CN105858480B - Construction crane machine and its lifting fixed point setting-out accessory system - Google Patents

Abstract

The invention discloses a kind of construction crane machine and its lifting fixed point setting-out accessory system, the construction crane machine includes transverse arm, lifting rope and suspension hook, the construction crane machine and a lifting fixed point setting-out accessory system coordinate, lifting fixed point setting-out accessory system includes base station, supervising device and client terminal, characterized in that, the construction crane machine also includes：On the transverse arm, the rover station that suspension hook position directly above is installed；For the odometer for the mileage for detecting lifting rope, rover station receives satellite difference correction signal from base station, obtain the positional information of itself, and the positional information is sent to the supervising device, the odometer obtains the mileage of the lifting rope, the supervising device determines the position of suspension hook according to the mileage of the lifting rope and the positional information of the rover station.According to technical scheme, the process link of artificial value defence method can be reduced, the intuitive, simple profit, Accuracy and high efficiency of lifting operation operation is improved.

Description

Construction crane machine and its lifting fixed point setting-out accessory system

Technical field

The present invention relates to a kind of construction crane machine and its lifting fixed point setting-out accessory system, auxiliary crane machine is precisely fixed Point, setting-out.

Background technology

During current construction crane machine lifting operation, determine lift hook position using artificial on duty.For example, A kind of crane machine is disclosed in ZL200620036492.0.As shown in figure 1, in the crane machine, operator utilizes on the seat The working condition of the hanging object body to observe of reflective mirror 19.In the crane machine of other prior arts, also using in crane arm It is upper to set red flag to be observed.Such observation is not accurate enough, requires high to operating personnel.In addition, the tower of prior art Loop wheel machine also needs to operator sets up unified relationship, close fit with lifting person can just complete lifting task, and manipulation flow is complicated, right Personnel qualifications are strict.Using traditional artificial value defence method commander's lifting task, operating efficiency is low and easily by intervisibility bar Part is limited and operation is difficult, is wasted time and energy, intelligence degree is low and uneconomical.

The content of the invention

The present invention proposes in view of the above circumstances, lacks for alleviating or eliminating present in prior art one or more Point, provides at a kind of beneficial selection.

To realize object above, the invention discloses a kind of construction crane machine, including transverse arm, lifting rope and suspension hook, institute State construction crane machine and a lifting fixed point setting-out accessory system coordinates, the lifting fixed point setting-out accessory system includes benchmark Stand, supervising device and client terminal, wherein, the construction crane machine also includes：On the transverse arm, the suspension hook just on Put the rover station of installation in orientation；For the odometer for the mileage for measuring the lifting rope, the rover station is received from the base station Satellite difference corrects signal, obtains the positional information of itself, and the positional information is sent into the supervising device, it is described in Journey meter obtains the mileage of the lifting rope, the supervising device according to the mileage of the lifting rope and the positional information of the rover station, Determine the position of suspension hook.According to technical scheme, the process link of artificial value defence method can be reduced, lifting is improved and makees The intuitive of industry operation, simple profit, Accuracy and high efficiency.

Using said system and operating method, some embodiments of the present invention have following novelty：

1st, when construction crane machine carries out lifting operation, do not limited by the sighting condition at daytime or night, can be round-the-clock Operation (without intervisibility).

2nd, when construction crane machine carries out lifting operation, it is possible to achieve lifting precisely fixed point, setting-out (high accuracy).

3rd, when construction crane machine carries out lifting operation, completing lifting task can be with time saving and laborsaving (low consumption).

4th, it is easy to operate directly perceived when construction crane machine carries out lifting operation, practical value height (high-effect).

5th, it can avoid causing the rover station of costliness to damage because suspension hook and other objects are collided.

6th, because rover station is arranged on arm, rover station can be made to be measured without dead angle.

Construction crane machine operator is according to the display of the application service system on supervising device or has pointed out Into lifting precisely fixed point, setting-out task, reduce the process link of artificial value defence method, improve lifting operation operation intuitive, Simple profit, Accuracy and high efficiency.

