CN108089577A - Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm - Google Patents

Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm Download PDF

Info

Publication number
CN108089577A
CN108089577A CN201711270316.2A CN201711270316A CN108089577A CN 108089577 A CN108089577 A CN 108089577A CN 201711270316 A CN201711270316 A CN 201711270316A CN 108089577 A CN108089577 A CN 108089577A
Authority
CN
China
Prior art keywords
window cleaning
cleaning equipment
mrow
walking
telescopic arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711270316.2A
Other languages
Chinese (zh)
Inventor
徐苍博
梁斌
胡智新
程荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XI'AN MAPLE TREE ELECTRONICAL TECHNOLOGY DEVELOPMENT Co Ltd
Original Assignee
XI'AN MAPLE TREE ELECTRONICAL TECHNOLOGY DEVELOPMENT Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by XI'AN MAPLE TREE ELECTRONICAL TECHNOLOGY DEVELOPMENT Co Ltd filed Critical XI'AN MAPLE TREE ELECTRONICAL TECHNOLOGY DEVELOPMENT Co Ltd
Priority to CN201711270316.2A priority Critical patent/CN108089577A/en
Publication of CN108089577A publication Critical patent/CN108089577A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0203Cleaning or polishing vehicle

Abstract

The invention discloses a kind of rail mounted window cleaning equipment safety monitoring systems, including host machine part and display portion, host machine part structure is, host input terminal is connected respectively with brachium detection sensor, revolution detection sensor, walking detection sensor, host output end is with blocking control connection, host is also interconnected with wireless communication module A, and host is installed on the swing mechanism of window cleaning equipment;Swing mechanism is arranged in walking mechanism, and walking mechanism is arranged on the walking track of roof;The inner end of telescopic arm is equipped with hoisting mechanism on swing mechanism, and the steel wire rope drawn from hoisting mechanism is lifted with downwards window cleaning machine hanging basket around the outer end of telescopic arm;The structure of display portion is that display is connected with wireless communication module B;Display and its wireless communication module B are arranged in window cleaning machine hanging basket.The invention also discloses a kind of rail mounted window cleaning equipment anticollision forecast Control Algorithms.The situation that the method for the present invention is moved by current window cleaning equipment realizes that the collision warning of multiple actions judges.

Description

Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm
Technical field
The invention belongs to embedded anticollision control technology fields, are related to a kind of rail mounted window cleaning equipment safety monitoring system, The invention further relates to a kind of rail mounted window cleaning equipment anticollision forecast Control Algorithms.
Background technology
With social development, more and more high-grade office buildings are mostly skyscraper all using glass curtain exterior wall, The cleaning of its outer end metope is just put with maintenance problems in face of people.Window cleaning equipment is a kind of suitable for skin face Cleaning, safeguard and in emergency circumstances meet an urgent need manned mechanical equipment, be widely used.Rail mounted window cleaning equipment is normally at building Roof is made of trolley walking mechanism, arm swing mechanism, lazy arm telescopic mechanism, cage lifting mechanism, hanging basket rotating mechanism, During work, cleaning operation personnel, which are located in hanging basket, cleans metope, while also carries out operation control to window cleaning equipment.Window cleaning equipment Trolley walking, arm revolution and hoisting arm expansion ensure that hanging basket can reach the designated position in plane, hanging basket reaches metope Different height is then to control cage lifting by wire rope pulley.
According to rail mounted window cleaning equipment structure and operation principle, cleaning positions change the operation by being located in window cleaning machine hanging basket Personnel control as needed, and when cleaning metope, hanging basket is located at the different height of high-rise building external wall, and operating personnel can not see To the situation of floor window cleaning equipment running position, and lightning rod can be all installed on skyscraper, therefore, in the window cleaning equipment course of work In, since operating personnel's attention is all concentrated in the control of hanging basket position, it can not judge the situation of roof, window cleaning equipment often occur Telescopic arm 5 collide with the building on lightning rod or other roofs, cause the generation of security incident, at present both at home and abroad all The not research on rail mounted window cleaning equipment anti-collision safety monitoring system, therefore, operating personnel's is visual on realization window cleaning equipment Change, and prevent window cleaning equipment and other object anticollisions, become urgent problem.
