CN107539887A - Construction crane machine group anti-collision early warning accessory system - Google Patents
Construction crane machine group anti-collision early warning accessory system Download PDFInfo
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- CN107539887A CN107539887A CN201710683918.4A CN201710683918A CN107539887A CN 107539887 A CN107539887 A CN 107539887A CN 201710683918 A CN201710683918 A CN 201710683918A CN 107539887 A CN107539887 A CN 107539887A
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- transverse arm
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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
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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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- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of construction crane machine group anti-collision early warning accessory system, the system includes anticollision early warning central processing unit and Duo Tai construction crane machines, and each crane machine has warning device, and anticollision early warning central processing unit includes：First crane machine transverse arm height determining unit module, determine the transverse arm height H1 of the first crane machine；Second crane machine transverse arm height determining unit module, determine the transverse arm height H2 of the second crane machine；Transverse arm height comparing unit module, compares H1 and H2, and the highly relatively low crane machine of transverse arm is defined as into low clearance crane machine, and the higher crane machine of transverse arm height is defined as into high height crane machine；Lifting rope position determination unit module, it is determined that the position of the lifting rope of height crane machine；Beam position determining unit module, determine the position of the transverse arm of low clearance crane machine；Space length determining unit module, determine the space length of lifting rope and transverse arm；Police instruction unit module, when space length be less than anticollision apart from when, instruction the first and second crane machines warning device 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 system of crane machine group's lifting operation
System is realized using " operator+lifting person " combination.This system, 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 construction crane machine group anti-collision early warning accessory system, institute
Stating system includes more construction crane machines and an anticollision central processing unit, each construction tower crane equipment
There is warning device, the anticollision central processing unit includes：First crane machine transverse arm height determining unit module, determine
The transverse arm height H1 of one construction crane machine；Second crane machine transverse arm height determining unit module, determines that the second building is applied
The transverse arm height H2 of work crane machine；Transverse arm height comparing unit module, compares H1 and H2, and 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；
Lifting rope position determination unit module, determine the position of the lifting rope of the height crane machine；Beam position determining unit module,
Determine the position of the transverse arm of the low clearance crane machine；Space length determining unit module, determines the lifting rope and the transverse arm
Space length；Police instruction unit module, when the space length be less than anticollision apart from when, indicate first tower crane
The warning device of machine and second crane machine is alarmed.
According to technical scheme, the process link of artificial system method on duty can be reduced, improves construction
The security of tower crane 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 construction crane machine group anti-collision early warning accessory system；
Fig. 2 shows the construction crane machine group anti-collision early warning accessory system according to one embodiment of the present invention
Anticollision central processing unit internal arithmetic schematic block diagram；
Fig. 3 shows the overlapping pre- operation principle schematic diagram for judging unit module；
Fig. 4 shows the construction crane machine group anti-collision early warning auxiliary system according to another embodiment of the invention
The schematic block diagram of the anticollision central processing unit internal arithmetic of system.
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, warning device is mounted on each crane machine.A kind of as shown in figure 1, construction tower crane group of planes according to the present invention
Anticollision early warning accessory system includes two or more platform construction crane machines and anticollision central processing unit.Respectively build
Building construction crane machine has warning device and information transceiver, transmits the information needed for anticollision central processing unit,
The angular speed of such as arm, speed, and receive the instruction from anticollision central processing unit, the instruction such as alarmed.
Anticollision central processing unit also has information transceiver, for receiving required letter from each construction crane machine
Cease and sent to each construction crane machine and instructed.Although the anticollision central processing unit shown in figure is with display
The device of the IPAD forms of device, but it should be appreciated by one skilled in art that the anticollision central processing unit can be with
For computer, chip, field programmable gate array etc., can with or without display device, can have mouse, keyboard,
The input units such as touch-screen.Anticollision central processing unit may be mounted on some crane machine, can also be with each crane machine phase
It is independent.
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 crane machine group anti-collision early warning accessory system according to one embodiment of the present invention
Anticollision central processing unit internal arithmetic schematic block diagram.