The construction lifting fixed point setting-out accessory system of some embodiments of the invention improves construction crane machine and hung Fill operating efficiency, overcome daytime or night because sighting condition is not enough and lifting operation is difficult, operating process complication, operation cost when Arduously, the problems such as automaticity is low, its directly perceived, fixed point setting-out easy to operate precisely, can with it is time saving and energy saving, round-the-clock can make Industry, improves practicality, accuracy, efficiency and the economy of tower crane machine operation.

Brief description of the drawings

With reference to accompanying drawing, the present invention may be better understood.But what accompanying drawing was merely exemplary, it is not the guarantor to the present invention Protect the limitation of scope.

Fig. 1 shows a kind of schematic diagram of tower crane of prior art；

Fig. 2 shows the construction crane machine lifting fixed point setting-out accessory system according to one embodiment of the present invention Schematic diagram；

Fig. 3 shows the system architecture of the base station, rover station and client terminal according to one embodiment of the present invention Schematic diagram；

Fig. 4 shows the schematic diagram of another crane machine；

Fig. 5 shows the enlarged diagram at the arm and suspension hook of Fig. 4 crane machine；And

Fig. 6 shows the data exchange system according to one embodiment of the present invention.

Embodiment

Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in further detail, but do not constituted to any of the present invention Limitation.

The present inventor by study find, in order to preferably complete crane machine lifting fixed point setting-out task, it is necessary to Know the position of suspension hook, it is contemplated that this can be by realizing in lift hook position placement positioning device.But, suspension hook can It can be collided, often swing, be influenceed also than larger by wind, and can not be measured in some places.Thus The present inventor contemplates embodiments of the present invention to preferably carry out setting-out.

Fig. 2 shows the construction crane machine lifting fixed point setting-out accessory system according to one embodiment of the present invention Schematic diagram.

As shown in Fig. 2 according to one embodiment of the present invention, construction crane machine lifting fixed point setting-out auxiliary system System includes base station 1, rover station 2, client terminal 3, supervising device 4 and odometer 6.In a preferred embodiment, also wrap Include data exchange system 8.Rover station 2, supervising device 4 and odometer 6 are arranged on crane machine 7.Application service system 5 can pacify On supervising device 4, in one embodiment, application service system 5 can also be arranged on the webserver.According to upper Hereafter, such as rover station of the part on crane machine 7 can be considered as a part for crane machine.

In one embodiment of the invention, described base station 1 passes through data exchange system 8 and rover station 2, client Terminal 3 sets up connection, and rover station 2, client terminal 3, odometer 6 pass through data exchange system 8 and supervising device 4, application service System 5 sets up connection.

Fig. 3 shows the system architecture of the base station, rover station and client terminal according to one embodiment of the present invention Schematic diagram.As shown in figure 3, according to one embodiment of the present invention, base station 1, rover station 2 and client terminal 3 are GNSS Satellite signal receiving equipment, respectively including being connected the geodetic type satellite positioning module 11 encapsulated, antenna with kernel control module 18 Module 12, memory module 13, power module 14, communication module 15, data exchange module 16 and data computation module 17.The implementation Mode is schematical, and those skilled in the art can take any mode to realize these modules, it would however also be possible to employ different Constituted mode come realize the present invention base station 1, rover station 2 and client terminal 3, these are all within the scope of the present invention.

Base station 1 is erected at the project under construction visual field wide known coordinate point relatively nearby, can be one or more, base Quasi- station 1 can generate GNSS satellite differential correcting signal, and satellite difference correction signal can pass through single base station RTK or many benchmark Network RTK (CORS) systems of standing are broadcast to rover station 2 and client terminal 3 by data exchange system 8.It is real according to one kind of the present invention Mode is applied, rover station 2, client terminal 3 and client terminal 9 can also be transmitted directly to.

In one embodiment, described rover station 2 may be mounted on the transverse arm of crane machine 7 (or arm), suspension hook Surface.For example in the case of the crane machine shown in Fig. 1, rover station 2 may be mounted at the surface of pulley 9 of transverse arm. In the present invention, based on context, in the plane of a certain small range directly over suspension hook, it can be hung by simply converting The point of plane and elevation location directly over hook also can be considered positioned at the surface of suspension hook.

