CN106185645B - A kind of GNSS dual-flows station construction crane machine - Google Patents
A kind of GNSS dual-flows station construction crane machine Download PDFInfo
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- CN106185645B CN106185645B CN201610821643.1A CN201610821643A CN106185645B CN 106185645 B CN106185645 B CN 106185645B CN 201610821643 A CN201610821643 A CN 201610821643A CN 106185645 B CN106185645 B CN 106185645B
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- rover station
- suspension hook
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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
- B66C23/18—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 specially adapted for use in particular purposes
- B66C23/26—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
- B66C23/28—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail constructed to operate at successively higher levels
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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
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of GNSS dual-flows station construction crane machine, including transverse arm, the first and second lifting rope sections, the movable pulley between the first and second lifting rope sections, the second lifting rope section end suspension hook, the crane machine coordinates with the accessory system including base station and supervising device, and the crane machine includes：On transverse arm, the first rover station of suspension hook position directly above installation；The second rover station being arranged on movable pulley, first and second rover stations are from base station reception signal, obtain the positional information of itself, and positional information is sent to supervising device, determine first, whether the plan-position of the second rover station differs greatly, such as differ greatly, then regard first, second rover station, suspension hook is on the same line, and according to first, the position of second rover station determines lift hook position, such as it is more or less the same, the plan-position of second rover station is then defined as to the plan-position of suspension hook, according to the length of the second lifting rope section and the elevation of the second rover station, determine the elevation of suspension hook.
Description
Technical field
The present invention relates to a kind of construction crane machine, more particularly to the construction crane machine using GNSS technologies.
Background technology
Construction crane machine lifting operation is it needs to be determined that lift hook position.It is more at present using by the way of manually on duty.This
The shortcomings that kind artificial value defence's formula is obvious：Observe not accurate enough, high are required to operating personnel, and be possible to over the ground
Face duty personnel damages.Easily collided in addition, the mode that GPS is installed directly on suspension hook is present, in some situations
Under, situations such as GPS installed on suspension hook can not provide valid data, thus be also required to be improved.
The content of the invention
The present invention proposes in view of the above circumstances, is lacked for alleviating or eliminating present in prior art one or more
Point, provide at a kind of beneficial selection.
To realize object above, the invention discloses a kind of dual-flow station construction crane machine based on GNSS technologies,
The construction crane machine include transverse arm, the first lifting rope section, the second lifting rope section, positioned at the first lifting rope section and the second lifting rope
Movable pulley between section, and the suspension hook in the second lifting rope section end, 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, wherein, institute
Stating construction crane machine also includes：On the transverse arm, the first rover station of suspension hook position directly above installation；It is arranged on
The second rover station on the movable pulley, first rover station and second rover station are poor from base station reception satellite
Divide correction signal, obtain the plan position information and elevation information of itself, and the plan position information and the elevation are believed
Breath is sent to the supervising device, the supervising device determine first rover station and plan-position and the described second flowing
Whether the plan-position stood differs larger, if difference is larger, depending on first rover station, the second rover station and the suspension hook
On same oblique line, and according to first rover station, the plan-position of the second rover station and elevation, determine the suspension hook
Plan-position and elevation, if be more or less the same, then it is assumed that the second flowing erect-position is in the surface of the suspension hook, by described the
The plan-position of two rover stations is defined as the plan-position of the suspension hook, and according to the length of the second lifting rope section and described
The elevation of two rover stations, determine the elevation of suspension hook.
According to a kind of embodiment, the supervising device calculating second rover station is measured flat within a certain period of time
The average value of face position and the average value of elevation, the calculating of lift hook position is carried out using the average value.
According to a kind of embodiment, the supervising device calculates the root mean square of the altitude data of the second rover station, when described
When the root mean square of the altitude data of second rover station exceedes predetermined value, alarmed, prompt to postpone carrying out operation.
According to a kind of embodiment, the supervising device calculates the position of the suspension hook according to below equation：
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is described
Two flow the phase centers of station antenna 5 to the vertical height of antenna bottom, H3It is height of the antenna bottom to the movable pulley center
Difference, V1It is the tangential velocity of the locomotive on the transverse arm, V2For wind speed, a is the acceleration of wind, and R is the half of the movable pulley
Footpath, H4It is the length of the second lifting rope section.