The content of the invention
It is an object of the invention to provide a kind of rail mounted window cleaning equipment safety monitoring systems, solve on existing window cleaning equipment Operating personnel do not have visualization device, are susceptible to the problem of window cleaning equipment is collided with other objects.
Another object of the present invention is to provide a kind of rail mounted window cleaning equipment anticollision forecast Control Algorithm, solve existing Technology cannot detect the operating status of window cleaning equipment in real time, can not prevent movement of the window cleaning equipment to dangerous direction in time, be easy to cause The problem of colliding.
The technical solution adopted in the present invention is a kind of rail mounted window cleaning equipment safety monitoring system, including host machine part with Display portion,
Host machine part structure is, including host, host input terminal senses respectively with brachium detection sensor, revolution detection Device, walking detection sensor connection, host output end are also interconnected with blocking control connection, host with wireless communication module A, host It is installed on the swing mechanism of window cleaning equipment;The swing mechanism is arranged in walking mechanism, and walking mechanism is arranged on roof It walks on track;Swing mechanism is equipped with telescopic arm upwardly through stent, and the inner end of telescopic arm is equipped with hoisting mechanism, from elevator The steel wire rope that mechanism is drawn is lifted with downwards window cleaning machine hanging basket around the outer end of telescopic arm;
The structure of display portion is, including display, display is connected with wireless communication module B;Display and its wireless Communication module B is arranged in window cleaning machine hanging basket, and display is realized by wireless communication module B and wireless communication module A and host Signal communication.
Another technical solution of the present invention is a kind of rail mounted window cleaning equipment anticollision forecast Control Algorithm, is utilized Above-mentioned rail mounted window cleaning equipment safety monitoring system, implements according to following steps:
Step 1 calculates the current pose of window cleaning equipment and movement velocity,
The telescopic arm that window cleaning equipment is obtained using brachium detection sensor, revolution detection sensor, walking detection sensor is stretched The position of contracting length, corner and window cleaning equipment on walking track, obtains current pose:
Step 2 calculates the minimum range of window cleaning equipment and barrier under current pose;
The hazardous act of window cleaning equipment, is controlled accordingly according to different situations under step 3, prediction current motion state.
The invention has the advantages that including following aspect:
1) method of the invention, it is possible to implement to prejudge according to the motion state of current window cleaning equipment, subsequent time difference is judged Motion state may caused by risk of collision, system detectio to dangerous information can send corresponding alarm, so as to carry Awake operating personnel are avoided, and prevent collision accident.
2) method of the invention, it is only necessary to the alarm distance parameter of an anticollision be set, moved by current window cleaning equipment Situation, it becomes possible to realize that the collision warning of multiple actions judges that accuracy is high;
3) method of the invention, anticipation degree is improved by prejudging the cycle, carries out early warning in advance, and flexibility is high.
Description of the drawings
Fig. 1 is the control structure block diagram for the safety monitoring system that the method for the present invention relies on;
Fig. 2 is the schematic view of the mounting position for the safety monitoring system that the method for the present invention relies on;
Fig. 3 is the main control process flow figure for the safety monitoring system that the method for the present invention relies on;
Fig. 4 is the anticollision PREDICTIVE CONTROL flow chart in the method for the present invention;
Fig. 5 is the anticollision Computing Principle schematic diagram in the method for the present invention;
Fig. 6 is the position relationship schematic diagram of window cleaning equipment and lightning rod in the method for the present invention embodiment.