As shown in Fig. 2 the construction crane machine group anti-collision early warning accessory system according to one embodiment of the present invention
Anticollision central processing unit include the first transverse arm height determining unit module 201, the second transverse arm height determining unit module
202nd, transverse arm height comparing unit module 203, lifting rope position determination unit module 204, beam position determining unit module 205,
Space length determining unit module 206, police instruction unit module 207.At work, the first transverse arm first highly determines single
Element module 201 determines the transverse arm height H1 of the first construction crane machine；Then the second transverse arm height determining unit module 202
Determine the transverse arm height H2 of the second construction crane machine；Then transverse arm height comparing unit module 203 compares H1 and H2, will
The highly relatively low construction crane machine of transverse arm is defined as low clearance crane machine, by the higher construction tower crane of transverse arm height
Machine is defined as height crane machine；Then, lifting rope position determination unit module 204, the lifting rope of the height crane machine is determined
Position；Simultaneously or in succession, beam position determining unit module 205 determines the position of the transverse arm of the low clearance crane machine；
Then, space length determining unit module 206 determines the space length of the lifting rope and the transverse arm；Finally, it is if described
Space length is less than anticollision distance, then police instruction unit module 207 indicates the first construction crane machine and the second building
The warning device of construction crane machine is alarmed.These warning devices are, for example, that can send audio, video or light or sound
Any warning device.
According to a kind of embodiment, the anticollision central processing unit of system of the invention also includes overlapping pre- judgement list
Element module 208, judges whether the first construction crane machine and the working range of the second construction crane machine overlap, the friendship
It is folded pre- to judge it is by realizing that the processor of the judging unit module is voluntarily judged or sentenced from external reception
Disconnected result.
When voluntarily being judged, according to a kind of embodiment, this it is overlapping it is pre- judge unit module 208 including respectively with
The tower body of the tower body of the first construction crane machine and the second construction crane machine is the center of circle, respectively with described first
The transverse arm length of construction crane machine and the transverse arm length of the second construction crane machine are that radius draws circle, if the two
Circle intersects on the ground level where tower body, then judges the work of the first construction crane machine and the second construction crane machine
Overlapped as scope.
Fig. 3 diagrammatically illustrates this overlapping operation principle judged in advance.Construction crane machine 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
To the limitation of slewing area, it is also possible to semicircle or arc.Thus the picture circle of the present invention is construed as including picture arc.Lifting rope
Not necessarily always in the end of transverse arm, moved such as the dolly on transverse arm along transverse arm, but be used as and judge in advance then by horizontal stroke
The end of arm is as the metric point with overlapping risk.Transverse arm is often propped up on tower body, i.e., transverse arm is usual as an entirety
Not using tower body as starting point, but for the convenience of statement, based on context, transverse arm may refer to the end from tower body to transverse arm
This section of portion, have at lifting rope pendency in the section, for transferring and packing up lifting rope.If two drawn circles do not occur simultaneously,
Then the two construction crane machines do not work overlapping region, will not collide, can now terminate to judge.If
Overlapping region, then carry out unit module 201 with and subsequent each unit work.
It is overlapping to judge that unit module is included respectively with the first construction crane machine in advance according to a kind of embodiment
Tower body and the tower body of the second construction crane machine be the center of circle, grown respectively with the transverse arm of the first construction crane machine
The product of degree and the first coefficient more than 1, draw and justify for radius with the transverse arm length of the second construction crane machine, if this two
Individual circle intersects on the ground level where tower body, then judges the first construction crane machine and the second construction crane machine
Working range overlaps.The embodiment of this embodiment and upper segment description is not both using greatly by the length of some transverse arm
The first coefficient in 1 is extended, and picture circle is carried out using the length after extension as radius, and the calculating of first coefficient is public
Formula is as follows：
In formula：N is the first coefficient more than 1；L、LRopeRespectively the transverse arm length of height crane machine and lifting rope length；
ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWindThe respectively movement velocity of wind
With acceleration, the acceleration of wind speed and wind can measure from outside input on construction crane machine.When
When being measured on construction crane machine, wind speed measuring device can be set on construction crane machine.
This allows for the influence due to inertia or due to wind, and lifting rope will not be sometimes vertically located at suspension hook
The lower section of transverse arm, and the segment distance that may outwards blow out, thus in order to it is safer, more steadily judged in advance, by certain
The length of individual transverse arm is extended using the first coefficient more than 1.It will be apparent to those skilled in the art referred to herein
Picture circle can virtual draw circle, it is not required that must be picture circle on the spot, and can be simulation or the electronics of electronics
Computing.