According to a kind of embodiment, the supervising device calculates the position of the suspension hook according to below equation：
Hg={ H1-(H2+H3)}×2(v1-v2)2/L×(a0-a1)×(H4+R)
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is described
Two flow the phase centers of station antenna 5 to the vertical height of antenna bottom, H3It is height of the antenna bottom to the movable pulley center
Difference, V1It is the tangential velocity of the locomotive on the transverse arm, V2For wind speed, a0 is transverse arm current acceleration, and a1 is the acceleration of wind
Degree, R are the radiuses of the movable pulley, H4It is the length of the second lifting rope section.
According to a kind of embodiment, first rover station or second rover station obtain the plane position of itself as follows
Put 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；TX、TY、TZFor
The translation parameters of tower crane system is transformed into by WGS-84 systems；ωX、ωY、ωZTo be transformed into the rotation of tower crane system ginseng 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, described in acquisition
The plan-position (x, y) of rover station and elevation location H.
According to a kind of embodiment, the rover station is according to the differential correcting signal from base station and the base station
Distance to the crane machine calculates translation parameters error as follows, so as to obtain the plan-position of itself and elevation location：
Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represent the earth longitude and latitude at base station
Degree, dHThe 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, by measuring the crane machine to the distance between base station and the rover station
Position on the arm of the crane machine obtains the b and the l.
According to a kind of embodiment, the supervising device is arranged on the construction crane machine, forms the building
A part for construction crane machine.
According to a kind of embodiment, the second lifting rope segment length is shorter than described in 5.2 times of its length of the suspension hook
20 times of the own degrees of suspension hook, the construction crane machine also include odometer, and the odometer is used to determining described the
The length of one lifting rope section, and be sent to the supervising device, the supervising device determine the length of the second lifting rope section with
The length ratio of the first lifting rope section is 2：17 to 5:When between 17, just first rover station is determined in the supervising device
In the case that the plan-position of sum differs larger with the plan-position of second rover station, depending on first rover station, second
Rover station and the suspension hook are on same oblique line.
According to the embodiment of the present invention, the rover station by costliness can be avoided to be arranged on suspension hook.According to some implementations
Mode, it is contemplated that the positional information between the influence of wind speed or utilization base station and crane machine, can more be accurately positioned suspension hook
Position.
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 the schematic diagram of the crane machine according to one embodiment of the present invention；
Fig. 2 shows the enlarged diagram at the arm movable pulley and suspension hook of Fig. 1 crane machines；
Fig. 3 shows the construction crane machine lifting fixed point setting-out accessory system according to one embodiment of the present invention
Schematic diagram；And
Fig. 4 is shown calculates suspension hook position in the case where the plan-position of the first rover station and the second rover station difference is larger
The schematic diagram put.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in further detail, but do not formed 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 position
Putting to be collided, and often swing, and influenceed by wind also bigger, and can not be measured in some places.
Thus the present inventor contemplates embodiments of the present invention to preferably carry out setting-out.
On the other hand, in the embodiment of some prior arts, some suspension hooks are directly hung on lifting rope, and lifting rope passes through solid
The quiet pulley being scheduled on arm carries out folding and unfolding.In this technical scheme, the requirement to lifting rope is very high, and correspondingly improves
The cost of the auxiliary products related to lifting rope.In some embodiments, quiet pulley and movable pulley are installed on suspension hook.For
The technical scheme of quiet pulley and movable pulley is installed on suspension hook, once accident occurs, then can cause larger loss.
Fig. 1 shows the schematic diagram of the crane machine according to one embodiment of the present invention.The crane machine includes fixed fill
Put 11, column 12, transverse arm 13, locomotive 14 and arm movable pulley 15, the first lifting rope section 16 and the second lifting rope section 17.Fig. 2 is shown
Enlarged diagram at Fig. 1 arm movable pulley 25 and suspension hook.
Fig. 3 shows the construction crane machine and its lifting fixed point setting-out auxiliary according to one embodiment of the present invention
The schematic diagram of system.
