CN107651572A - Tower crane and its operation torque load on-line monitoring method, device and storage medium - Google Patents
Tower crane and its operation torque load on-line monitoring method, device and storage medium Download PDFInfo
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- CN107651572A CN107651572A CN201711113922.3A CN201711113922A CN107651572A CN 107651572 A CN107651572 A CN 107651572A CN 201711113922 A CN201711113922 A CN 201711113922A CN 107651572 A CN107651572 A CN 107651572A
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- Prior art keywords
- tower crane
- relatively round
- circle
- gyration
- torque load
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Classifications
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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
- B66C15/06—Arrangements or use of warning 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
- B66C13/16—Applications of indicating, registering, or weighing devices
Abstract
The invention discloses a kind of tower crane and its operation torque load on-line monitoring method, device and storage medium, monitored on-line for whether the operation torque load to tower crane to overload, this method includes：Build horizontal reference circle corresponding to tower crane；First is built corresponding to tower crane than relatively round and second than relatively round；Receive horizontal position coordinate corresponding to many places difference angle of revolution that position detecting device generates under tower crane working condition, judge whether to each fall within horizontal reference circle and second than the annular region between relatively round, if then judging that the operation torque load of tower crane is in design work region, if otherwise judging, the operation torque load of tower crane is in the first overload.The present invention realizes the on-line monitoring of operation torque load, beneficial to prejudging dangerous working condition in advance, and then lifts the security and reliability of tower crane operation.
Description
Technical field
The present invention relates to crane field, especially, be related to a kind of tower crane and its operation torque load on-line monitoring method,
Device and storage medium.
Background technology
Derrick crane (hereinafter referred to as tower crane) is heavy duty work equipment, and its main function is used in industrial or agricultural construction
Vertical material conveys, and with the horizontal continuous development of modernization construction, the application demand of tower crane is more and more, but along with peace
Full accident also happens occasionally, and has a lot of tower crane severe and great casualties with personal injury every year.It is former from all accidents
From the point of view of analysis result, tower crane structure is an assignable cause safely.
Work torque represents that its representative is tower crane with the value of tower crane work lift heavy and work range two parameter product
Structural loads situation, the structural member damage of tower body or overall thing of tumbling easily are caused in the case of the torque load overload of tower crane
Therefore, it will with the major event of personal injury, therefore the safeguard protection for the work torque load of tower crane is particularly important.
Existing torque load monitoring is typically hung using the work range and combination weight sensor monitoring of range sensor monitoring tower crane
The lift heavy weight of hook, realize the monitoring that torque load is run to it, but is limited to the accuracy of detection and constant error of sensor
Accumulation, causes the precision of its testing result to be limited, and the arrangement of multiple sensors causes system cost high, maintainable poor.
The content of the invention
The invention provides a kind of tower crane and its operation torque load on-line monitoring method, device and storage medium, with solution
Certainly existing tower crane operation torque load be limited to the accuracy of detection and constant error of sensor accumulation and system cost it is high, can
The technical problem of maintainability difference.
The technical solution adopted by the present invention is as follows：
According to an aspect of the present invention, there is provided a kind of tower crane runs torque load on-line monitoring method, for tower crane
Operation torque load whether overload and monitored on-line, be provided with the revolving dial of tower crane and be used to position real-time geographical locations
The position detecting device of information, monitoring method of the present invention include：
Structure using the equipment centre of gyration of tower crane as the center of circle, position detecting device and the equipment centre of gyration theoretical level away from
From the horizontal reference circle for radius；
Structure is used to define corresponding tower body axle center line side under tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
Compare to the first of actual shifts degree than relatively round, and according to first than relatively round structure positioned at using the equipment centre of gyration as the second of the center of circle
It is relatively round, wherein, second than it is relatively round and first than it is relatively round justify with horizontal reference between radial direction spacing it is equal；
Horizontal level corresponding to many places difference angle of revolution that position detecting device generates under tower crane working condition is received to sit
Mark, judge whether to each fall within horizontal reference circle and second than the annular region between relatively round, if then judging the running force of tower crane
Square load is in design work region, if otherwise judging, the operation torque load of tower crane is in the first overload.
