding integrated system, is characterized in that, comprise data acquisition module, data processing module, control module and display module; The data collected for gathering the video of camp site, the real-time running state parameter with the Distance geometry tower crane of obstacle, and are sent to data processing module by described data acquisition module; Described data processing module be used for detect and the real-time running state parameter of Distance geometry tower crane of obstacle process, calculate the three-dimensional coordinate of tower crane and obstacle, and result sent to display module and control module; Described control module is for carrying out the operation of early warning and alarming and restriction tower crane; Described display module is used for video display, parameter display and alarm display.
2. a kind of tower crane panorama visible according to claim 1, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, described real-time running state parameter comprises the lifting weight of tower crane, carriage amplitude varying, lifting altitude, degreeof turn, hoisting moment, wind speed and inclination angle.
3. a kind of tower crane panorama visible according to claim 1, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, described data acquisition module comprises video frequency collection card, ball machine camera, the weight sensor that hoists, amplitude sensor, lifting altitude sensor, degreeof turn sensor, torque sensor, air velocity transducer, obliquity sensor and ultrasonic transduter;
Described ball machine camera is arranged on by operator's compartment, and is connected with data processing module by video frequency collection card, for gathering the video information of camp site; The described weight sensor that hoists is arranged on the center shaft of proving ring, for detecting the lifting weight of tower crane; Described amplitude sensor, for detecting the position of amplitude variation trolley on derrick runway girder, is arranged on the motor shaft of luffing mechanism; Described lifting altitude sensor, for detecting the lifting altitude of lift heavy, is arranged on the steel wire rope coiler axis of lifting mechanism; Described degreeof turn sensor, for detecting the degreeof turn of tower arm, is arranged on gyration gear ring; Described torque sensor, for detecting hoisting moment, is arranged on tower machine tower head coxostermum; Described air velocity transducer, for detecting wind speed, is arranged on tower machine top; Described obliquity sensor, for detecting tower body inclining angle, is arranged on the main limb of slewing tower; Described ultrasonic transduter, for detecting the distance of tower crane and obstacle, is arranged on the position of intersecting point of tower body and tower arm.
4. a kind of tower crane panorama visible according to claim 3, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, distance between described tower crane and obstacle be crane arm tip and and column obstacle between Distance geometry equilibrium arm arm point and column obstacle between distance, its concrete measurement process is: described ultrasonic transduter detects the distance of intersection point to column obstacle of tower arm and tower body, and described degreeof turn sensor detects the degreeof turn of tower arm; Described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, calculate the three-dimensional coordinate of column obstacle to the distance of column obstacle, the degreeof turn of tower arm and the altimeter of tower arm according to the intersection point of tower arm and tower body; The three-dimensional coordinate of crane arm tip and equilibrium arm arm point is calculated according to the brachium of crane arm and equilibrium arm; According to crane arm tip, equilibrium arm arm point and the three-dimensional coordinate of column obstacle calculate described crane arm tip and and column obstacle between the arm point of Distance geometry equilibrium arm and column obstacle between distance.
5. a kind of tower crane panorama visible according to claim 3, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, distance between described tower crane and obstacle is the distance between the arm point of Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing, its concrete measurement process is: described degreeof turn sensor detects the degreeof turn of tower arm, the intersection point that described ultrasonic transduter detects tower arm and tower body to the intersection point of the line of centers of the line of centers of tower body and tower arm for the center of circle, the distance of the intersection of the disc being radius with the brachium of described crane arm and impediment in plane thing, described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, according to the coordinate of degreeof turn with the distance determination any two points detected, determine the equation of straight line of intersection, the sharp vertical distance to this intersection of arm of crane arm and equilibrium arm is the distance between the arm point of the Distance geometry equilibrium arm between crane arm tip and impediment in plane thing and impediment in plane thing.