Rover station 2 using the differential correcting signal of change from base station 1 Anneta module 12 of itself elevation location and Plan-position, the plane of Anneta module 12 and elevation location of described rover station 2, broadcasts to monitoring via data exchange system 8 The plan-position of the Anneta module 12 of described rover station 2 is defined as lifting fixed point setting-out plane position by device 4, supervising device 4 Put.

In one embodiment, rover station 2 using the differential correcting signal and crane machine to a certain base station away from From the elevation location and plan-position for calculating the Anneta module 12 of itself.In one embodiment, first according to below equation Obtain coordinate of the rover station under tower crane system：

Wherein,WithRespectively coordinate of the rover station under tower crane system and WGS-84 systems；T_X、T_Y、T_ZFor The translation parameters of tower crane system is transformed into by WGS-84 systems；ω_X、ω_Y、ω_ZTo be transformed into the rotation ginseng of tower crane system by WGS-84 systems Number；M is the scale parameter that tower crane system is transformed into by WGS-84 systems.

Then, by the tower crane system coordinate of the rover stationCoordinate Conversion is carried out under gauss projection, obtains described The plan-position (x, y) of rover station and elevation location H.

According to one embodiment of the present invention, odometer 6 is arranged on a certain quiet pulley for carrying out the lifting rope folding and unfolding of crane machine 7 On, for example in the case of figure 1, it may be mounted at pulley 9.Odometer 6 is used to accurately measure lifting rope retractable length The amount mileage of lifting rope (be referred to as), so as to oneself calculate hook lifting amount, and via data exchange system 8 broadcast to Supervising device 4.In one embodiment, odometer 6 can only measure lifting rope retractable Length Quantity, and the length is sent out Give supervising device 4.Supervising device 4 is sent out using the elevation location and odometer 6 of the Anneta module 12 of described rover station 2 The data sent, it is determined that lifting fixed point setting-out elevation location.

Plus-minus calculating simply can be carried out according to the elevation of the mileage of odometer 12 and rover station and determine that lifting fixed point is put Sample elevation location.

More accurately, it can be calculated using following formula, suspension hook speed of crane machine etc. has been used in the calculating Information.

Wherein, H_gRepresent the elevation of suspension hook, H₁It is the elevation of the rover station antenna phase center, H₂It is the rover station Antenna phase center is to the vertical height of antenna bottom, H₃It is the height of the locomotive on the transverse arm, L is that the odometer is measured Lifting rope folding and unfolding mileage, V₁It is the tangential velocity of the locomotive on the transverse arm, V₂For wind speed, a is the acceleration of wind, H₄ It is the vertical range of the movable pulley and the suspension hook.

Fig. 4 shows the schematic diagram of another crane machine.The crane machine includes fixing device 21, column 22, transverse arm 23, shifting Motor-car 24 and arm movable pulley 25.Fig. 5 shows the enlarged diagram at arm 25 and suspension hook.For as shown in Figure 4 and Figure 5 Situation, odometer can be placed at the movable pulley 25.In a preferred embodiment, odometer 6 can be placed on from hanging At the nearer pulley for folding and unfolding lifting rope of hook.In the case of the crane machine shown in Fig. 4, rover station 2 can be placed on movement On car 24.Rover station is placed on the situation on the part being arranged on transverse arm (or arm) 23, is also referred to as arranged on the transverse arm Or on arm.

In one embodiment, rover station or supervising device are as follows according to the distance of a certain base station to the crane machine Ground calculates translation parameters error, so as to obtain plan-position and the elevation location of itself：

Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represents the earth longitude and latitude at base station Degree, d_HThe geodetic height error at base station is represented, b represents the plane transverse axis distance between base station and rover station, and l represents benchmark The plane longitudinal axis distance stood between rover station.The method that the position of rover station is obtained according to translation parameters error can be using this The various methods known known to field or later are carried out, and are repeated no more herein.Profit in this way, efficiently utilizes base station Known location relation between rover station, can more be accurately determined the position of rover station.