Further, monitoring method of the present invention also includes：
Structure is used to define corresponding tower body axle center line side under tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
Compared to the 3rd of limit offset degree the than relatively round, and according to the 3rd than relatively round structure using the equipment centre of gyration as the 4th of the center of circle
Circle, wherein, the 4th than relatively round and the 3rd is more equal than the relatively round radial direction spacing with horizontal reference between circle；
It is horizontal corresponding to many places difference angle of revolution that position detecting device generates under the tower crane working condition for judging to receive
Position coordinates whether fall into second than it is relatively round with the 4th than the annular region between relatively round, if otherwise judging the operation torque of tower crane
Load is in the second overload.
Further, build using the equipment centre of gyration of tower crane as the center of circle, position detecting device and the equipment centre of gyration
Theoretical level distance includes for the horizontal reference circle of radius：
Multiple location parameters are generated through position detecting device and generate the equipment centre of gyration of tower crane when receiving tower crane revolution
Corresponding initial position parameters；
Using the horizontal coordinate of initial position parameters as the center of circle, the theoretical level of position detecting device and the equipment centre of gyration away from
Horizontal reference circle is built from for radius.
Further, build and be used to define corresponding tower body under tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
The first of the lateral actual shifts degree of axial line than it is relatively round including：
When receiving unloaded revolution after tower crane is increased to setting height multiple location parameters and life are generated through position detecting device
Into first than relatively round corresponding radius；
Using the horizontal coordinate of initial position parameters as the center of circle, the first of generation builds first than relatively round than relatively round radius.
Further, build using the equipment centre of gyration as the center of circle and be used to define tower crane zero load within horizontal reference circle
Under retroverted state the 3rd of corresponding tower body axial line lateral extreme drift rate than it is relatively round including：
The 3rd is determined than relatively round corresponding radius, the tower body axle center of tower crane is added or subtract for the radius of horizontal reference circle
The default side offset distance of line；
Using the horizontal coordinate of initial position parameters as the center of circle, it is determined that the 3rd than relatively round radius structure the 3rd than relatively round.
Further, default side offset distance is multiplied by the perpendicularity deviation value of permission for the tower body height value of tower crane.
Further, monitoring method of the present invention also includes：
Result of determination is sent to locally or remotely monitor terminal.
According to another aspect of the present invention, a kind of tower crane operation torque load on-Line Monitor Device is also provided, for tower
Whether the operation torque load of machine, which overloads, is monitored on-line, is provided with the revolving dial of tower crane and is used to position real-time geographic position
The position detecting device of confidence breath, monitoring device of the present invention include：
First construction unit, returned for building by the center of circle, position detecting device and equipment of the equipment centre of gyration of tower crane
The theoretical level distance for turning center is justified for the horizontal reference of radius；
Second construction unit, it is right under tower crane zero load retroverted state for defining by the center of circle of the equipment centre of gyration for building
The first of the lateral actual shifts degree of tower body axial line answered than relatively round, and according to first than it is relatively round structure using the equipment centre of gyration as
The second of the center of circle than relatively round, wherein, second than it is relatively round and first than it is relatively round justify with horizontal reference between radial direction spacing it is equal；
First compares to determine unit, for receiving the different revolutions in many places that position detecting device generates under tower crane working condition
Horizontal position coordinate corresponding to angle, judge whether to each fall within horizontal reference circle and second than the annular region between relatively round, if
It is then to judge that the operation torque load of tower crane be in design work region, if otherwise judging the operation torque load of tower crane in the
One overload.
Further, monitoring device of the present invention also includes：
3rd construction unit, it is right under tower crane zero load retroverted state for defining by the center of circle of the equipment centre of gyration for building
The 3rd of the tower body axial line lateral extreme drift rate answered than relatively round, and according to the 3rd than it is relatively round structure using the equipment centre of gyration as
The 4th of the center of circle than relatively round, wherein, the 4th than it is relatively round and the 3rd than it is relatively round justify with horizontal reference between radial direction spacing it is equal；
Second compares to determine unit, and many places that position detecting device generates under the tower crane working condition for judging reception are not
With horizontal position coordinate corresponding to angle of revolution whether fall into second than it is relatively round with the 4th than the annular region between relatively round, if not
Then judge that the operation torque load of tower crane is in the second overload.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein,
Equipment performs the monitoring method of the present invention where controlling storage medium when program is run.
According to another aspect of the present invention, a kind of tower crane is also provided, including is arranged on the revolving dial of tower crane and is used for
Position the position detecting device of real-time geographical locations information, in addition to the processor with position detecting device communication connection, processing
Device is used for operation program, and the monitoring method of the present invention is performed when program is run.
