CN107529509A - Construction tower crane group of planes lifting operation anticollision method for early warning - Google Patents
Construction tower crane group of planes lifting operation anticollision method for early warning Download PDFInfo
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- CN107529509A CN107529509A CN201710683912.7A CN201710683912A CN107529509A CN 107529509 A CN107529509 A CN 107529509A CN 201710683912 A CN201710683912 A CN 201710683912A CN 107529509 A CN107529509 A CN 107529509A
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- crane machine
- transverse arm
- height
- lifting rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of construction tower crane group of planes lifting operation anticollision method for early warning, methods described includes：First transverse arm height determining step, determine the transverse arm height H1 of the first construction crane machine；Second transverse arm height determining step, determine the transverse arm height H2 of the second construction crane machine；Transverse arm height comparison step, compares H1 and H2, and the highly relatively low construction crane machine of transverse arm is defined as into low clearance crane machine, and the higher construction crane machine of transverse arm height is defined as into high height crane machine；Lifting rope position determines step, determines the position of the lifting rope of the height crane machine；Beam position determines step, determines the position of the transverse arm of the low clearance crane machine；Space length determines step, determines the space length of the lifting rope and the transverse arm；Warning step, when the space length is less than early warning distance, alarmed.
Description
Technical field
The present invention relates to construction tower crane group of planes lifting operation anticollision early warning.
Background technology
The intensive construction of urban architecture building causes crane machine operating environment to become complicated at present.Construction tower crane
Two and the above crane machine juxtaposition operation during group of planes lifting operation be present, and command the existing side of crane machine group's lifting operation
Method is realized using " operator+lifting person " combination.This method, it is strict to the requirement of the overall qualities of people, it is necessary to
Operator establishes unified relationship, close fit with lifting person can just complete lifting operation, and manipulation flow is complicated, intelligence degree
It is low and uneconomical；In addition, manual operation or commander's error easily trigger collision or tower crane between security incident, such as crane machine
Collision between machine and Adjacent Buildings etc..To avoid a tower crane group of planes from juxtaposition region touch in lifting operation
Hit accident, be badly in need of one kind can monitor in real time crane machine lifting operation and can send pre-warning signal construction crane machine and
Its lifting operation collision early warning system.
The content of the invention
The present invention in view of the above circumstances, proposes to lack 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 pre- police of construction tower crane group of planes lifting operation anticollision
Method, methods described include：First transverse arm height determining step, determine the transverse arm height H1 of the first construction crane machine；Second
Transverse arm height determining step, determine the transverse arm height H2 of the second construction crane machine；Transverse arm height comparison step, compares H1
And H2, the highly relatively low construction crane machine of transverse arm is defined as low clearance crane machine, by the higher building of transverse arm height
Construction crane machine is defined as height crane machine；Lifting rope position determines step, determines the position of the lifting rope of the height crane machine
Put；Beam position determines step, determines the position of the transverse arm of the low clearance crane machine；Space length determines step, determines institute
State the space length of lifting rope and the transverse arm；Warning step, when the space length is less than early warning distance, alarmed.
According to technical scheme, the process link of artificial value defence method can be reduced, improves construction tower crane
The security of group of planes lifting 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 to the present invention
The limitation of protection domain.
Fig. 1 shows a kind of schematic diagram of a construction tower crane group of planes；
Fig. 2 shows the construction tower crane group of planes lifting operation anticollision early warning according to one embodiment of the present invention
The indicative flowchart of method；
Fig. 3 shows the overlapping principle schematic judged in advance；
Fig. 4 shows that the construction tower crane group of planes lifting operation anticollision according to another embodiment of the invention is pre-
The indicative flowchart of alarm method.
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.
Fig. 1 shows a kind of schematic diagram of a construction tower crane group of planes.Although Fig. 1 illustrate only two construction towers
Loop wheel machine, it will be understood by those skilled in the art that the construction tower crane group of planes of the present invention can include more construction
Crane machine.
By inventor observation and visit, inventor find, as shown in figure 1, each tower crane in a construction tower crane group of planes
The material circumstance that mutually colliding occurs in machine is that the lifting rope of a crane machine and the transverse arm of another crane machine collide and entangled
Twine.
Fig. 2 shows the construction tower crane group of planes lifting operation anticollision early warning according to one embodiment of the present invention
The indicative flowchart of method.
