CN107140538B - Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system - Google Patents

Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system Download PDF

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Publication number
CN107140538B
CN107140538B CN201710371802.7A CN201710371802A CN107140538B CN 107140538 B CN107140538 B CN 107140538B CN 201710371802 A CN201710371802 A CN 201710371802A CN 107140538 B CN107140538 B CN 107140538B
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station
base station
odometer
lifting
crane machine
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CN107140538A (en
Inventor
周命端
丁克良
吕京国
刘祥磊
赵西安
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Beijing University of Civil Engineering and Architecture
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Beijing University of Civil Engineering and Architecture
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • 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

Abstract

The invention discloses a kind of odometer GNSS component buildings construction crane machines, including transverse arm, lifting rope and suspension hook, the construction crane machine and a lifting fixed point setting-out auxiliary system coordinate, lifting fixed point setting-out auxiliary system includes base station, monitoring device and client terminal, which further includes：On transverse arm, the rover station of suspension hook position directly above installation；For detecting the odometer of the mileage of lifting rope, rover station receives receives the correction signal of the composition error after inter-satellite difference processing at base station while GNSS satellite signal obtains itself approximate location information, for correcting self-position, obtain the location information of centimetre class precision, and location information is sent to monitoring device, odometer obtains the mileage of lifting rope, and monitoring device determines the position of suspension hook according to the mileage of lifting rope and the location information of the rover station.Technical solution according to the present invention can improve the real-time of suspension hook positioning, improve the service life of positioning device, simplify the design of suspension hook.