The invention has the advantages that：
The embodiment of the present invention, the location parameter obtained by using the position detecting device in tower crane, by data processing
The on-line monitoring of the operation torque load to tower crane is realized, avoids system cost caused by the arrangement of traditional multiple sensors
The monitoring mode of high, maintainable difference, and the present embodiment monitoring method can further realize that different degrees of torque load is pre-
Alert prompting, reliability is high, beneficial to prejudging dangerous working condition in advance, and then lifts the security and reliability of tower crane operation.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the schematic flow sheet of preferred embodiment of the present invention tower crane operation torque load on-line monitoring method；
Fig. 2 is the structural representation of the initial mounting state of tower crane in the preferred embodiment of the present invention；
Fig. 3 is the another schematic flow sheet of preferred embodiment of the present invention tower crane operation torque load on-line monitoring method；
Fig. 4 is the principle schematic of preferred embodiment of the present invention tower crane operation torque load on-line monitoring method；
Fig. 5 is the principle block diagram of preferred embodiment of the present invention tower crane operation torque load on-Line Monitor Device.
Description of reference numerals：
100th, the first construction unit；
200th, the second construction unit；
300th, first unit is compared to determine；
400th, the 3rd construction unit；
500th, second unit is compared to determine.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
One embodiment of the present of invention provides a kind of tower crane operation torque load on-line monitoring method, for the fortune to tower crane
Whether row torque load, which overloads, is monitored on-line, is provided with the revolving dial of tower crane and is used to position real-time geographical locations information
Position detecting device.Preferably, in the present embodiment, position detecting device is located at the arm distal end of tower crane, is examined below with position
Survey device to be located at exemplified by arm distal end, the present embodiment method is specifically described.Reference picture 1, the present embodiment monitoring method bag
Include：
Step S100, build using the equipment centre of gyration of tower crane as the center of circle, position detecting device and the equipment centre of gyration
Theoretical level distance is justified for the horizontal reference of radius；
Step S200, build using the equipment centre of gyration as the center of circle and be used to define tower crane zero load within horizontal reference circle
The first of the corresponding lateral actual shifts degree of tower body axial line is located at than relatively round, and according to first than relatively round structure under retroverted state
It is the center of circle second than relatively round outside horizontal reference circle and using the equipment centre of gyration, wherein, second than relatively round and first than relatively round
Radial direction spacing between justifying with horizontal reference is equal；
Step S300, receive water corresponding to many places difference angle of revolution that position detecting device generates under tower crane working condition
Flat position coordinates, judge whether to each fall within horizontal reference circle and second than the annular region between relatively round, if then judging tower crane
Operation torque load be in design work region, if otherwise judge tower crane operation torque load be in the first overload.
In the present embodiment, build using the equipment centre of gyration of tower crane as the center of circle, position detecting device and the equipment centre of gyration
Theoretical level distance for radius horizontal reference circle include：
Receive multiple location parameters through position detecting device generation when being turned round under tower crane initial mounting state and generate tower
Initial position parameters corresponding to the equipment centre of gyration of machine；In the present embodiment, turned round by the driving of tower crane slew gear in arm
More than 180 degree, circumferential locus of points line is formed, you can the geographical position coordinates longitude and latitude number of degrees of the equipment centre of gyration are precisely calculated
According to.
Using the horizontal coordinate of initial position parameters as the center of circle, the theoretical level of position detecting device and the equipment centre of gyration away from
Horizontal reference circle is built from for radius.Theoretical level distance herein refer to the tower body of tower crane it is undeformed on the premise of position detect
Horizontal range between device and its equipment centre of gyration.