As shown in figure 3, according to one embodiment of the present invention, construction crane machine lifting fixed point setting-out accessory system
Including base station 1, the first rover station 2, client terminal 3, the rover station 5 of supervising device 4 and second.In preferred embodiment
In, in addition to data exchange system 7.First rover station 2, supervising device 4, the second rover station 5 are arranged on crane machine 6.
In one embodiment of the invention, described base station 1 by the rover station 2 of data exchange system 7 and first,
Client terminal 3, the second rover station 5 establish connection, and the first rover station 2, client terminal 3, the second rover station 5 pass through data exchange system
System 7 is established with supervising device 4 and connected.
According to one embodiment of the present invention, base station 1, the first rover station 2, the second rover station 5 and client terminal 3 are equal
It is GNSS satellite signal receiver, the geodetic type satellite fix mould that encapsulation is connected with kernel control module can be included respectively
Block, Anneta module, memory module, power module, communication module, data exchange module and data computation module.The embodiment
It is schematical, those skilled in the art can take any mode to realize these modules, can also use different compositions
Mode come realize the present invention base station 1, the first rover station 2, the second rover station 5 and client terminal 3, these all the present invention
In protection domain.
Base station 1 is erected at the project under construction relatively wide known coordinate point in the visual field 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 more benchmark
Network RTK (CORS) systems of standing are broadcast to rover station 2 and client terminal 3 by data exchange system 7.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, the first described rover station 2 is arranged on the transverse arm of crane machine 6 (or arm), suspension hook
Surface.In the present invention, based on context, in the plane of a certain small range directly over suspension hook (such as locomotive 14
On), can also be can be considered by simply converting to obtain the point of plane directly over suspension hook and elevation location positioned at suspension hook just on
Side.
First rover station 2 using the differential correcting signal of change Anneta module of itself from base station 1 elevation location
And plan-position, the plane and elevation location of the Anneta module of first rover station 2, via data exchange system 7 broadcast to
Supervising device 4.
In one embodiment, rover station 2 utilizes the differential correcting signal and crane machine to the distance meter of base station
Calculate elevation location and the plan-position of the Anneta module 12 of itself.In one embodiment, can carry out as follows.Obtain first
Obtain tower crane system coordinate：
Wherein,WithRespectively coordinate of the rover station under tower crane system and WGS-84 systems；TX、TY、TZFor
The translation parameters of tower crane system is transformed into by WGS-84 systems；ωX、ωY、ωZTo be transformed into the rotation of tower crane system ginseng 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, described in acquisition
The plan-position (x, y) of rover station and elevation location H.
In one embodiment, rover station or supervising device are as follows according to the distance of the base station to the crane machine
Ground calculate translation parameters error, so as to obtain it is accurate itself plan-position and elevation location：
Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represent the earth longitude and latitude at base station
Degree, dHThe 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 of the position of rover station is obtained according to translation parameters error can use 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, it can more be accurately determined the position of rover station.
In order to accurately determine the l of the above and b, position of the rover station on arm can be measured by sensor.
Second rover station 5 is arranged on the movable pulley, and the second rover station 5 enters in an identical manner with the first rover station 2
Row work, to determine the plan-position of itself and elevation location.
According to one embodiment of the present invention, the plan-position of the first rover station 2 and the second rover station 5 is compared
Compared with, if its plan-position difference it is larger (such as | x2-x1 |>First threshold) or | y2-y1 |>Second Threshold, wherein, (x2,
Y2) be the second rover station 5 plan-position coordinate, (x1, y1) is the plan-position coordinate of the first rover station 2), then regarding described
One rover station 2, the second rover station 5 and the suspension hook are on same straight line (oblique line, not being the vertical line on ground), and according to institute
The first rover station, the plan-position of the second rover station and elevation are stated, determines plan-position and the elevation of the suspension hook.Fig. 4 is shown
The schematic diagram of lift hook position is calculated in the case where the plan-position of the first rover station and the second rover station difference is larger.Fig. 4
In, (x1, y1, h1) is plan-position and the elevation of the first rover station, (x2, y2, h2) be the second rover station plan-position and
Elevation, H4It is the length of the second lifting rope section, bielliptic(al) represents suspension hook.Those skilled in the art it is recognised that can according to including
The various methods of triangulo operation, according to the first rover station, the plan-position of the second rover station and elevation, the length of the second lifting rope section
Spend calculate plan-position and the elevation of suspension hook, thus it will not go into details for specific computational methods.