In order to accurately determine the l and b of the above, position of the rover station on arm can be measured by sensor.

Client terminal 3 is hand-held by fixed-point installation person or setting-out lifting person, it is determined that sampling and setting-out place.Client terminal 3 can With by data exchange system 8 or directly from base station receive GNSS satellite differential correcting signal, complete Difference Calculation after pass through by Data exchange system 8 broadcasts lifting, setting-out exact position and command information to supervising device 4.

In one embodiment, supervising device 4 is arranged on crane machine OPS, auxiliary commander's crane machine operator's lifting Operation, supervising device 4 can be the desk-type integrated computer with communication module, desktop computer, notebook computer, palm PC, flat board Computer or smart mobile phone etc., receive rover station 2, the position that client terminal 3 and odometer 6 are broadcast via data exchange system 8, rise Drop amount and command information, it is determined that lifting fixed point setting-out plan-position and sampling spot, the position in setting-out place, distance etc..

According to this embodiment of the present invention, construction crane machine lifting operation efficiency can be improved, is overcome white The problems such as it or night intervisibility are difficult, its it is easy to operate it is directly perceived, can all weather operations, fixed point setting-out it is accurate and time saving and energy saving, real It is high with value.And the not mounting and positioning device on suspension hook, cost can be reduced.

Fig. 6 shows the data exchange system 8 according to one embodiment of the present invention.As shown in fig. 6, described data Exchange system 8 is provided with data exchange module 31, memory module 32, data processing module 33, communication module 34.Described communication mould Block 34 can be UHF radio station, WIFI, GPRS, bluetooth communication module.

One kind of the present invention is based on construction crane machine lifting fixed point setting-out system, can operate as follows：Before lifting, Base station is set up on known coordinate relatively wide point near project under construction, benchmark station coordinates is inputted into application service system, from Dynamic generation lifting fixed point setting-out watch circle, by correcting after seven parameter configurations (according to circumstances or 3 parameter configurations) and open Dynamic rover station and client terminal；During lifting, lifting fixed point, setting-out position and command information are broadcast from lifting person to supervising device, Operator is completed according to the display or prompting of supervising device after the completion of lifting precisely fixed point, setting-out, lifting operation, is terminated lifting and is made Industry program, all lifting operation data storages automatically generate lifting operation fixed point setting-out track to application service system.

The specific implementation of the system refers to situations below：1. the relatively wide known coordinate position in the visual field near project under construction Put the one or more base stations of erection；2. in construction crane machine transverse arm movable pulley top using this accessory system etc. peace Fill rover station；3. the installation data bitcom on rover station and client terminal；4. correct position places data at the construction field (site) Exchange system, can be placed near office, crane machine or base station, and data exchange system can also complete LAN server Function；5. starting base station, rover station etc., check that the data cube computation between all parts is correct.6. take three or more than three Know coordinate points, handheld client terminal is placed on known point, carry out point calibration and calculate seven parameters, and correct the correctness of system. 7. supervising device receives handheld client terminal lifting fixed point, setting-out coordinate information.8. starting crane machine, determined according to supervising device Dress fixed position of putting first be directed at lifting fixed position, start lifting operation, then be directed at lifting setting-out position, implement lifting and appoint Business, terminates lifting operation program.

The process link of artificial value defence method is reduced using this patent, improve the intuitive of lifting operation operation, simple profit, Accuracy and high efficiency.The construction crane machine lifting fixed point setting-out accessory system of this patent improves construction crane machine and hung Fill operating efficiency, overcome the problems such as daytime or night intervisibility are difficult, its it is easy to operate it is directly perceived, can all weather operations, fixed point put Sample is accurate and time saving and energy saving, practical value is high.

Present system provide a kind of science, simplicity, it is high-precision, round-the-clock, without intervisibility, intelligentized construction Crane machine lifting fixed point setting-out accessory system, it is adaptable on various brands tower crane machine equipment is auxiliary crane machine in lifting Fixed point setting-out operation that is quick during operation, precisely, efficiently completing lifting task, improves the efficiency of equipment, simplicity and precisely Property.