Fig. 4 shows the construction crane machine group anti-collision early warning auxiliary system according to another embodiment of the invention
The schematic block diagram of the anticollision central processing unit internal arithmetic of system.As shown in figure 4, with the embodiment phase shown in Fig. 2
Control, according to the embodiment shown in Fig. 4, add overlapping judging unit module 209, the overlapping judging unit module according to
The position of the lifting rope of the position of the transverse arm end of the low clearance crane machine and the height crane machine, determines the low height
Whether the working range for spending crane machine overlaps mutually with the lifting rope of the height crane machine.For example, obtaining the height
After the position of the lifting rope of crane machine and the position of transverse arm, it can be determined that whether transverse arm and projection of the lifting rope on perpendicular
It can intersect, if non-intersect, can determine whether out that working region is non-intersect, will not collide.When the overlapping judging unit
When module is judged as that the working range of the low clearance crane machine overlaps mutually with the lifting rope of the height crane machine, the sky
Between distance determining unit module determine the space length of the lifting rope and the transverse arm.
The overlapping judging unit module is built with the tower body and low clearance of the high rise buildings construction crane machine respectively
The tower body of crane machine of constructing be the center of circle, respectively with the high rise buildings construct crane machine transverse arm along the line at lifting rope pendency
Length and perimetric length and, draw and justify for radius with the transverse arm length of low clearance construction crane machine；If the two are justified
Intersect on the ground level where tower body, then judge high rise buildings construction crane machine and low clearance construction crane machine
Working range overlaps, and the calculation formula of the perimetric length is as follows：
In formula：LKFor perimetric length；LRopeGrown for the lifting rope of height crane machine；L is along the transverse arm of height crane machine
Length to lifting rope pendency；a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWind
The respectively movement velocity and acceleration of wind.
According to another embodiment, judging unit module is overlapped with the tower body and low clearance tower of the height crane machine
The tower body of loop wheel machine is the center of circle, is more than 1 to the length at lifting rope pendency and one along the line respectively with the transverse arm of the height crane machine
Pre-determined factor product, draw and justify for radius with the transverse arm length of low clearance construction crane machine；If the two circles are in tower
Intersect on ground level where body, then judge that height crane machine and the working range of low clearance crane machine overlap, it is described pre-
The calculation formula for determining coefficient is as follows：
In formula：M is the pre-determined factor more than 1；LRopeGrown for the lifting rope of height crane machine；L is the horizontal stroke of height crane machine
To the length at lifting rope pendency along arm；1ω、a1Respectively the angular velocity of satellite motion of height crane machine and normal brake application accelerate
Degree；VWind、aWindThe respectively movement velocity and acceleration of wind.
On the other hand, as shown in figure 4, the anticollision central processing unit of the embodiment of the present invention also increases height height
Crane machine suspension hook change judging unit 210 is spent, detects the change of the position of the height crane machine suspension hook, described high
When the change of the position of degree crane machine suspension hook conforms to a predetermined condition, the overlapping judging unit carries out the low clearance crane machine
Working range whether the judgement overlapped mutually with the lifting rope of the height crane machine.For example, if height crane machine suspension hook
Position quickly change, its rate of change has exceeded predetermined threshold, then original non-intersect folded working range may become overlapping,
The original distance for not arriving predetermined threshold between lifting rope and transverse arm, which may change, must be shorter than preset distance, thus now overlaps and sentence
Whether the working range that disconnected unit should carry out the low clearance crane machine at once intersects with the lifting rope of the height crane machine
Folded judgement.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 special situation occurred, such as lifting rope flies out, tower crane caves in.This can calculate suspension hook and transverse arm
Distance substitutes, calculating to lifting rope and the distance of transverse arm.I.e. now the space length determining unit determine the suspension hook with
The vertical line distance of the transverse arm；When vertical line distance is less than preset distance, the alarm unit is alarmed.
In this case, each construction crane machine of system of the invention includes becoming with height crane machine suspension hook
Change the lift hook position determining device that judging unit module 210 is engaged work.