In the present embodiment, it is preferable that it is determined that also including the installation water for judging tower crane before the equipment centre of gyration of tower crane
Whether plane meets the step of requirement of base water Pingdu.It is specific as follows：Referring to Fig. 2, under the initial mounting state of tower crane, i.e.,
Desirable criterion section is installed on tower crane installation base surface and all parts all connect it is errorless after, you can carry out tower crane equipment return
Turn center and installation horizontal plane detection.If position detecting device is installed on Working cart, Working cart is moved to farthest
End.For moving arm, in order to ensure measurement accuracy, dynamic arm is kept to be in initial elevation state, i.e. arm and horizontal direction
Angle is minimum.Tower crane slew gear is started, allows tower crane arm around tower body central rotation, in rotary course, position detecting device
Current longitude and latitude and the geographical location information of height are constantly received, after arm is intactly rotated by 360 °, through data processing
Device connects the longitude and latitude and height value detected value that all position detecting devices receive, you can forms the three-dimensional of a closing
Track G, three-dimensional track G project to horizontal direction, test circle are formed, by simply calculating, you can calculate the center of circle O of the circle
Three dimensional space coordinate, the horizontal coordinate of the central coordinate of circle are the geographical position coordinates of the equipment centre of gyration of tower crane.Preferably,
Center of circle O height above sea level, which subtracts, just fills foundation for tower crane to the basic height above sea level of the actual height, as tower crane of position detecting device
Degree.The size of the difference of each point height, that is, represent the base water Pingdu state of tower crane, difference is bigger, then generation on three-dimensional track G
The base water Pingdu of table tower crane is poorer.Preferably, data processing equipment is by comparing the difference of each point height on the three-dimensional track,
And compared with predetermined threshold value, you can judge whether the base water Pingdu of tower crane the problem of overproof occurs, once detect tower crane
Base water Pingdu is unsatisfactory for requiring, then can generate warning information and remind installation or administrative staff with timely.In the present embodiment
Data processing equipment can be the processing unit being integrated on the processor of tower crane driver's cabin side, can also be to be separately set in tower
Processing unit on machine, can also be arranged at remote server with tower crane position detecting device is wired or channel radio
Believe the processing unit of connection.In the present embodiment, data processing equipment records the equipment revolution of tower crane under the original state of generation
Center, and detected according to position detecting device the real standard of the equipment centre of gyration of obtained geographical position coordinates and tower crane away from
From, you can construct horizontal reference circle R1.Now, because tower crane is highly low, tower body is rigidly big, and horizontal reference circle R1 justifies with test
Radius it is essentially identical.
In the present embodiment, it is contemplated that：1), tower crane installation to design code height when, under unloaded windless condition, tower body
Axial line L not should be greater than 0.4% to the laterally horizontal degree deviation of bearing-surface；After attachment, the perpendicularity below highest attachment point is inclined
Difference not should be greater than 0.2% requirement；2), the weight of balance weight is essentially the 50% of nominal operation moment of flexure to moment of flexure caused by tower body
General design principles.In the case of balance weight matching preferably, it can be assumed that following situation be present：Tower crane lifts by crane rated moment
During load, as long as in the case that wind speed is little, the tower body axial line that tower crane zero load hypsokinesis and rated moment load lean forward is to supporting
The laterally horizontal degree deviation in face is basically identical.The present embodiment is used to define corresponding tower under tower crane zero load retroverted state by structure
The first of the lateral actual shifts degree of body axial line than relatively round, and according to first than it is relatively round structure positioned at horizontal reference circle outside and with
The equipment centre of gyration is the center of circle second than relatively round, and this is second than relatively round and first than the radial direction between the relatively round circle with horizontal reference
Spacing is equal, then receives horizontal level corresponding to many places difference angle of revolution that position detecting device generates under tower crane working condition
Coordinate, judge whether to each fall within horizontal reference circle and second than the annular region between relatively round, if then judging the operation of tower crane
Torque load is in design work region, if otherwise judging, the operation torque load of tower crane is in the first overload, that is, is located at
Overload is designed, now, the operation torque of tower crane has exceeded torque load corresponding to its design.
In the present embodiment, it is preferable that structure is used for boundary using the equipment centre of gyration as the center of circle and within horizontal reference circle
Determine first of the corresponding lateral actual shifts degree of tower body axial line under tower crane zero load retroverted state than it is relatively round including：
When receiving unloaded revolution after tower crane is increased to setting height multiple location parameters and life are generated through position detecting device
Into first than relatively round corresponding radius；
Using the horizontal coordinate of initial position parameters as the center of circle, the first of generation builds first than relatively round than relatively round radius.