As shown in Fig. 2 the construction tower crane group of planes lifting operation anticollision early warning according to one embodiment of the present invention
Method determines the transverse arm height H1 of the first construction crane machine in step 201 first；Then exist, step 202, determine second
The transverse arm height H2 of construction crane machine；Then in step 203, compare H1 and H2, the highly relatively low building of transverse arm is applied
Work crane machine is defined as low clearance crane machine, and the higher construction crane machine of transverse arm height is defined as into height crane machine；
Then, step 204 is determined in lifting rope position, determines the position of the lifting rope of the height crane machine；Simultaneously or in succession, exist
Beam position determines step 205, determines the position of the transverse arm of the low clearance crane machine；Then, step is determined in space length
206, determine the space length of the lifting rope and the transverse arm；Finally, if the space length is less than early warning distance,
Step 207 is alarmed.The warning device that alarm includes indicating to install in each crane machine is alarmed.These warning device examples
Any warning device of audio, video or light or sound can be sent in this way.
According to a kind of embodiment, method of the invention also includes overlapping pre- judgment step 208, judges that the first building is applied
Whether the working range of work crane machine and the second construction crane machine overlaps, and the overlapping pre- judgement can be by realizing that this is sentenced
The processor of disconnected step is voluntarily judged or from external reception judged result.
When voluntarily being judged, according to a kind of embodiment, this, which overlaps pre- judgment step 208, is included respectively with described
The tower body of the tower body of first construction crane machine and the second construction crane machine is the center of circle, respectively with the described first building
The transverse arm length of crane machine of constructing and the transverse arm length of the second construction crane machine draw circle for radius, if the two circles exist
Intersect on ground level where tower body, then judge the work model of the first construction crane machine and the second construction crane machine
Enclose overlapping.
Fig. 3 diagrammatically illustrates this overlapping principle judged in advance.Construction crane machine is when carrying out operation, tower body
Substantially long period is motionless, and transverse arm rotates around tower body, and projection of its scope of activities on ground forms circle.By turn
The limitation of dynamic scope, it is also possible to semicircle or arc.Thus the picture circle of the present invention is construed as including picture arc.Lifting rope differs
It is fixed to be moved always in the end of transverse arm such as the dolly on transverse arm along transverse arm, but as judging in advance then by transverse arm
End is as the metric point with overlapping risk.Transverse arm is often propped up on tower body, i.e., transverse arm is usual not as an entirety
Using tower body as starting point, but for the convenience of statement, based on context, transverse arm may refer to end from tower body to transverse arm this
One section, have at lifting rope pendency in the section, for transferring and packing up lifting rope.If two drawn circles do not occur simultaneously, this
Two construction crane machines do not work overlapping region, will not collide, can now terminate to judge.If overlapping
Region, then carry out step 201 with and subsequent each step.
Fig. 4 shows that the construction tower crane group of planes lifting operation anticollision according to another embodiment of the invention is pre-
The indicative flowchart of alarm method.As shown in figure 4, contrasted with the embodiment shown in Fig. 2, according to the embodiment party shown in Fig. 4
Formula, overlapping judgment step is added, the overlapping position and the height of the judgment step according to the transverse arm of the low clearance crane machine
The position of the lifting rope of height crane machine, determine the low clearance crane machine working range whether with the height crane machine
Lifting rope overlap mutually.For example, obtaining the horizontal stroke of the position of the lifting rope of the height crane machine and the low clearance crane machine
After the position of arm, it can be determined that whether projection of the transverse arm with lifting rope on ground level can intersect, if non-intersect, can sentence
Breaking, it is non-intersect working region, will not collide.This method can then be terminated.When the overlapping judgment step is judged as institute
When stating the working range of low clearance crane machine and the lifting rope of the height crane machine and overlapping mutually, the space length determines step
Suddenly the space length of the lifting rope and the transverse arm is determined.
According to a kind of embodiment, overlapping judgment step is included respectively with the tower body of the first construction crane machine
Tower body with the second construction crane machine is the center of circle, respectively with the transverse arm length of the first construction crane machine and the
The product of one pre-determined factor, and the transverse arm length of the second construction crane machine draw circle for radius；If the two circles are in tower body
Intersect on the ground level at place, then judge that the working range of the first construction crane machine and the second construction crane machine is handed over
It is folded.This embodiment and the embodiment that describes before are not both that the length of some transverse arm is utilized to the predetermined system more than 1
Number is extended, and picture circle is carried out using the length after extension as radius.This allows for the shadow due to inertia or due to wind
Ringing, lifting rope will not sometimes be vertically located at the underface of transverse arm with suspension hook, and the segment distance that may outwards blow out, thus
In order to it is safer, more steadily carry out overlapping judgement, the length of some transverse arm is prolonged using the coefficient for being more than 1
It is long.It will be apparent to those skilled in the art picture circle mentioned here can be that virtual draw is justified, it is not required that must be on the spot
Picture circle, and can be the simulation of electronics or the computing of electronics.