The above-mentioned detailed description of the present invention only further believes content to those skilled in the art, for reality The preferred aspect of the present invention is applied, and the scope of the present invention will not be limited.Only claim is used to determine the present invention Protection domain.Therefore, the combination of the feature and step in foregoing detailed description not necessarily be used in most broad model The interior implementation present invention is enclosed, and alternatively the representative embodiment only to the special detailed description of the present invention provides teaching.This Outside, embodiment is used in order to obtain being attached with for the present invention, a variety of features that teaching is provided in the description can be by more The mode of kind is combined, but these modes are next without especially being included.

Claims (4)

1. a kind of construction crane machine, including transverse arm, lifting rope and suspension hook, the construction crane machine are put with a lifting fixed point Sample accessory system coordinates, and the lifting fixed point setting-out accessory system includes base station, supervising device and client terminal, and its feature exists In the construction crane machine also includes：On the transverse arm, the rover station that the suspension hook position directly above is installed；For The odometer of the mileage of the lifting rope is measured, the rover station receives satellite difference correction signal from the base station, is derived from The positional information of body, and the positional information is sent to the supervising device, the odometer obtains the mileage of the lifting rope, The supervising device determines the position of suspension hook according to the mileage of the lifting rope and the positional information of the rover station,

The odometer, which is arranged on, is used for the movable pulley of lifting rope described in folding and unfolding or quiet pulley, and the rover station is arranged on the horizontal stroke Being used on arm slides the locomotive of the suspension hook along the transverse arm,

The construction crane machine includes being located at the movable pulley above the suspension hook, and the supervising device is by the rover station Plan-position is considered as the plan-position of the suspension hook, and the supervising device calculates the elevation of the suspension hook according to below equation：

$H_g=\{H_1-(H_2+H_3)\}-\sqrt{\frac{L^2}{4}-{\[V_1-(V_2+a^2)\]}^2}-H_4$

Wherein, H_gRepresent the elevation of suspension hook, H₁It is the elevation of the rover station antenna phase center, H₂It is the flowing station antenna Phase center is to the vertical height of antenna bottom, H₃It is the height of the locomotive on the transverse arm, L is hanging of measuring of the odometer The folding and unfolding mileage of rope, V₁It is the tangential velocity of the locomotive on the transverse arm, V₂For wind speed, a is the acceleration of wind, H₄It is institute State the vertical range of movable pulley and the suspension hook.

2. construction crane machine according to claim 1, it is characterised in that the rover station obtains itself as follows Plan-position and elevation location：

Coordinate of the rover station under tower crane system is obtained according to below equation first：

Wherein,WithRespectively coordinate of the rover station under tower crane system and WGS-84 systems；T_X、T_Y、T_ZServe as reasons WGS-84 systems are transformed into the translation parameters of tower crane system；ω_X、ω_Y、ω_ZTo be transformed into the rotation parameter of tower crane system by WGS-84 systems；m To be transformed into the scale parameter of tower crane system by WGS-84 systems；

Then, by the tower crane system coordinate of the rover stationCoordinate Conversion is carried out under gauss projection, the flowing is obtained The plan-position (x, y) stood and elevation location H.

3. construction crane machine according to claim 2, it is characterised in that the rover station is according to from the benchmark The distance of differential correcting signal and the base station to the crane machine stood calculates translation parameters error as follows, so as to obtain Plan-position and elevation location derived from body：

$\left[\begin{array}{c}dx1\\ dy1\\ dz1\end{array}\right]=d_H\left[\begin{array}{c}cos(B-b)cos(L+l)\\ cos(B+b)sin(L-1)\\ \sin B\end{array}\right]$

Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represents the earth longitude and latitude at base station, d_HTable Show the geodetic height error at base station, b represents the plane transverse axis distance between base station and rover station, and 1 represents base station and stream Plane longitudinal axis distance between dynamic station, by measure the crane machine to the distance between base station with the rover station described Position on the arm of crane machine obtains the b and described 1.