Preferably due to which different manufacturers tower body design rigidity has difference, the tower body axial line of most of tower cranes is to bearing-surface
Laterally horizontal degree deviation should be less than standard requirement.In order to determine whether the overload conditions of tower crane, to realize grading forewarning system
Effect, referring to Fig. 3, the present embodiment monitoring method also includes：
Step S400, build using the equipment centre of gyration as the center of circle and be used to define tower crane zero load within horizontal reference circle
The 3rd of corresponding tower body axial line lateral extreme drift rate is located at than relatively round, and according to the 3rd than relatively round structure under retroverted state
It is the center of circle the 4th than relatively round outside horizontal reference circle and using the equipment centre of gyration, wherein, the 4th than relatively round and the 3rd than relatively round
Radial direction spacing between justifying with horizontal reference is equal；
Step S500, judge many places difference angle of revolution pair that position detecting device generates under the tower crane working condition of reception
Whether the horizontal position coordinate answered falls into the 4th than outside relatively round, if then judging that the operation torque load of tower crane is in the second mistake
Load state.When tower crane is in the second overload, i.e., tower crane enters limit overload condition, and the torque load of tower crane has exceeded mark
The ultimate load value of alignment request, the grade of warning message improve, to prompt administrative staff in time, avoid causing security incident.
In the present embodiment, build using the equipment centre of gyration as the center of circle and be used to define tower crane sky within horizontal reference circle
Carry retroverted state under corresponding tower body axial line lateral extreme drift rate the 3rd than it is relatively round including：
The 3rd is determined than relatively round corresponding radius, the tower body axial line that the radius justified for horizontal reference subtracts tower crane is default
Side offset distance；
Using the horizontal coordinate of initial position parameters as the center of circle, it is determined that the 3rd than relatively round radius structure the 3rd than relatively round.
In the present embodiment, default side offset distance is multiplied by the perpendicularity deviation of permission for the tower body height value of tower crane
Value.Specifically, according to professional standard《Mechanical Equipment at Construction Site Examined effect code》JGJ160-2008 compulsive clause
6.5.7 0.4% or 0.2% requirement of defined is provided, in the present embodiment, using the equipment centre of gyration of tower crane as the center of circle, with
Subtract tower body with reference to radius of circle and be highly multiplied by 0.4% (0.2%) as the 3rd than relatively round radius, i.e., the 3rd than it is relatively round be tower crane pair
The perpendicularity circle answered.
Fig. 4 shows the principle schematic of preferred embodiment of the present invention tower crane operation torque load on-line monitoring method.Ginseng
According to Fig. 4, it, which is distributed, shows that horizontal reference circle R1, first are compared than relatively round R2, second than relatively round R3, the 3rd than relatively round R4 and the 4th
Relatively round R5, wherein, region A is design work area corresponding to tower crane, and region B is design areas of overload corresponding to tower crane, corresponding to give birth to
Into one-level warning information；3rd than the region outside relatively round R5 is extreme overload region corresponding to tower crane, and corresponding to generate two level pre-
Alert information.
It should be noted that the position detecting device in the present embodiment can also be arranged on the counter-jib of tower crane, its is right
The detection scheme answered is same as above, and will not be described here.
Preferably, the present embodiment monitoring method also includes：
Result of determination is sent to locally or remotely monitor terminal.For example, the one-level or two generated through processing unit
Level warning information send to either sending on the display terminal of tower crane driver's cabin side in the handheld monitor terminal of manager or
Send to the remotely administered server in control room etc..
In the present embodiment, position detecting device is positioned in real time using GPS receiver device.Preferably, it is whole in order to improve
The precision of individual system monitoring, GPS receiver device are positioned based on real time dynamic differential RTK (Real-time kinematic), can be with
Positioning precision is promoted to Centimeter Level.Specifically, in the present embodiment, GPS receiver device includes being arranged at arm distal end or moved
Move the mobile GPS receiving unit on dolly and the benchmark GPS receiver unit being fixedly arranged on ground.
In the present embodiment, satellite navigation and location system is made up of three parts：Aerospace Satellite constellation, ground monitoring and use
Family equipment, satellite successively send navigator fix signal, by that can produce certain error, ground when atmosphere and ionosphere
Face monitoring system calculates establishment satellite ephemeris according to satellite data, and injects through injection station and include to each satellite, satellite ephemeris
Two kinds, one kind is broadcast ephemeris, real-time reception satellite data, so because error causes precision to be only used for reality than relatively low
When navigator fix.Another kind is precise ephemeris, and satellite data is calculated through accurate processing afterwards, and the ephemeris is only for afterwards high-precision
Degree positioning is used, it is impossible to is positioned in real time.In the present embodiment, the principle of RTK technologies is to set two stations, base station (i.e. benchmark
GPS receiver unit) to be arranged on ground fixed, there is defined location coordinate, then set a mobile GPS end (to move
GPS receiver unit), mobile GPS end can be at inactive state, can also be in motion state；Can first it be carried out on fixing point initial
Dynamic job is entered back into after change, also can directly be started shooting in a dynamic condition, and the search of all fuzzinesses is completed under dynamic environment
Solve.Base station sends its observation and survey station coordinate information to mobile GPS end together by Data-Link, and mobile GPS end is not
The data from base station are only received by Data-Link, also to gather observation data, the accurate and non-accurately number that will be received
According to real-time resolving is carried out, difference observation is formed in system and is handled in real time, data are contrasted, calculate the reality of position
Shi Jingdu, the high accuracy positioning result of Centimeter Level can be reached, lasted less than one second, it is high-precision fixed in real time so as to realize
Position, so as to meet tower crane arm distal end or be moved to arm distal end Working cart positioning required precision.