According to a kind of embodiment, the calculation formula of the pre-determined factor is as follows：
In formula：LRopeGrown for the lifting rope of height crane machine；V1、a1The respectively movement velocity of height crane machine and normal
Braking acceleration；VWind、aWindThe respectively movement velocity and acceleration of wind, m are the pre-determined factor more than 1；L is height tower crane
To the length at lifting rope pendency along the transverse arm of machine.
According to another embodiment, the overlapping judgment step is included respectively with the first construction crane machine
The tower body of tower body and the second construction crane machine is the center of circle, respectively with the transverse arm length of the first construction crane machine
With perimetric length and, draw and justify for radius with the transverse arm length of the second construction crane machine；If the two circles are in tower body institute
Ground level on intersect, then judge that the working range of the first construction crane machine and the second construction crane machine is handed over
Folded, the calculation formula of the perimetric length is as follows：
In formula：LKFor perimetric length；LRopeGrown for the lifting rope of height crane machine；V1、a1Respectively height crane machine
Movement velocity and normal brake application acceleration；VWind、aWindThe respectively movement velocity and acceleration of wind.
On the other hand, as shown in figure 4, the method for the embodiment of the present invention also increases the change of increased heights crane machine suspension hook
Change judgment step 210, the change of the position of the height crane machine suspension hook is detected, in the height crane machine suspension hook
When the change of position conforms to a predetermined condition, whether the working range of the overlapping judgment step progress low clearance crane machine
The judgement overlapped mutually with the lifting rope of the height crane machine.For example, if the position of height crane machine suspension hook quickly becomes
Change, its rate of change exceeded predetermined threshold, then original non-intersect folded working range may become overlapping, lifting rope and transverse arm it
Between the original distance for arrive predetermined threshold may change and must be shorter than early warning distance, thus now overlapping judgment step should be at once
Carry out the low clearance crane machine working range whether the judgement overlapped mutually with the lifting rope of the height crane machine.In addition,
If the change of the position of the height crane machine suspension hook shows that special track occurs in suspension hook, this may indicate appearance
Special situation, such as lifting rope flies out, crane machine caves in.At this moment the distance of suspension hook and transverse arm can be calculated to substitute, it is right
The calculating of the distance of lifting rope and transverse arm.I.e. now the space length determines that step determines hanging down for the suspension hook and the transverse arm
Linear distance；When vertical line distance is less than early warning distance, the warning step is alarmed.
According to a kind of embodiment, the beam position determines that step may include：
Azimuth determines step, determines the azimuth of the transverse arm, and transverse arm rotates around tower body, thus can be according to horizontal stroke
Arm is around tower body with respect to the angle-determining azimuth that due north reference direction rotates clockwise；
Transverse arm extreme coordinates determine step, according to the azimuth, the tower body position of the low clearance crane machine and described
Vertical range between the tower body of low clearance crane machine and the transverse arm end points determines the coordinate of the transverse arm end points；Calculate public
Formula can beWherein αiFor azimuth, (xTi,yTi,HRi) it is tower body position coordinates, SiGrown for transverse arm,
Vertical range i.e. between tower body and the transverse arm end points, it is corresponding with the R2 in figure；(xBi,yBi,HBi) it is the transverse arm end points
Coordinate；
And transverse arm contouring steps, using the transverse arm end points coordinate and the low clearance crane machine tower body seat
Mark determines the position of the transverse arm.Obviously the two coordinates have been able to sketch out a line segment or straight line.
According to another embodiment, GNSS rover stations, the transverse arm position are installed on the transverse arm of the low clearance crane machine
Put and determine that step includes：Station coordinates obtaining step is flowed, obtains the coordinate of the GNSS rover stations；Transverse arm expression determines step,
The straight line table of the transverse arm is determined using the coordinate of the GNSS rover stations and the coordinate of tower body of the low clearance crane machine
Reach；Transverse arm contouring steps, according to the tower body and the transverse arm end of the expression of the straight line of the transverse arm and the low clearance crane machine
Vertical range between point determines the position of the transverse arm.