Description

Odometer GNSS component buildings construction crane machine and lifting fixed point setting-out system
The application is the applying date on June 22nd, 2016, application No. is 201610460375.5, entitled " construction The divisional application of the Chinese invention patent application of crane machine and its lifting fixed point setting-out auxiliary system ".
Technical field
The present invention relates to a kind of construction crane machine and its lifting fixed point setting-out auxiliary system, auxiliary crane machine are precisely fixed Point, setting-out.
Background technology
At present during 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 use in crane arm Upper setting red flag is observed.Such observation is not accurate enough, operating personnel is required high.In addition, the tower of the prior art Loop wheel machine also needs to operator establishes unified relationship, close fit with lifting person can just complete lifting task, and manipulation flow is complicated, right Personnel qualifications are stringent.Using traditional artificial value defence method commander's lifting task, operating efficiency is low and easily by intervisibility item Part limits and operation is difficult, and time-consuming and laborious, intelligence degree is low and uneconomical.
Invention content
The present invention propose in view of the above circumstances, for alleviate or eliminate one in the prior art or more lack Point provides at a kind of beneficial selection.
In order to achieve the above object, the invention discloses a kind of odometer GNSS component buildings construct crane machine, including transverse arm, Lifting rope and suspension hook, the construction crane machine and a lifting fixed point setting-out auxiliary system coordinate, and the lifting fixed point setting-out is auxiliary Auxiliary system includes base station, monitoring device and client terminal, wherein, the construction crane machine further includes：In the transverse arm The rover station of upper, described suspension hook position directly above installation；For measuring the odometer of the mileage of the lifting rope, the rover station from The base station receives satellite difference correction signal, obtains the location information of itself, and the location information is sent to described Monitoring device, the odometer obtain the mileage of the lifting rope, mileage and the stream of the monitoring device according to the lifting rope The location information at dynamic station determines the position of suspension hook.Technical solution according to the present invention can reduce the process of artificial value defence method Link improves the intuitive, simple profit, Accuracy and high efficiency of lifting operation operation.
Using above system and operating method, some embodiments of the present invention have following novelty：
1st, it when construction crane machine carries out lifting operation, is not limited by the sighting condition at daytime or night, it can be round-the-clock Operation (without intervisibility).
2nd, when construction crane machine carries out lifting operation, lifting precisely fixed point, setting-out (high-precision) can be realized.
3rd, when construction crane machine carries out lifting operation, completing lifting task can be time saving and laborsaving (low consumption).
4th, it is easy to operate intuitive when construction crane machine carries out lifting operation, practical value height (high-effect).
5th, expensive rover station can be caused to damage to avoid because of suspension hook and the collision of other objects.
6th, because rover station is mounted on arm, rover station can be made without dead angle to measure.
Construction crane machine operator is according to the display of the application service system on monitoring device or has prompted It is precisely pinpointed into lifting, setting-out task, the process link of reduction artificial value defence method, the intuitive of raising lifting operation operation, Simple profit, Accuracy and high efficiency.
The construction lifting fixed point setting-out auxiliary system of some embodiments of the invention improves construction crane machine and hangs Operating efficiency is filled, when overcoming difficult daytime or night lifting operation due to sighting condition deficiency, operating process complication, operation cost Arduously, the problems such as the degree of automation is low, intuitive, fixed point setting-out easy to operate precisely, can it is time saving and energy saving, round-the-clock can make Industry improves practicability, accuracy, efficiency and the economy of tower crane machine operation.
Description of the drawings
With reference to attached drawing, the present invention may be better understood.But attached drawing is only exemplary, and is not the guarantor to the present invention Protect the limitation of range.
Fig. 1 shows a kind of schematic diagram of tower crane of the prior art；
Fig. 2 shows a kind of construction crane machine lifting fixed point setting-out auxiliary systems of embodiment according to the present invention Schematic diagram；
Fig. 3 shows the system structure of the base station of embodiment according to the present invention a kind of, rover station and client terminal 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 the crane machine of Fig. 4；And
Fig. 6 shows a kind of data exchange system of embodiment according to the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiments of the present invention are described in further detail, but do not formed to any of the present invention Limitation.
The present inventor is by the study found that in order to preferably complete crane machine lifting fixed point setting-out task, needing 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, and can not be measured in some places.
Fig. 2 shows a kind of construction crane machine lifting fixed point setting-out auxiliary systems of embodiment according to the present invention Schematic diagram.
As shown in Fig. 2, a kind of embodiment according to the present invention, construction crane machine lifting fixed point setting-out auxiliary system System includes base station 1, rover station 2, client terminal 3, monitoring device 4 and odometer 6.In a preferred embodiment, it also wraps Include data exchange system 8.Rover station 2, monitoring device 4 and odometer 6 are mounted on crane machine 7.Application service system 5 can pacify On monitoring device 4, in one embodiment, application service system 5 can also be mounted on network server.According to upper Hereafter, such as rover station of the component on crane machine 7 can be considered as a part for crane machine.
In one embodiment of the invention, the base station 1 passes through data exchange system 8 and rover station 2, client Terminal 3 establishes connection, and rover station 2, client terminal 3, odometer 6 pass through data exchange system 8 and monitoring device 4, application service System 5 establishes connection.
Fig. 3 shows the system structure of the base station of embodiment according to the present invention a kind of, rover station and client terminal Schematic diagram.As shown in figure 3, a kind of embodiment according to the present invention, base station 1, rover station 2 and client terminal 3 are GNSS Satellite signal receiving equipment respectively includes connecting geodetic type satellite positioning module 11, the antenna of encapsulation 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, can also be used 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 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 by data exchange system 8 to rover station 2 and client terminal 3.A kind of reality according to 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 rover station 2 may be mounted on 7 transverse arm of crane machine (or arm), suspension hook Surface.Such as in the case of 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, it in a certain small-scale plane right over suspension hook, can be hung by simply converting The point of plane and elevation location right over hook also can be considered positioned at the surface of suspension hook.