According to another aspect of the present invention, a kind of tower crane operation torque load on-Line Monitor Device is also provided, for tower
Whether the operation torque load of machine, which overloads, is monitored on-line, and the arm distal end of tower crane is either set on Working cart or counter-jib
There is the position detecting device for positioning real-time geographical locations information, the present embodiment on-Line Monitor Device can run the above method
Embodiment.Reference picture 5, the present embodiment monitoring device include：
First construction unit 100, for building using the equipment centre of gyration of tower crane as the center of circle, position detecting device and equipment
The horizontal range of the centre of gyration is justified for the horizontal reference of radius；
Second construction unit 200, for building using the equipment centre of gyration as the center of circle and being used within horizontal reference circle
Define the corresponding lateral actual shifts degree of tower body axial line under tower crane zero load retroverted state first is compared than relatively round, and according to first
Relatively round structure is the center of circle second than relatively round outside horizontal reference circle and using the equipment centre of gyration, wherein, second than relatively round
And first than it is relatively round justify with horizontal reference between radial direction spacing it is equal；
First compares to determine unit 300, different for receiving many places that position detecting device generates under tower crane working condition
Horizontal position coordinate corresponding to angle of revolution, judge whether to each fall within horizontal reference circle and second than the annulus between relatively round
Domain, if then judging that the operation torque load of tower crane is in design work region, if otherwise judging the operation torque load of tower crane
In the first overload.
Preferably, the present embodiment monitoring device also includes：
3rd construction unit 400, for building using the equipment centre of gyration as the center of circle and being used within horizontal reference circle
Define corresponding tower body axial line lateral extreme drift rate under tower crane zero load retroverted state the 3rd compares than relatively round, and according to the 3rd
Relatively round structure is the center of circle the 4th than relatively round outside horizontal reference circle and using the equipment centre of gyration, wherein, the 4th than relatively round
And the 3rd than it is relatively round justify with horizontal reference between radial direction spacing it is equal；
Second compares to determine unit 500, and position detecting device generates more under the tower crane working condition for judging reception
Locate whether horizontal position coordinate corresponding to different angles of revolution falls into the 4th than outside relatively round, if then judging the running force of tower crane
Square load is in the second overload.
The implementation process of each unit of the present embodiment monitoring device is not done superfluous herein referring in particular to above method embodiment
State.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein,
Equipment performs the monitoring method embodiment of the present invention where controlling storage medium when program is run.
According to another aspect of the present invention, a kind of tower crane is also provided, including is arranged at arm distal end or the work of tower crane
Dolly or counter-jib are provided with the position detecting device for being used for positioning real-time geographical locations information, in addition to detect and fill with position
The processor of communication connection is put, processor is used for operation program, and the monitoring method embodiment of the present invention is performed when program is run.
The embodiment of the present invention, the location parameter obtained by using the position detecting device in tower crane, by data processing
The on-line monitoring of the operation torque load to tower crane is realized, avoiding the arrangement of traditional multiple sensors causes system cost
The monitoring mode of high, maintainable difference, and the present embodiment monitoring method can further realize that different degrees of torque load is pre-
Alert prompting, reliability is high, beneficial to prejudging dangerous working condition in advance, and then lifts the security and reliability of tower crane operation.
It should be noted that can be in such as one group of computer executable instructions the flow of accompanying drawing illustrates the step of
Performed in computer system, although also, show logical order in flow charts, in some cases, can be with not
The order being same as herein performs shown or described step.