Position for determining lifting rope, it may be determined that lifting rope starts the position of pendency and the position of suspension hook on transverse arm.Root
According to a kind of embodiment, on suspension hook and at the position correspondence for starting to dangle with lifting rope of transverse arm GNSS can be set to flow
Stand, it is hereby achieved that the coordinate and lifting rope of suspension hook start the coordinate for the position dangled from transverse arm, realize to the lifting rope
Limit.
According to another embodiment of the invention, high precision odometer can be installed on crane machine, odometer can be with
On a certain quiet pulley for carrying out lifting rope folding and unfolding.The high precision odometer can be used for accurately measuring lifting rope retractable
Length Quantity (mileage for being referred to as lifting rope), so as to calculate hook lifting amount.Can be simply according to high-precision mileage
The mileage of meter carries out the elevation location of plus-minus calculating determination crane machine suspension hook with the elevation of GNSS rover stations.Crane machine suspension hook
Plan-position can be replaced with the coordinate of GNSS rover stations.According to this embodiment, can not have to install on suspension hook
GNSS rover stations etc., the complexity of suspension hook is reduced, avoid suspension hook collision from flowing the infringement of station equipment to GNSS.Thus, foundation
One embodiment of the present invention, the transverse arm of height crane machine are provided with GNSS rover stations, institute with the lifting rope infall
Stating height crane machine has odometer, and the odometer determines the distance of the lifting rope decentralization, and the lifting rope position determines step
Suddenly include：Station coordinates obtaining step is flowed, obtains the coordinate of the GNSS rover stations；Lifting rope expression determines step, using described
The coordinate of the tower body of the coordinate of GNSS rover stations and the height crane machine, the distance of lifting rope decentralization determine the lifting rope
Straight line is expressed；Lifting rope contouring steps, flowed according to GNSS on the transverse arm of the expression of the straight line of the lifting rope and the height crane machine
The vertical range of dynamic station location and the lifting rope length determines the position of the lifting rope.
Step 206 is determined in space length, the space length of lifting rope and transverse arm can be determined using a variety of methods.By
Mathematical expression in lifting rope and the position of transverse arm is all that can be obtained by preceding step 201-205, thus can be calculated
The distance.
On the other hand, in step 207, described early warning distance can be pre-determined.It is real according to one kind of the present invention
Mode is applied, the early warning distance can be calculated as follows：
In formula：LXD、LZGBetween respectively two crane machines in relative motion or pursue motion conditions under early warning away from
From；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration；V2、a2The respectively fortune of the second crane machine
Dynamic speed and normal brake application acceleration；V3、 a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0It is anti-for driver
Between seasonable；t1To pursue crane machine normal brake application process total time, including when time of driver's reaction and equipment normal brake application
Between, VWind、aWindThe respectively movement velocity and acceleration of wind.
According to another embodiment, in the warning step, the early warning distance is determined as follows：
In formula：B is the transverse arm length of low clearance crane machine；LXD、LZGRelative fortune is between respectively two crane machines
Early warning distance under dynamic or pursuit motion conditions；ω1、a1Respectively the angular velocity of satellite motion of height crane machine and normal brake application add
Speed；ω2、a2The respectively angular velocity of satellite motion of low clearance crane machine and normal brake application acceleration；ω3、a3Respectively it is caught-up
The angular velocity of satellite motion and acceleration of crane machine；t0For time of driver's reaction；t1For pursuit crane machine normal brake application process it is total when
Between, including time of driver's reaction and equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
According to this embodiment, the space length of lifting rope and transverse arm is just alarmed less than the early warning distance, because examining
Consider the factors such as the influence of person's development time and wind speed, thus can more effectively collision free.
, can be real-time when can improve construction tower crane group of planes lifting operation according to this embodiment of the present invention
The suspension hook of every crane machine and the locus of transverse arm are monitored, avoids a construction tower crane group of planes from overlapping intersecting lifting because intensive
Operation and crash, intellectuality ensures construction tower crane group of planes safe operation.
Provide present system a kind of science, simplicity, it is high-precision, round-the-clock, without intervisibility, it is intelligentized building apply
Work tower crane group of planes lifting operation collision early warning system, it is suitably mounted on the various brands tower crane machine equipment of two and the above
And the construction site of juxtaposition be present in lifting operation, quick, accurate in lifting operation between auxiliary crane machine,
While efficiently completing lifting task, the security of equipment use and skilled worker in operation process is improved.