If the plan-position of the first rover station 2 and the second rover station 5 be more or less the same ((such as | x2-x1 |<First threshold)
Or | y2-y1 |<Second Threshold), then the plan-position coordinate of the second rover station 5 is considered as to the plan-position coordinate of suspension hook, and root
According to the elevation of suspension hook described in the elevation of second rover station 5 and the length computation of the second lifting rope section.In such case
Under, actually it is in regarding the second rover station and suspension hook on the straight line on ground.
In addition, according to a kind of embodiment, according to the elevation of below equation calculating suspension hook：
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is described
The phase center of the antenna of two rover stations 5 is to the vertical height of the bottom of antenna, H3It is the antenna bottom to the movable pulley center
Difference in height, v1It is the tangential velocity of the locomotive on the transverse arm, v2For wind speed, a is the acceleration of wind, and R is the dynamic cunning
The radius of wheel, H4It is the length of the second lifting rope section.This mode considers the influence of wind.
According to another embodiment, according to following formula
Hg={ H1-(H2+H3)}×2(v1-v2)2/L×(a0-a1)×(H4+R)
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is described
Two flow the phase centers of station antenna 5 to the vertical height of antenna bottom, H3It is height of the antenna bottom to the movable pulley center
Difference, v1It is the tangential velocity of the locomotive on the transverse arm, v2For wind speed, a0 is transverse arm current acceleration, and a1 is the acceleration of wind
Degree, R are the radiuses of the movable pulley, H4It is the length of the second lifting rope section.This mode have also contemplated that the influence of wind.
According to the further embodiment of the present invention, supervising device 4 calculates what rover station 5 was measured within a certain period of time
The average value of data, the calculating of lift hook position is carried out using the average value.
According to another embodiment of the present invention, supervising device 4 calculates the root mean square of the altitude data of the second rover station 5,
When the root mean square of the altitude data of rover station 5 exceedes predetermined value, carry out alarm and inform postponement or Suspend Job.
According to one embodiment of the present invention, the length for being shorter in length than the first lifting rope section of the second lifting rope section is (from first
Degree of the lifting rope section close to the position of transverse arm 13 to the center of movable pulley 15) 3/17, but it is longer than the 5/17 of the first lifting rope section, and
It is longer than 5.2 times of suspension hook its length, is shorter than 50 times of suspension hook its length.As shown by data in testing at the scene, if the
Two lifting rope sections are too short, i.e. movable pulley is more or less the same relatively close to suspension hook, and with the length of suspension hook, then one side presence is some again
In the case of, specific GNSS data can not be known at movable pulley 15, on the other hand, the second lifting rope section inclining relative to vertical direction
Oblique degree has some differences with the first lifting rope section relative to the inclined degree of vertical direction.And if the second lifting rope section is long,
That is movable pulley relatively away from suspension hook, then the reading of the first rover station and the second rover station can relatively and with the reality at suspension hook
Situation has some differences.Thus, in the preferred embodiment of the present invention, the length of the first lifting rope section is measured using odometer
Degree, and is sent to supervising device by the length, when the second lifting rope section and the first lifting rope section meet above proportionate relationship, just applies
The present invention.
Client terminal 3 is held by fixed-point installation person or setting-out lifting person, it is determined that sampling and setting-out place.Client terminal 3 can
By data exchange system 7 or directly to receive GNSS satellite differential correcting signal from base station, complete to pass through after Difference Calculation by
Data exchange system 7 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 desk-type integrated computer, desktop computer, notebook computer, palm PC, flat board with communication module
Computer or smart mobile phone etc., rover station 2, the position that client terminal 3 is broadcast, lifting amount are received with referring to via data exchange system 7
Information is made, 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 difficulty, 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.