4. a kind of construction crane machine lifting fixed point setting-out accessory system, including base station, supervising device and client terminal, The construction crane machine includes transverse arm, lifting rope and suspension hook, it is characterised in that the lifting fixed point setting-out accessory system is also wrapped Include：On the transverse arm, the rover station that the suspension hook position directly above is installed；For the mileage for the mileage for detecting the lifting rope Meter, the rover station receives satellite difference correction signal from the base station, obtains the positional information of itself, and by the position Information is sent to the supervising device, and the odometer obtains the mileage of the lifting rope, and the supervising device is according to the lifting rope Mileage and the rover station positional information, determine the position of suspension hook,

Described base station (1) is erected at the project under construction visual field wide known coordinate point relatively nearby, broadcasts GNSS satellite poor Divide correction signal, using single base station RTK or many reference station RTK systems, described client terminal (3) is by fixed-point installation person Hand-held with setting-out lifting person, described supervising device (4) is arranged on the OPS of the crane machine, the construction crane machine Lifting fixed point setting-out accessory system also includes data exchange system (8), and described data exchange system (8) is provided with data exchange mould Block (31), memory module (32), data processing module (33) and communication module (34), the communication module (34) be UHF radio station, Any one in WIFI, GPRS, bluetooth communication module, wherein the supervising device is additionally operable to generation lifting fixed point setting-out monitoring Figure, and lifting operation fixed point setting-out track is determined according to the position of the suspension hook,

Wherein：

The odometer, which is arranged on, is used for the movable pulley of lifting rope described in folding and unfolding or quiet pulley, and the rover station is arranged on the horizontal stroke Being used on arm slides the locomotive of the suspension hook along the transverse arm；

The construction crane machine includes being located at the movable pulley above the suspension hook, and the supervising device is according to below equation meter Calculate the position of the suspension hook：

$H_g=\{H_1-(H_2+H_3)\}-\sqrt{\frac{L^2}{4}-{\[V_1-(V_2+a^2)\]}^2}-H_4$

Wherein, H_gRepresent the elevation of suspension hook, H₁It is the elevation of the rover station antenna phase center, H₂It is the flowing station antenna Phase center is to the vertical height of antenna bottom, H₃It is the height of the locomotive on the transverse arm, L is hanging of measuring of the odometer The folding and unfolding mileage of rope, V₁It is the tangential velocity of the locomotive on the transverse arm, V₂For wind speed, a is the acceleration of wind, H₄It is institute The vertical range of movable pulley and the suspension hook is stated,

The rover station obtains plan-position and the elevation location of itself as follows：

Coordinate of the rover station under tower crane system is obtained according to below equation first：

Wherein,WithRespectively coordinate of the rover station under tower crane system and WGS-84 systems；T_X、T_Y、T_ZServe as reasons WGS-84 systems are transformed into the translation parameters of tower crane system；ω_X、ω_Y、ω_ZTo be transformed into the rotation parameter of tower crane system by WGS-84 systems；m To be transformed into the scale parameter of tower crane system by WGS-84 systems；

Then, by the tower crane system coordinate of the rover stationCoordinate Conversion is carried out under gauss projection, the flowing is obtained The plan-position (x, y) stood and elevation location H；

The rover station according to the distance of differential correcting signal and the base station from base station to the crane machine such as Translation parameters error is calculated lowerly, so as to obtain plan-position and the elevation location of itself：

$\left[\begin{array}{c}dx1\\ dy1\\ dz1\end{array}\right]=d_H\left[\begin{array}{c}cos(B-b)cos(L+l)\\ cos(B+b)sin(L-l)\\ \sin B\end{array}\right]$

Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represents the earth longitude and latitude at base station, d_HTable Show the geodetic height error at base station, b represents the plane transverse axis distance between base station and rover station, and 1 represents base station and stream Plane longitudinal axis distance between dynamic station, by measure the crane machine to the distance between base station with the rover station described Position on the arm of crane machine obtains the b and described 1.