Rover station 2 using the differential correcting signal from base station 1 calculate the Anneta module 12 of itself elevation location and Plan-position, 12 plane of Anneta module and elevation location of the rover station 2, broadcasts via data exchange system 8 to monitoring The plan-position of the Anneta module 12 of the rover station 2 is determined as lifting fixed point setting-out plane position by device 4, monitoring device 4 It puts.
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 the following formula 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；TX、TY、TZ To be transformed into the translation parameters of tower crane system by WGS-84 systems；ωX、ωY、ωZRotation to be transformed into tower crane system by WGS-84 systems is joined Number；M is the scale parameter that tower crane system is transformed 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.
A kind of embodiment according to the present invention, odometer 6 are mounted on a certain quiet pulley for carrying out 7 lifting rope folding and unfolding of crane machine On, such as in the case of figure 1, may be mounted at pulley 9.Odometer 6 goes out lifting rope retractable length for accurately measure The amount mileage of lifting rope (be known as), so as to oneself calculate hook lifting amount, and via data exchange system 8 broadcast to Monitoring device 4.In one embodiment, odometer 6 can only measure lifting rope retractable Length Quantity, and the length is sent out Give monitoring device 4.Monitoring device 4 is sent out using the elevation location and odometer 6 of the Anneta module 12 of the rover station 2 The data sent determine lifting fixed point setting-out elevation location.
Can plus-minus calculating simply 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, following formula may be used to be calculated, suspension hook speed of crane machine etc. has been used in the calculating Information.
Wherein, Hg, represent 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, is above the mileage measurement The folding and unfolding mileage of the lifting rope obtained, V1It is the tangential velocity of the locomotive on the transverse arm, V2For wind speed, a is the acceleration of wind, H4It 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, moves 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 crane machine shown in Fig. 4, rover station 2 can be placed on movement On vehicle 24.Rover station is placed on the situation on the component 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 monitoring 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 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, dH represent the geodetic height error at base station, and b represents the plane horizontal axis distance between base station and rover station, and 1 represents benchmark The plane longitudinal axis distance stood between rover station.This may be used in the method that the position of rover station is obtained according to translation parameters error The various methods known known to field or later carry out, and repeat no more herein.With this method, base station is efficiently utilized Known location relationship between rover station can more be accurately determined the position of rover station.
For 1 and b more than accurately determining, position that can be by sensor measurement rover station on arm.
Client terminal 3 is held by fixed-point installation person or setting-out lifting person, determines sampling and setting-out place.Client terminal 3 can By data exchange system 8 or directly to receive GNSS satellite differential correcting signal from base station, complete to pass through after Difference Calculation by Data exchange system 8 broadcasts lifting, setting-out exact position and command information to monitoring device 4.
In one embodiment, monitoring device 4 is mounted on crane machine control room, auxiliary commander's crane machine operator's lifting Operation, monitoring device 4 can be desk-type integrated computer, desktop computer, laptop, palm PC, tablet with communication module Computer or smart mobile phone etc. receive rover station 2 via data exchange system 8, the position that client terminal 3 and odometer 6 are broadcast, rise Drop amount and command information determine lifting fixed point setting-out plan-position and sampling spot, the position in setting-out place, distance etc..
This embodiment according to the present invention can improve construction crane machine lifting operation efficiency, overcome white The problems such as it or night intervisibility are difficult, it is easy to operate it is intuitive, 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 a kind of data exchange system 8 of embodiment according to the present invention.As shown in fig. 6, the data Exchange system 8 is equipped with data exchange module 31, memory module 32, data processing module 33, communication module 34.The 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 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 monitoring device, Operator precisely pinpoints according to the display or prompting completion lifting of monitoring device, setting-out, after the completion of lifting operation, terminates to lift and make Industry program, all lifting operation data are stored to application service system, automatically generate lifting operation fixed point setting-out track.
The specific implementation of this 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 the construction crane machine transverse arm movable pulley top for using this auxiliary system etc. peace Fill rover station；3. the installation data communication software on rover station and client terminal；4. suitable 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 connection between all parts is correct.6. take three or three or more 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. monitoring device receives handheld client terminal lifting fixed point, setting-out coordinate information.8. starting crane machine, determined according to monitoring 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 auxiliary system of this patent improves construction crane machine and hangs Fill operating efficiency, the problems such as overcoming daytime or difficult night intervisibility, it is easy to operate it is intuitive, can all weather operations, fixed point put Sample is accurate and time saving and energy saving, practical value is high.
Provide to present system a kind of science, simplicity, high-precision, it is round-the-clock, without intervisibility, intelligentized construction Crane machine lifting fixed point setting-out auxiliary 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 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 of the invention for determining Protection domain.Therefore, the combination of the feature and step in foregoing detailed description is not necessary in most broad model The interior implementation present invention is enclosed, and introduction only alternatively is provided to the representative embodiment being especially described in detail of the present invention.This Outside, in order to obtain the additional useful embodiment of the present invention, a variety of different features for providing introduction in the description can be by more Kind mode combines, however these modes are not included particularly and.