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 relatively wide known coordinate 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 seven parameter configurations (according to circumstances or 3 parameter configurations) after correcting and is opened
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 precisely pinpoints according to the display or prompting completion lifting of supervising device, setting-out, after the completion of lifting operation, terminates to lift and makees
Industry program, all lifting operation data storages to application service system, automatically generate lifting operation fixed point setting-out track.
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 and set up one or more base stations；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, it can be placed near office, crane machine or base station, data exchange system can also complete LAN server
Function；5. starting base station, rover station etc., check that the data connection 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, terminate 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, the problems such as overcoming daytime or night intervisibility difficulty, 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.
Provide present system 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, is suitably mounted on various brands tower crane machine equipment, is being lifted for auxiliary crane machine
Fixed point setting-out operation that is quick during operation, precisely, efficiently completing lifting task, improve 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 teaching only alternatively is provided to the representative embodiment of the special detailed description of the present invention.This
Outside, in order to obtain being attached with embodiment of the present invention, a variety of features for providing teaching in the description can be by more
Kind mode is combined, but these modes are not included especially and.
Claims (9)
1. a kind of GNSS dual-flows station construction crane machine, it is characterised in that the construction crane machine includes transverse arm, the
One lifting rope section, the second lifting rope section, the movable pulley between the first lifting rope section and the second lifting rope section, and described second
The suspension hook of lifting rope section end, the construction crane machine and a lifting fixed point setting-out accessory system coordinate, the lifting fixed point
Setting-out accessory system includes base station and supervising device, wherein, the construction crane machine also includes：On the transverse arm,
First rover station of the suspension hook position directly above installation；The second rover station being arranged on the movable pulley, it is described first-class
Dynamic station and second rover station receive satellite difference correction signal from the base station, obtain the plan position information of itself and
Elevation information, and the plan position information and the elevation information are sent to the supervising device, the supervising device is true
The plan-position of fixed first rover station differs whether be more than predetermined threshold with the plan-position of second rover station, if
Predetermined threshold is differed by more than, then is in regarding first rover station, the second rover station and the suspension hook on same oblique line, and according to
First rover station, the plan-position of the second rover station and elevation, plan-position and the elevation of the suspension hook are determined, if phase
Difference is not more than predetermined threshold, then it is assumed that the second flowing erect-position is in the surface of the suspension hook, by second rover station
Plan-position is defined as the plan-position of the suspension hook, and according to the length of the second lifting rope section and second rover station
Elevation, determine the elevation of suspension hook.
2. construction crane machine according to claim 1, it is characterised in that the supervising device calculates the second
The dynamic average value of plan-position and the average value of elevation measured within a certain period of time of standing, suspension hook is determined using the average value
Plan-position and elevation.
3. construction crane machine according to claim 2, it is characterised in that the supervising device calculates the second rover station
Altitude data root mean square, when the root mean square of the altitude data of second rover station exceedes predetermined value, alarmed,
Prompting is postponed carrying out operation.
4. construction crane machine according to claim 3, it is characterised in that the supervising device is according to below equation meter
Calculate the position of the suspension hook：
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<mn>2</mn>
</msup>
<mo>-</mo>
<mi>R</mi>
</mrow>
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is the second
The phase center of the antenna at dynamic station is to the vertical height of the bottom of antenna, H3It is height of the antenna bottom to the movable pulley center
Difference, v1It is the tangential velocity of locomotive on the transverse arm, v2For wind speed, a is the acceleration of wind, and R is the radius of the movable pulley,
H4It is the length of the second lifting rope section.
5. construction crane machine according to claim 3, it is characterised in that the supervising device is according to below equation meter
Calculate the position of the suspension hook：
Hg={ H1-(H2+H3)}×2(v1-v2)2/L×(a0-a1)×(H4+R)
Wherein, HgRepresent the elevation of suspension hook, H1Be it is described second flowing station antenna phase center elevation, H2It is the second
The phase center of the antenna at dynamic station is to the vertical height of the bottom of antenna, H3It is height of the antenna bottom to the movable pulley center
Difference, v1It is the tangential velocity of locomotive on the transverse arm, v2For wind speed, a0 is transverse arm current acceleration, and a1 is the acceleration of wind, R
It is the radius of the movable pulley, H4It is the length of the second lifting rope section.