6. a kind of tower crane panorama visible according to claim 3, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, distance between described tower crane and obstacle is the distance in tower arm arm and between obstacle, its concrete measurement process is: described ultrasonic transduter detects the distance between tower arm and tower body intersection point to obstacle, described degreeof turn sensor detects the degreeof turn of tower arm, and described amplitude sensor detects tower crane luffing distance; Described data processing module with the intersection point of the line of centers of tower body and ground level for initial point, ground level is xy plane, x-axis is projected as in xy plane with tower arm, the line of centers of tower body is z-axis, with the line vertical with z-axis with x-axis for y-axis sets up system of axes, the three-dimensional coordinate of obstacle is calculated, according to crane arm and the high computational crane arm of the brachium of equilibrium arm, the degreeof turn of tower arm and tower arm and the three-dimensional coordinate of equilibrium arm arm point according to the degreeof turn of the distance between tower arm and tower body intersection point to obstacle, tower arm and tower arm altimeter; According to two point coordinate in tower crane luffing distance, the degreeof turn of tower arm and tower arm high computational tower arm, determine tower arm place equation of straight line; The three-dimensional coordinate of described data processing module dyscalculia thing is to the shortest distance of the equation of straight line of tower arm place straight line, and described obstacle is the shortest distance of three-dimensional coordinate to the equation of straight line of tower arm place straight line of obstacle to the distance in tower arm arm.
7. a kind of tower crane panorama visible according to claim 3, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, distance between described tower crane and obstacle is the distance between the tower arm of lift heavy and adjacent tower crane, the relative position image of described this tower crane of ball machine camera collection and adjacent tower crane tower arm, described data acquisition module sends to display module to carry out video display.
8. a kind of tower crane panorama visible according to claim 1, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, described control module comprises warning module, alarm module and brake module;
The entry condition of described warning module is the 70%-90% that real-time running state parameter reaches specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 100%-120%;
The entry condition of described alarm module is that real-time running state parameter is not less than specified running state parameter, or/and the distance between tower crane and obstacle reach predetermined safety distance 80%-100%;
Described brake module comprises lifting altitude range limiter, degreeof turn range limiter and amplitude range limiter; Described lifting altitude range limiter is arranged on the steel wire rope coiler axis of the lifting mechanism of tower crane, for cutting off lifting motor power supply when lifting altitude is too high; Described degreeof turn range limiter is arranged on gyration gear ring, for cutting off turning motor power supply when degreeof turn is excessive; Described amplitude range limiter is arranged on the motor shaft of luffing mechanism, for cutting off luffing motor power when luffing amplitude is excessive.
9. a kind of tower crane panorama visible according to claim 8, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, the entry condition of described lifting altitude range limiter is that the data that weight sensor collects that hoist are not less than specified lifting weight or/and the data that torque sensor collects are not less than specified hoisting moment; The entry condition of described degreeof turn range limiter is that the data that degreeof turn sensor collects are not less than specified degreeof turn; The entry condition of described amplitude range limiter is that the data that amplitude sensor collects are not less than specified carriage amplitude varying.
10. a kind of tower crane panorama visible according to claim 1, controlled, intellectual monitoring and safeguarding integrated system, it is characterized in that, described display module comprises video image district, precaution alarm police region, running state parameter display space and voice guard;
Described video image district comprises panoramic video image area and relative position image area, for showing the relative position of panorama real-time video image within the scope of tower crane lifting and tower crane and obstacle;
Described precaution alarm police region comprises warning light and alarm lamp;
Described running state parameter display space comprises lifting weight actual value display space, lifting weight rated value display space, lifting altitude actual value display space, lifting altitude rated value display space, hoisting moment actual value display space, hoisting moment rated value display space, carriage amplitude varying actual value display space, carriage amplitude varying limit value display space, degreeof turn actual value display space, degreeof turn limit value display space, wind speed actual value display space, tower crane can bear the limit display space of wind speed, distance display space between tower crane and obstacle and predetermined safety distance display space,
The condition that described voice guard starts is that alarm module starts.
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