In figure, 1. walking tracks, 2. walking mechanisms, 3. stents, 4. swing mechanisms, 5. telescopic arms, 6. steel wire ropes, 7. wipe window Machine hanging box, 8. hoisting mechanisms, 9. electric control cabinets, 10. roofs, 11. displacement detection modules, 12. drawstrings, 13. pull heads, 14. times Turn encoder, 15. nylon teeth, 16. connecting shafts, 17. idler wheels, 18. walking encoders, 19. fixed frames, 20. wireless communication modules A, 21. wireless communication module B, 22. displays, 23. hosts, 24. brachium detection sensors, 25. revolution detection sensors, 26. Walking detection sensor, 27. block control, 28. batteries.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
Such as Fig. 1, the safety monitoring system structure that the method for the present invention relies on is, including host machine part and display portion two Point,
Embedded host machine part structure is, including host 23,23 input terminal of host respectively with brachium detection sensor 24, Revolution detection sensor 25, walking detection sensor 26 connect, and 23 output terminal of host is connected with blocking control (module) 27, host 23 also interconnect with wireless communication module A20, and host 23 is installed on the swing mechanism 4 of window cleaning equipment;
The structure of display portion is, including display 22, display 22 connects respectively with wireless communication module B21, battery 28 It connects, is powered by battery 28, the electricity of battery 28 is at least supported more than when display portion continuous firing 48 is small;Display 22 and Its wireless communication module B21 is arranged in window cleaning machine hanging basket 7, and display 22 passes through wireless communication module B21 and wireless telecommunications mould Block A20 realizes signal communication with host 23, and the data that real-time reception host machine part is sent simultaneously are shown, window cleaning equipment is supplied to hang Operator's Real Time Observation window cleaning equipment main body in basket 7 is in the location status of roof.
With reference to Fig. 2, the specific mounting structure of the safety monitoring system is, including swing mechanism 4, swing mechanism 4 is arranged on In walking mechanism 2, walking mechanism 2 is arranged on the walking track 1 of roof 10;Swing mechanism 4 is equipped with upwardly through stent 3 to be stretched Contracting arm 5, the inner end of telescopic arm 5 are equipped with hoisting mechanism 8, and the steel wire rope 6 drawn from hoisting mechanism 8 bypasses the outer end of telescopic arm 5 Window cleaning machine hanging basket 7 is lifted with downwards, and window cleaning machine hanging basket 7 is located at the correspondence position that building side needs cleaning operation, and foregoing is aobvious Show that device 22 and wireless communication module B21 are just arranged in window cleaning machine hanging basket 7;
Brachium detection sensor 24 includes displacement detection module 11, drawstring 12 and pull head 13, and displacement detection module 11 uses Draw-wire displacement sensor, displacement detection module 11 are mounted on 5 inner end final section telescopic arm 5 of telescopic arm, and pull head 13 is installed In the end of 5 outer end of telescopic arm, pull head 13 is connected by drawstring 12 with 11 bracing wire of displacement detection module, pull head 13 through string holes with 5 top of telescopic arm lock is connected, and the length of drawstring 12 changes when telescopic arm 5 stretches, and measures the length of telescopic arm 5 in real time Variation;
Turning round detection sensor 25 includes rotary encoder 14, nylon tooth 15 and connecting shaft 16, and nylon tooth 15 is mounted on back The edge placement of rotation mechanism 4 is equipped with rotary encoder 14 on nylon tooth 15 by connecting shaft 16, and swing mechanism 4 is rotated, passed through Nylon tooth 15 drives rotary encoder 14 to detect corner;
Detection sensor 26 of walking includes walking encoder 18, idler wheel 17 and fixed frame 19, and idler wheel 17 passes through fixed frame 19 Mounted on the chassis side of walking mechanism 2, walking encoder 18 is installed on the wheel shaft of idler wheel 17, idler wheel 17 is pressed in by spring It walks on track 1, when walking mechanism 2 moves idler wheel 17 is driven to rotate, walking encoder 18 is driven to be rotated with idler wheel 17, passes through rolling The travel distance of window cleaning equipment can be calculated by taking turns the product of 17 perimeters and the number of turns;
It blocks control 27 and output control is carried out using relay, pass through cable and the electrical equipment control in walking mechanism 2 Cabinet 9 is connected, and relay output is normally-closed contact, and series connection accesses 5 expansion control loop of walking, rotation and telescopic arm of window cleaning equipment In, the walking, rotation and telescopic arm 5 for controlling window cleaning equipment respectively using three group relays are flexible, when window cleaning equipment operating status is deposited In danger, system will stop movement of the window cleaning equipment to dangerous direction.