According to a kind of embodiment, the beam position determining unit may include：
Azimuth determining unit, the azimuth of the transverse arm is determined, 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；In the case, each crane machine includes horizontal stroke
Arm azimuth determination unit, measure the azimuth of each transverse arm and be sent to party's parallactic angle determining unit.Transverse arm azimuth determination list
Member can be that mechanical measuring device can also be electronic measuring device；
Transverse arm extreme coordinates determining unit, according to the tower body of the azimuth and the low clearance crane machine and the horizontal stroke
Vertical range between arm end points determines the coordinate of the transverse arm end points；Formula can beWherein αi
For azimuth, (xTi,yTi,HRi) it is tower body position coordinates, SiGrown for transverse arm, i.e., it is vertical between tower body and the transverse arm end points
Distance, it is corresponding with the R2 in figure.(xBi,yBi,HBi) be the transverse arm end points coordinate；
And transverse arm delineates unit, using the transverse arm end points coordinate and institute's low clearance crane machine tower body coordinate
Determine 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, there is GNSS rover stations on the transverse arm of each crane machine, the beam position determines single
Member includes：Station coordinates acquiring unit is flowed, obtains the coordinate of the GNSS rover stations of low clearance crane machine；Transverse arm expression determines single
Member, the straight line 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
Expression；Transverse arm delineates unit, according to the tower body and the transverse arm of the expression of the straight line of the transverse arm and the low clearance crane machine
Vertical range between end points determines the position of the transverse arm.
In this case, the system can also include the GNSS base stations coordinated with GNSS rover stations.GNSS rover stations
Differential correcting signal is received from GNSS base stations, improves positioning precision.
Position for determining lifting rope, it may be determined that lifting rope starts on transverse arm the coordinate and suspension hook of the position of pendency
The coordinate of position., can be on suspension hook and at the position correspondence for starting pendency with lifting rope of transverse arm according to a kind of embodiment
GNSS rover stations are set, it is hereby achieved that the coordinate and lifting rope of suspension hook start the coordinate for the position dangled from transverse arm, it is real
Now to the restriction of the lifting rope.
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 from colliding the infringement to GNSS instrument and equipments.
According to a kind of embodiment, police instruction unit module 207 determines the anticollision distance as follows：
In formula：D is anticollision distance；LXD、LZGIn relative motion or pursuit motion between respectively two crane machines
In the case of early warning distance；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration, a1It is the first tower crane
The preset parameter of machine, it is known quantity；V2、 a2The respectively movement velocity of the second crane machine and normal brake application acceleration, a2It is
The preset parameter of two crane machines, is known quantity, V1、V2It is pre- anticollision can be passed to by the first crane machine and the second crane machine
Alert central processing unit；V3、a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0For time of driver's reaction,
The time can be empirical value or for value determined by each driver；t1To pursue crane machine normal brake application process total time,
Including time of driver's reaction and equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
According to another embodiment, police instruction unit module 207 can also determine as follows the anticollision away from
From：
In formula：D is anticollision distance；LXD、LZGIn relative motion or pursuit motion between respectively two crane machines
In the case of alarm distance increment；L is to the length at lifting rope pendency along the transverse arm of height crane machine；L is low clearance tower
Space length along the transverse arm of loop wheel machine extremely between the lifting rope of the height crane machine and the transverse arm of the low clearance crane machine
Length on transverse arm at orthogonal points；ω、a1Respectively the angular velocity of satellite motion of height crane machine and normal brake application accelerate
Degree；ω2、a2The respectively angular velocity of satellite motion of low clearance crane machine and normal brake application acceleration； ω3、a3Respectively it is caught-up tower
The angular velocity of satellite motion and acceleration of loop wheel machine；t0For time of driver's reaction；t1To pursue crane machine normal brake application process total time,
Including time of driver's reaction and equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind, ω1、ω2
Anticollision early warning central processing unit can be passed to by the first crane machine and the second crane machine.
, 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 crane machine group anti-collision early warning accessory system, it is suitably mounted on the various brands tower crane machine equipment of two and the above and hangs
The construction site that industry has juxtaposition is pretended, it is quick, accurate, efficient in lifting operation between auxiliary crane machine
While completing lifting task, the security of equipment use and skilled worker in operation process is improved.
The present invention each unit module can be realized with computing device software, can also be with field programmable gate array
Realized Deng hardware.
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 in foregoing detailed description and unit 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 (8)
1. a kind of construction crane machine group anti-collision early warning accessory system, the system include more construction crane machines and
One anticollision central processing unit, each construction crane machine have warning device, the anticollision central processing dress
Put including：
First crane machine transverse arm height determining unit module, determine the transverse arm height H1 of the first construction crane machine；
Second crane machine transverse arm height determining unit module, determine the transverse arm height H2 of the second construction crane machine；
Transverse arm height comparing unit module, compares H1 and H2, and the highly relatively low construction crane machine of transverse arm is defined as into low height
Crane machine is spent, the higher construction crane machine of transverse arm height is defined as height crane machine；
Lifting rope position determination unit module, determine the position of the lifting rope of the height crane machine；
Beam position determining unit module, determine the position of the transverse arm of the low clearance crane machine；
Space length determining unit module, determine the space length of the lifting rope and the transverse arm；
Police instruction unit module, when the space length be less than anticollision apart from when, indicate first crane machine and described
The warning device of second crane machine is alarmed.