The above-mentioned detailed description of the present invention only further believes content to those skilled in the art, for
Implement the preferred aspect of the present invention, and the scope of the present invention will not be limited.Only claim is used to determine this hair
Bright protection domain.Therefore, the combination of the feature and step in foregoing detailed description not necessarily be used for most broad
In the range of implement the present invention, and religion only alternatively is provided to the representative embodiment of special detailed description of the present invention
Lead.In addition, in order to obtain being attached with embodiment of the present invention, a variety of features for providing teaching in the description can
Combine in several ways, but these modes are not included especially and.
Claims (10)
1. a kind of construction tower crane group of planes lifting operation anticollision method for early warning, methods described include：
First transverse arm height determining step, determine the transverse arm height H1 of the first construction crane machine；
Second transverse arm height determining step, determine the transverse arm height H2 of the second construction crane machine；
Transverse arm height comparison step, compares H1 and H2, and the highly relatively low construction crane machine of transverse arm is defined as into low clearance tower
Loop wheel machine, the higher construction crane machine of transverse arm height is defined as height crane machine；
Lifting rope position determines step, determines the position of the lifting rope of the height crane machine；
Beam position determines step, determines the position of the transverse arm of the low clearance crane machine；
Space length determines step, determines the space length of the lifting rope and the transverse arm；
Warning step, when the space length is less than early warning distance, alarmed.
2. according to the method for claim 1, it is characterised in that methods described also includes overlapping pre- judgment step, judges the
Whether the working range of one construction crane machine and the second construction crane machine overlaps, described to overlap pre- judgment step as certainly
Row judges or from external reception judged result.
3. according to the method for claim 2, it is characterised in that described to overlap pre- judgment step including respectively with described first
The tower body of the tower body of construction crane machine and the second construction crane machine is the center of circle, respectively with the first construction tower
The transverse arm length of loop wheel machine and the transverse arm length of the second construction crane machine are that radius draws circle, if the two circles are where tower body
Ground level on intersect, then judge that the first construction crane machine and the working range of the second construction crane machine overlap.
4. according to the method for claim 1, it is characterised in that methods described also includes overlapping judgment step,
The overlapping judgment step is according to the position of the transverse arm end of the low clearance crane machine and the height crane machine
The position of lifting rope, determines whether the working range of the low clearance crane machine overlaps mutually with the lifting rope of the height crane machine,
When the overlapping judgment step is judged as the working range of the low clearance crane machine and hanging for the height crane machine
When rope overlaps mutually, the space length determines that step determines the space length of the lifting rope and the transverse arm.
5. according to the method for claim 4, it is characterised in that the overlapping judgment step is included respectively with the high height
The tower body of crane machine and the tower body of low clearance crane machine are the center of circle, respectively with the transverse arm of the height crane machine along the line to lifting rope
Length and perimetric length at pendency and, and the transverse arm length of the low clearance crane machine draws circle for radius；If the two
Circle intersects on the ground level where tower body, then judges that height crane machine and the working range of low clearance crane machine overlap, institute
The calculation formula for stating perimetric length is as follows：
In formula：LKFor perimetric length；LRopeGrown for the lifting rope of height crane machine；V1、a1The respectively motion speed of height crane machine
Degree and normal brake application acceleration；VWind、aWindThe respectively movement velocity and acceleration of wind.
6. according to the method for claim 4, it is characterised in that the overlapping judgment step is included respectively with the high height
The tower body of crane machine and the tower body of low clearance crane machine are the center of circle, respectively with the transverse arm of the height crane machine along the line to lifting rope
The product of length and a pre-determined factor more than 1 at pendency, and the transverse arm length of the low clearance crane machine draw circle for radius；
If the two circles intersect on the ground level where tower body, the work model of height crane machine and low clearance crane machine is judged
Enclose overlapping, the calculation formula of the pre-determined factor is as follows：
In formula：LRopeGrown for the lifting rope of height crane machine；V1、a1The respectively movement velocity of height crane machine and normal brake application
Acceleration；VWind、aWindThe respectively movement velocity and acceleration of wind, m are the pre-determined factor more than 1；L is the horizontal stroke of height crane machine
To the length at lifting rope pendency along arm.