If the function described in the present embodiment method is realized in the form of SFU software functional unit and is used as independent product pin
Sell or in use, can be stored in one or more computing device read/write memory medium.Based on such understanding, this hair
The part or the part of the technical scheme that bright embodiment contributes to prior art can be embodied in the form of software product
Out, the software product is stored in a storage medium, including some instructions are causing a computing device (can be
People's computer, server, mobile computing device or network equipment etc.) perform the whole of each embodiment methods described of the present invention
Or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can to store journey
The medium of sequence code.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other
The difference of embodiment, between each embodiment same or similar part mutually referring to.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (11)
1. a kind of tower crane runs torque load on-line monitoring method, exist for whether the operation torque load to tower crane to overload progress
Line is monitored, and the position detecting device for being used for positioning real-time geographical locations information is provided with the revolving dial of the tower crane, and it is special
Sign is that the monitoring method includes：
Structure is using the equipment centre of gyration of the tower crane as the center of circle, the reason of the position detecting device and the equipment centre of gyration
Justify by horizontal range for the horizontal reference of radius；
Structure is used to define corresponding tower body axle center under the tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
Line side to actual shifts degree first than relatively round, and according to described first than relatively round structure be located at using the equipment centre of gyration as
The second of the center of circle than relatively round, wherein, described second than it is relatively round and it is described by first than it is relatively round justify with the horizontal reference between footpath
It is equal to spacing；
Receive horizontal position corresponding to many places difference angle of revolution of the position detecting device generation under the tower crane working condition
Put coordinate, judge whether to each fall within the horizontal reference it is round with described second than the annular region between relatively round, if then judging
The operation torque load of the tower crane is in design work region, if otherwise judging, the operation torque load of the tower crane is in the
One overload.
2. tower crane according to claim 1 runs torque load on-line monitoring method, it is characterised in that the monitoring method
Also include：
Structure is used to define corresponding tower body axle center under the tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
Line side is built using the equipment centre of gyration as the center of circle to the 3rd of limit offset degree the than relatively round, and according to the described 3rd than relatively round
The 4th than relatively round, wherein, the described 4th than it is relatively round and it is described by 3rd than it is relatively round justify with the horizontal reference between radial direction between
Away from equal；
Corresponding to many places difference angle of revolution that the position detecting device generates under the tower crane working condition for judging to receive
Horizontal position coordinate whether fall into described second than it is relatively round with the described 4th than the annular region between relatively round, if otherwise judging institute
The operation torque load for stating tower crane is in the second overload.
3. tower crane according to claim 1 runs torque load on-line monitoring method, it is characterised in that
The structure is using the equipment centre of gyration of the tower crane as the center of circle, the position detecting device and the equipment centre of gyration
Theoretical level distance for radius horizontal reference circle include：
When receiving the tower crane revolution multiple location parameters and the equipment for generating the tower crane are generated through the position detecting device
Initial position parameters corresponding to the centre of gyration；
Using the horizontal coordinate of the initial position parameters as the center of circle, the reason of the position detecting device and the equipment centre of gyration
It is that radius builds the horizontal reference circle by horizontal range.
4. tower crane according to claim 1 runs torque load on-line monitoring method, it is characterised in that
The structure is used to define corresponding tower body under the tower crane zero load retroverted state using the equipment centre of gyration as the center of circle
The first of the lateral actual shifts degree of axial line than it is relatively round including：
When receiving unloaded revolution after the tower crane is increased to setting height multiple location parameters are generated through the position detecting device
And described first is generated than relatively round corresponding radius；
Using the horizontal coordinate of the initial position parameters as the center of circle, described the first of generation is more described by first than relatively round radius structure
Than relatively round.
5. tower crane according to claim 2 runs torque load on-line monitoring method, it is characterised in that
The structure is used to define the tower crane using the equipment centre of gyration as the center of circle and within horizontal reference circle
Under unloaded retroverted state the 3rd of corresponding tower body axial line lateral extreme drift rate than it is relatively round including：
The described 3rd is determined than relatively round corresponding radius, the radius for horizontal reference circle adds or subtracted the tower crane
The default side offset distance of tower body axial line；
Using the horizontal coordinate of the initial position parameters as the center of circle, it is determined that it is the described 3rd more described by 3rd than relatively round radius structure
Than relatively round.
6. tower crane according to claim 5 runs torque load on-line monitoring method, it is characterised in that
The default side offset distance is multiplied by the perpendicularity deviation value of permission for the tower body height value of the tower crane.
7. tower crane according to any one of claims 1 to 6 runs torque load on-line monitoring method, it is characterised in that described
Monitoring method also includes：
Result of determination is sent to locally or remotely monitor terminal.