2. system according to claim 1, it is characterised in that the anticollision central processing unit includes overlapping pre- judgement
Unit module, judges whether the working range of the first crane machine and the second crane machine overlaps, and described overlap judges unit module in advance
Voluntarily to judge or judging unit module respectively in advance with the first construction tower from external reception judged result, described overlap
The tower body of the tower body of loop wheel machine and the second construction crane machine is the center of circle, respectively with the transverse arm of the first construction crane machine
Length and the transverse arm length of the second construction crane machine are that radius draws circle, if the two circles are on the ground level where tower body
It is intersecting, then judge that the first crane machine and the working range of the second crane machine overlap.
3. system according to claim 1, it is characterised in that the anticollision central processing unit includes overlapping pre- judgement
Unit module, it is described overlapping pre- to judge unit module and build with the tower body of the first construction crane machine and second respectively to apply
The tower body of work crane machine is the center of circle, respectively with the transverse arm length of the first construction crane machine and the first coefficient more than 1
Product, the transverse arm length of the second construction crane machine be radius draw circle, if the two circle in the ground level where tower body
It is upper intersecting, then judge that the first construction crane machine and the working range of the second construction crane machine overlap, first system
Several calculation formula is as follows：
In formula：N is the first coefficient more than 1；L、LRopeRespectively the transverse arm length of height crane machine and lifting rope length；ω1、a1Point
Not Wei height crane machine angular velocity of satellite motion and normal brake application acceleration；VWind、aWindThe respectively movement velocity and acceleration of wind.
4. system according to claim 1, it is characterised in that the anticollision central processing unit also includes overlapping judgement
Unit module, position and the high height of the overlapping judging unit module according to the transverse arm end of the low clearance crane machine
The position of the lifting rope of crane machine, determine the low clearance crane machine working range whether the lifting rope with the height crane machine
Overlap mutually, when the overlapping judging unit module judges the working range of the low clearance crane machine and the height tower crane
When the lifting rope of machine overlaps mutually, the space length determining unit module determines the space length of the lifting rope and the transverse arm,
The overlapping judging unit module is respectively with the tower body of the high rise buildings construction crane machine and low clearance construction
The tower body of crane machine is the center of circle, to the length at lifting rope pendency along the transverse arm for crane machine of being constructed respectively with the high rise buildings
With perimetric length and, the transverse arm length of low clearance construction crane machine draws for radius and justifies；If the two circles are in tower body institute
Ground level on intersect, then judge that the working range of high rise buildings construction crane machine and low clearance 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；L is to lifting rope along the transverse arm of height crane machine
Length at pendency；1ω、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWindRespectively
The movement velocity and acceleration of wind.
5. system according to claim 1, it is characterised in that the anticollision central processing unit also includes overlapping judgement
Unit module,
Position and the height tower crane of the overlapping judging unit module according to the transverse arm end of the low clearance crane machine
The position of the lifting rope of machine, determines whether the working range of the low clearance crane machine intersects with the lifting rope of the height crane machine
It is folded, when the overlapping judging unit module is judged as the working range of the low clearance crane machine and the height crane machine
When lifting rope overlaps mutually, the space length determining unit module determines the space length of the lifting rope and the transverse arm,
The overlapping judging unit module is divided using the tower body of the tower body of the height crane machine and low clearance crane machine as the center of circle
It is not more than the product of 1 pre-determined factor with one to the length at lifting rope pendency along the line with the transverse arm of the height crane machine, with
The transverse arm length of low clearance construction crane machine is that radius draws circle；If the two circle phases on the ground level where tower body
Hand over, then judge that height crane machine and the working range of low clearance crane machine overlap, the calculation formula of the pre-determined factor is as follows：
In formula：M is the pre-determined factor more than 1；LRopeGrown for the lifting rope of height crane machine；L is the transverse arm edge of height crane machine
Length at line to lifting rope pendency；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、
aWindThe respectively movement velocity and acceleration of wind.