6. the construction crane machine according to claim 4 or 5, it is characterised in that first rover station or described
Two rover stations obtain 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；TX、TY、TZServe as reasons
WGS-84 systems are transformed into the translation parameters of tower crane system；ωX、ωY、ωZTo 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, obtains the flowing
The plan-position (x, y) stood and elevation location H.
7. construction crane machine according to claim 6, it is characterised in that the rover station is according to from base station
The distance of differential correcting signal and the base station to the crane machine calculates translation parameters error as follows, so as to be derived from
The plan-position of body and elevation location：
<mrow>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>d</mi>
<mi>x</mi>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>d</mi>
<mi>y</mi>
<mn>1</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>d</mi>
<mi>z</mi>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>=</mo>
<msub>
<mi>d</mi>
<mi>H</mi>
</msub>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mo>(</mo>
<mi>B</mi>
<mo>+</mo>
<mi>b</mi>
<mo>)</mo>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mo>(</mo>
<mi>L</mi>
<mo>-</mo>
<mi>l</mi>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mo>(</mo>
<mi>B</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mo>(</mo>
<mi>L</mi>
<mo>+</mo>
<mi>l</mi>
<mo>)</mo>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>sin</mi>
<mi> </mi>
<mi>B</mi>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Wherein dx1, dy1, dz1 represent the translation parameters error at rover station, and B, L represent the earth longitude and latitude at base station, dHTable
Show the geodetic height error at base station, b represents the plane transverse axis distance between base station and rover station, and l 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 the l.
8. construction crane machine according to claim 3, it is characterised in that the supervising device is arranged on the construction
On crane machine, a part for the construction crane machine is formed.
9. construction crane machine according to claim 1, it is characterised in that the second lifting rope segment length is in the suspension hook
5.2 times of its length, be shorter than 20 times of the own degrees of the suspension hook, the construction crane machine also includes mileage
Meter, the odometer is used for the length for determining the first lifting rope section, and is sent to the supervising device, and the supervising device is true
The length of the second lifting rope section and the length ratio of the first lifting rope section are made 2：17 to 5:When between 17, just described
Supervising device determine first rover station and plan-position and second rover station plan-position differ by more than it is predetermined
In the case of threshold value, it is in depending on first rover station, the second rover station and the suspension hook on same oblique line.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109179228B (en) * | 2017-08-11 | 2020-01-14 | 北京建筑大学 | Anti-collision system of building construction tower crane |
| CN107942345B (en) * | 2017-11-21 | 2019-09-10 | 北京建筑大学 | It is accurately positioned the bis- lifting rope section construction crane machines of GNSS of lift hook position |
| CN108051833B (en) * | 2017-11-30 | 2020-02-07 | 北京建筑大学 | GNSS tower body health monitoring and early warning system and method of building construction tower crane |
| CN108008418B (en) * | 2017-11-30 | 2020-02-07 | 北京建筑大学 | GNSS tower arm health monitoring and early warning system and method of building construction tower crane |
| CN108217463B (en) * | 2018-01-25 | 2024-03-12 | 深圳大学 | Tower crane positioning device and method for prefabricated building components |
| CN108226979B (en) * | 2018-01-25 | 2024-03-08 | 深圳大学 | Navigation device and method for mounting prefabricated building components |
| CN108363074A (en) * | 2018-02-11 | 2018-08-03 | 南京信息工程大学 | Safety of tower crane based on Big Dipper ground strengthening system monitors system |
| CN108345010A (en) * | 2018-02-12 | 2018-07-31 | 中设设计集团股份有限公司 | The surveying and locating system and setting out method applied based on Big Dipper satellite signal and Android |
| CN108821120B (en) * | 2018-04-20 | 2019-10-08 | 北京建筑大学 | Construction derrick crane and suspension hook positioning system |
| CN112346100A (en) * | 2020-09-25 | 2021-02-09 | 山东中建众力设备租赁有限公司 | Positioning system and positioning method for unmanned tower crane |
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