Multiple function modules are provided in host 23, including scene setting, transducer calibration, state sampling, anticollision meter It calculates, output controls, shows and record.
Scene setting:Walking track 1 is to correspond to design with building roof shape and set, and carries out anticollision calculating Before, it is necessary first to scene setting is carried out, establishes building roof relative coordinate system, window cleaning equipment, lightning rod and other buildings are set The relative position of object, including window cleaning equipment track origin coordinates, track length, lightning rod quantity and position coordinates;
Transducer calibration:Demarcate brachium detection sensor 24, revolution detection sensor 25, walking detection biography successively at the scene Sensor 26 calibrates the detection data of sensor and actual length, angle, range data, eliminates detection error, so as to The travel distance of window cleaning equipment boom frame telescopic length, angle of revolution and window cleaning equipment can accurately be measured;
State samples:By brachium detection sensor 24, revolution detection sensor 25, walking detection sensor 26, realize The real-time detection of window cleaning equipment itself pose, 5 collapsing length of telescopic arm, corner and window cleaning equipment including window cleaning equipment are in walking track Position on 1;According to above- mentioned information, the skyborne real-time pose of window cleaning equipment is calculated;
Anticollision calculates:According to the real-time pose of window cleaning equipment, window cleaning equipment currently various movement velocitys are calculated, are predicted current Window cleaning equipment under speed (including boom frame telescopic, walking, swing mechanism) and barrier (such as lightning rod or other buildings) away from From if this distance exports collision warning signal at once less than danger warning if;
Output control:It is acted, is controlled according to the instruction of host 21 as a result, blocking control 26 according to what anticollision calculated The relay output of respective execution mechanisms;
Display and record:The air position information, track location information, warning message of window cleaning equipment are showed into user in real time Viewing, and each status information, warning message are recorded and stored in real time.
The anticollision forecast Control Algorithm of the present invention, operation principle are to gather the current operating status of window cleaning equipment in real time, Including window cleaning equipment in the collapsing length of the position on track 1, corner and telescopic arm 5 of walking, and then the pose of window cleaning equipment is calculated, Then the relative position relation of window cleaning equipment and roof barrier (lightning rod or other buildings) is calculated, so as to determine whether to collide Danger, and control is exported, window cleaning equipment is avoided to be run to dangerous direction.Fig. 3 is rail mounted window cleaning equipment security monitor program flow, is schemed 4 be the flow chart of anticollision forecast Control Algorithm, is implemented according to following steps:
Step 1 calculates the current pose of window cleaning equipment and movement velocity;
It is obtained using brachium detection sensor 24, revolution detection sensor 25, walking detection sensor 26 (i.e. state samples) The position of 5 collapsing length of telescopic arm, corner and the window cleaning equipment of window cleaning equipment on walking track 1 is obtained, obtains current pose:
With reference to Fig. 5, the top layer built where window cleaning equipment establishes relative coordinate system OXY, sets parallel to walking track 1 Direction is X-axis, is Y-axis perpendicular to the direction of walking track 1, and coordinate origin is O (0,0), and the track length of walking track 1 is L, The starting point of walking track 1 is M, and P is barrier;In coordinate system OXY, M point coordinates is M (xm,ym), P point coordinates is P (xp, yp);Window cleaning equipment fuselage center (i.e. the center of stent 3) is A (xa,ya), the length of telescopic arm 5 is R, and the external end head of telescopic arm 5 is B, window cleaning equipment are θ with respect to the corner of X-direction;The travel distance of window cleaning equipment is l0(i.e. with respect to the starting point M of walking track 1);Then Coordinate (the x of B points is obtained according to calculating formula (1)b,xb):