8. a kind of tower crane runs torque load on-Line Monitor Device, exist for whether the operation torque load to tower crane to overload progress
Line is monitored, and the position detecting device for being used for positioning real-time geographical locations information is provided with the revolving dial of the tower crane, and it is special
Sign is that the monitoring device includes：
First construction unit, for building using the equipment centre of gyration of the tower crane as the center of circle, the position detecting device and institute
The theoretical level distance for stating the equipment centre of gyration is justified for the horizontal reference of radius；
Second construction unit, it is used to define the tower crane zero load retroverted state using the equipment centre of gyration as the center of circle for building
The first of the lateral actual shifts degree of tower body axial line corresponding to lower is set than relatively round, and according to described first than relatively round structure with described
For second that the centre of gyration is the center of circle than relatively round, wherein, described second than relatively round and described by first than relatively round and described horizontal ginseng
The radial direction spacing examined between circle is equal；
First compares to determine unit, and many places for receiving the position detecting device generation under the tower crane working condition are different
Horizontal position coordinate corresponding to angle of revolution, judge whether to each fall within the horizontal reference it is round with described second than between relatively round
Annular region, if then judging that the operation torque load of the tower crane is in design work region, if otherwise judging the tower crane
Operation torque load be in the first overload.
9. tower crane according to claim 8 runs torque load on-Line Monitor Device, it is characterised in that also includes：
3rd construction unit, it is used to define the tower crane zero load retroverted state using the equipment centre of gyration as the center of circle for building
The 3rd of tower body axial line lateral extreme drift rate corresponding to lower is set than relatively round, and according to the described 3rd than relatively round structure with described
For the 4th that the centre of gyration is the center of circle than relatively round, wherein, the described 4th than relatively round and described by 3rd than relatively round and described horizontal ginseng
The radial direction spacing examined between circle is equal；
Second compares to determine unit, and the position detecting device generation is more under the tower crane working condition for judging reception
Locate horizontal position coordinate corresponding to different angles of revolution whether fall into described second than it is relatively round with the described 4th than between relatively round
Annular region, if otherwise judging, the operation torque load of the tower crane is in the second overload.
10. a kind of storage medium, the storage medium includes the program of storage, wherein, when described program is run described in control
1 to 7 any described monitoring method of equipment perform claim requirement where storage medium.
11. a kind of tower crane, it is characterised in that be used to position real-time geographic position including being arranged on the revolving dial of the tower crane
The position detecting device of confidence breath, in addition to the processor with position detecting device communication connection, the processor are used for
Operation program, the monitoring method as described in claim 1 to 7 is any is performed when described program is run.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711113922.3A CN107651572B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its operation torque load on-line monitoring method, device and storage medium |
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| CN201711113922.3A CN107651572B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its operation torque load on-line monitoring method, device and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108383008A (en) * | 2018-03-07 | 2018-08-10 | 徐州建机工程机械有限公司 | Tower crane setting-up control method and system |
| CN111079259A (en) * | 2019-11-20 | 2020-04-28 | 湖南中联重科建筑起重机械有限责任公司 | Method and equipment for determining head load of tower crane |
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| CN201309800Y (en) * | 2008-06-17 | 2009-09-16 | 湛江市科海科技有限公司 | Novel intelligent crane weighing torque meter |
| CN106365046A (en) * | 2015-07-23 | 2017-02-01 | 徐工集团工程机械股份有限公司 | Overturning control method, overturning control apparatus, overturning control system, and construction machinery |
| CN206142685U (en) * | 2016-11-15 | 2017-05-03 | 宜昌精联电子科技有限公司 | Take intelligent watertight fittings's torque limiter |
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| GB253424A (en) * | 1925-01-24 | 1926-06-17 | Naamlooze Vennootschap Werf Gu | An improved balancing arrangement for luffing cranes |
| CN1250745A (en) * | 1999-06-30 | 2000-04-19 | 西安建筑科技大学 | High-safety protecting system and method for monitoring running state of tower crane |
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| CN108383008A (en) * | 2018-03-07 | 2018-08-10 | 徐州建机工程机械有限公司 | Tower crane setting-up control method and system |
| CN111079259A (en) * | 2019-11-20 | 2020-04-28 | 湖南中联重科建筑起重机械有限责任公司 | Method and equipment for determining head load of tower crane |
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| Publication number | Publication date |
|---|---|
| CN107651572B (en) | 2019-02-26 |
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