Claims (6)

  1. The crane machine 1. a kind of odometer GNSS component buildings are constructed, including transverse arm, lifting rope and suspension hook, the odometer GNSS combinations Construction crane machine and a lifting fixed point setting-out auxiliary system coordinate, and the lifting fixed point setting-out auxiliary system includes benchmark It stands, monitoring device and client terminal, which is characterized in that the odometer GNSS component buildings construction crane machine further includes：Institute It states on transverse arm, the rover station of suspension hook position directly above installation；For measuring the odometer of the mileage of the lifting rope, the stream Dynamic station receives satellite difference correction signal from the base station, obtains the location information of itself, and the location information is sent To the monitoring device, the odometer obtains the mileage of the lifting rope, the monitoring device according to the mileage of the lifting rope and The location information of the rover station determines the position of suspension hook.
  2. The crane machine 2. odometer GNSS component buildings according to claim 1 are constructed, which is characterized in that the odometer peace Mounted in the movable pulley for lifting rope described in folding and unfolding or quiet pulley, the rover station is mounted on the transverse arm and is used for along described Transverse arm is slided on the locomotive of the suspension hook.
  3. The crane machine 3. odometer GNSS component buildings according to claim 2 are constructed, which is characterized in that the odometer GNSS component buildings construction crane machine includes being located at the movable pulley above the suspension hook, and the monitoring device is by the rover station Plan-position is considered as the plan-position of the suspension hook, and 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 the following formula first：
    Wherein,WithRespectively coordinate of the rover station under tower crane system and WGS-84 systems；TX、TY、TZIt serves 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.
  4. The crane machine 4. odometer GNSS component buildings according to claim 3 are constructed, which is characterized in that the rover station root According to the composition error correction signal obtained after inter-satellite difference processing from the base station and the base station described in The distance of 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, dHTable Show the geodetic height error at base station, b represents the plane horizontal 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.
  5. 5. a kind of lifting fixed point setting-out system, for construction crane machine, the lifting fixed point setting-out system include base station, Monitoring device and client terminal, the construction crane machine include transverse arm, lifting rope and suspension hook, which is characterized in that the lifting Fixed point setting-out system further includes：On the transverse arm, the rover station of suspension hook position directly above installation；For detecting described hang The odometer of the mileage of rope, the rover station receive satellite difference correction signal from the base station, obtain the position letter of itself Breath, and the location information is sent to the monitoring device, the odometer obtains the mileage of the lifting rope, the monitoring dress The location information of the mileage and the rover station according to the lifting rope is put, determines the position of suspension hook.
  6. 6. lifting fixed point setting-out system according to claim 5, which is characterized in that the base station is erected at construction item The relatively wide known coordinate point in the visual field near mesh broadcasts the correction signal of the composition error after difference processing between GNSS satellite, Using single base station RTK or more reference station RTK systems, the client terminal is by fixed-point installation person and setting-out lifting person's hand It holds, the monitoring device is mounted on the control room of the crane machine, and the lifting fixed point setting-out system further includes data exchange System, the data exchange system is equipped with data exchange module, memory module, data processing module and communication module, described Communication module is any one in UHF radio station, WIFI, GPRS, bluetooth communication module, wherein the monitoring device is additionally operable to give birth to Setting-out watch circle is pinpointed, and setting-out track is pinpointed according to the location determination lifting operation of the suspension hook into lifting,
    The rover station is according to the correction signal of the composition error after inter-satellite difference processing from base station and the base The distance of quasi- station to the crane machine calculates translation parameters error as follows, so as to obtain the plan-position of itself and elevation position It puts：
    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 horizontal axis distance between base station and rover station, and l represents base station and stream Plane longitudinal axis distance between dynamic station, by measuring the construction crane machine to the distance between base station and the flowing The position stood on the arm of the crane machine obtains the b and the l.
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