7. according to the method for claim 1, it is characterised in that methods described also includes the change of height crane machine suspension hook and sentenced
Disconnected step, detects the change of the position of the height crane machine suspension hook, the change in the position of the height crane machine suspension hook
When change conforms to a predetermined condition, the space length determines that step determines the vertical line distance of the suspension hook and the transverse arm；When described
When vertical line distance is less than early warning distance, the warning step is alarmed.
8. according to the method for claim 1, it is characterised in that the beam position determines that step includes：
Azimuth determines step, determines the azimuth of the transverse arm；
Transverse arm extreme coordinates determine step, according to the azimuth, the tower body coordinate of the low clearance crane machine and the low height
The vertical range spent between the tower body of crane machine and the transverse arm end points determines the coordinate of the transverse arm end points；
Transverse arm contouring steps, using the transverse arm end points coordinate and the low clearance crane machine tower body coordinate determine described in
The position of transverse arm.
9. according to the method for claim 1, it is characterised in that the transverse arm of the low clearance crane machine and its lifting rope infall
GNSS rover stations are installed, the beam position determines that step includes：
Station coordinates obtaining step is flowed, obtains the coordinate of the GNSS rover stations；
Transverse arm expression determine step, using the GNSS rover stations coordinate and the low clearance crane machine tower body coordinate it is true
The straight line expression of the fixed transverse arm；
Transverse arm contouring steps, according to the tower body and the transverse arm end points of the expression of the straight line of the transverse arm and the low clearance crane machine
Between vertical range determine the position of the transverse arm.
10. according to the method for claim 1, it is characterised in that the transverse arm of the height crane machine is handed over the lifting rope
GNSS rover stations are installed, the lifting rope position determines that step includes at fork：
Station coordinates obtaining step is flowed, obtains the coordinate of the GNSS rover stations；
Lifting rope expression determines step, utilizes the coordinate of the tower body of height crane machine described in the coordinate simultaneous of the GNSS rover stations
Straight line expression orthogonal and that the lifting rope is determined along plumb line direction；
Lifting rope contouring steps, erect-position is flowed according to GNSS on the transverse arm of the expression of the straight line of the lifting rope and the height crane machine
Put the position that the lifting rope is determined with the vertical range of the lifting rope length.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811337568.7A CN109231016B (en) | 2017-08-11 | 2017-08-11 | Anti-collision method for building construction tower crane |
| CN201710683912.7A CN107529509B (en) | 2017-08-11 | 2017-08-11 | Construction tower crane group of planes lifting operation anticollision method for early warning |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109132898A (en) * | 2018-10-19 | 2019-01-04 | 南京东南建筑机电抗震研究院有限公司 | A kind of construction group tower crane anticollision method for early warning |
| CN110697577A (en) * | 2019-10-23 | 2020-01-17 | 江苏星齐软件科技有限公司 | Self-generating method for running track of unmanned tower crane |
| CN111039184A (en) * | 2019-12-19 | 2020-04-21 | 大器物联科技（广州）有限公司 | Anti-collision method and anti-collision equipment of tower crane |
| CN112073090A (en) * | 2020-11-13 | 2020-12-11 | 新乡先立起重机电科技有限公司 | Method and system for processing crane monitoring data |
| CN113283123A (en) * | 2021-07-12 | 2021-08-20 | 杭州大杰智能传动科技有限公司 | Emergency start-stop control protection device and method for unmanned tower crane equipment |
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| CN112173984B (en) * | 2020-09-22 | 2022-04-05 | 广州珠江建设发展有限公司 | Method, device, equipment and medium for managing operation safety of tower group based on Internet of things |
| CN113277431B (en) * | 2021-06-27 | 2022-09-16 | 赣州德业电子科技有限公司 | Tower crane anti-collision monitoring system |
| CN115082850A (en) * | 2022-05-23 | 2022-09-20 | 哈尔滨工业大学 | Template support safety risk identification method based on computer vision |
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| CN111039184A (en) * | 2019-12-19 | 2020-04-21 | 大器物联科技（广州）有限公司 | Anti-collision method and anti-collision equipment of tower crane |
| CN112073090A (en) * | 2020-11-13 | 2020-12-11 | 新乡先立起重机电科技有限公司 | Method and system for processing crane monitoring data |
| CN113283123A (en) * | 2021-07-12 | 2021-08-20 | 杭州大杰智能传动科技有限公司 | Emergency start-stop control protection device and method for unmanned tower crane equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107529509B (en) | 2019-02-12 |
| CN109231016B (en) | 2020-01-21 |
| CN109231016A (en) | 2019-01-18 |
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