6. system according to claim 1, it is characterised in that the police instruction unit module determines described anti-as follows
Collision distance：
In formula：D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Early warning distance；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration；V2、a2Respectively the second tower crane
The movement velocity of machine and normal brake application acceleration；V3、a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0To drive
The person's of sailing reaction time；t1To pursue crane machine normal brake application process total time, including time of driver's reaction and equipment are normally made
Dynamic time, VWind、aWindThe respectively movement velocity and acceleration of wind.
7. system according to claim 1, it is characterised in that the police instruction unit module can determine institute as follows
State anticollision distance：
In formula：D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Alarm distance increment；L is to the length at lifting rope pendency along the transverse arm of height crane machine；L is low clearance crane machine
Space length along transverse arm extremely between the lifting rope of the height crane machine and the transverse arm of the low clearance crane machine is in transverse arm
Length at upper orthogonal points；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；ω2、a2Point
Not Wei low clearance crane machine angular velocity of satellite motion and normal brake application acceleration；ω3、a3Respectively it is caught-up the motion angle of crane machine
Velocity and acceleration；t0For time of driver's reaction；t1It is anti-for pursuit crane machine normal brake application process total time, including driver
Between seasonable and the equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
8. system according to claim 1, it is characterised in that each construction crane machine has warning device and letter
Transceiver is ceased, for transmitting the information needed for the anticollision central processing unit, and receives and comes from the anticollision
The instruction of central processing unit, the anticollision central processing unit also have information transceiver, for from each described
Construction crane machine receives required information and sends alarm command to each construction crane machine.
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| CN201811343361.0A CN109160419B (en) | 2017-08-11 | 2017-08-11 | Anti-collision central processing device for building construction tower crane group |
| CN201811343551.2A CN109179228B (en) | 2017-08-11 | 2017-08-11 | Anti-collision system of building construction tower crane |
| CN201911042103.3A CN110615368B (en) | 2017-08-11 | 2017-08-11 | Building construction tower crane anti-collision early warning system considering wind speed influence |
| CN201710683918.4A CN107539887B (en) | 2017-08-11 | 2017-08-11 | Construction crane machine group anti-collision early warning auxiliary system |
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| CN201710683918.4A CN107539887B (en) | 2017-08-11 | 2017-08-11 | Construction crane machine group anti-collision early warning auxiliary system |
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| CN201811343551.2A Division CN109179228B (en) | 2017-08-11 | 2017-08-11 | Anti-collision system of building construction tower crane |
| CN201911042103.3A Division CN110615368B (en) | 2017-08-11 | 2017-08-11 | Building construction tower crane anti-collision early warning system considering wind speed influence |
| CN201811343361.0A Division CN109160419B (en) | 2017-08-11 | 2017-08-11 | Anti-collision central processing device for building construction tower crane group |
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| CN107539887A true CN107539887A (en) | 2018-01-05 |
| CN107539887B CN107539887B (en) | 2019-02-12 |
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| CN201710683918.4A Active CN107539887B (en) | 2017-08-11 | 2017-08-11 | Construction crane machine group anti-collision early warning auxiliary system |
| CN201911042103.3A Active CN110615368B (en) | 2017-08-11 | 2017-08-11 | Building construction tower crane anti-collision early warning system considering wind speed influence |
| CN201811343361.0A Active CN109160419B (en) | 2017-08-11 | 2017-08-11 | Anti-collision central processing device for building construction tower crane group |
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| CN201811343361.0A Active CN109160419B (en) | 2017-08-11 | 2017-08-11 | Anti-collision central processing device for building construction tower crane group |
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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 |
| CN111196572A (en) * | 2019-12-31 | 2020-05-26 | 大器物联科技（广州）有限公司 | Safety protection method for tower crane |
| CN112678692A (en) * | 2020-12-23 | 2021-04-20 | 中哲国际工程设计有限公司 | Anti-collision early warning auxiliary system for building construction tower crane group |
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| CN111061987B (en) * | 2019-12-11 | 2024-01-26 | 北京工业大学 | Group tower scheduling optimization method considering active avoidance |
| 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 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110615368A (en) | 2019-12-27 |
| CN109179228B (en) | 2020-01-14 |
| CN109160419B (en) | 2020-04-17 |
| CN110615368B (en) | 2020-08-28 |
| CN107539887B (en) | 2019-02-12 |
| CN109179228A (en) | 2019-01-11 |
| CN109160419A (en) | 2019-01-08 |
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