The calculating formula of window cleaning equipment telescopic arm is obtained as (this word means that the arm support of window cleaning equipment can be equivalent to one Straight line, the coordinate A of angle and window cleaning equipment fuselage for window cleaning equipment arm support can obtain the equation of window cleaning equipment arm support, It is exactly the equation of straight line):
It is when θ is not equal to 90 degree:Y=tan θ * (x-Xa)+ya (2)
It is when θ is equal to 90 degree:Y=Xa,
Defining window cleaning equipment kinematic parameter includes window cleaning equipment travel distance variation delta s in sampling period T, flexible brachium variation Measure Δ r, angle of revolution variation delta θ;
Step 2 calculates the minimum range of window cleaning equipment and barrier under current pose;
By 5 calculating formula of window cleaning equipment telescopic arm (2) and the coordinate of barrier, current barrier and window cleaning equipment telescopic arm are calculated 5 distance d0;If Q is intersection point of the P points on telescopic arm AB, when intersection point Q points are on line segment AB, then distance is | PQ |:
If the distance that the distance that intersection point Q not on line segment AB, defines barrier P points and telescopic arm is P and B points is | PB |, then have:
If the risk of collision of window cleaning equipment and barrier distance is s, work as d0<During s, system sends danger warning, prompts operation Member has the danger of collision;
The hazardous act of window cleaning equipment, is controlled accordingly according to different situations under step 3, prediction current motion state;
The anticipation coordinate of window cleaning equipment fuselage center A is A'(xa+ Δ s, ya);It is R'=R+ Δs r that telescopic arm 5, which prejudges length,;
It is θ '=θ+Δ θ that telescopic arm 5, which prejudges corner, then it is B'(R'*cos to obtain the anticipation coordinate B ' that telescopic arm end is B θ',R'*sinθ');According to calculating formula (2) obtain anticipation telescopic arm 5 calculating formula be:
When θ ' is not equal to 90 degree, y=tan θ ' * (x-Xa-Δs)+ya, (5)
When θ ' is equal to 90 degree:Y=Xa+ Δ s,
The anticipation of the window cleaning equipment only when window cleaning equipment is only in walking movement is judged most according to calculating formula (3), calculating formula (4) respectively Small distance ds', the anticipation minimum range d of window cleaning equipment only in rotary motionw', the window cleaning equipment only in 5 stretching motion of telescopic arm Prejudge minimum range dr', it is compared with default anti-collision alarm distance, is handled according to following different modes:
1) d is worked ass'<During s, system anticipation walking movement is present with risk of collision, prompts walking movement alarm;
2) d is worked asw'<During s, system anticipation rotary motion is present with risk of collision, prompts walking movement alarm;
3) d is worked asr'<During s, system anticipation 5 stretching motion of telescopic arm is present with risk of collision, prompts 5 stretching motion of telescopic arm Alarm.
Embodiment
With reference to Fig. 6, if the window cleaning equipment fuselage on building top layer is A, 5 outer top of telescopic arm is B, and P is on roof of storied building One lightning rod, collision avoidance system of the invention are mounted on C1 positions, if the fuselage coordinates of window cleaning equipment are position (x1=0, y1= 0), unit is rice;Window cleaning equipment works as forearm length R=35m, is currently 60 ° with the angle of X-direction, and according to the speed of 4 °/s Degree rotates clockwise;P point coordinates is (Xp=20, Yp=20);If the alarm distance of system anti-collision is 6m, the system anticipation cycle T=1.5s.
Current time P point and the collision distance of window cleaning equipment and touching for anticipation T moment are calculated according to calculating formula (3), (4), (5) Hit distance such as the following table 1:
The collision distance of table 1, current time P points and window cleaning equipment and the collision distance at anticipation T moment
Walking collision distance Turn round collision distance Flexible collision distance
Current time 17.5 meters 7.32 rice 10.6 meters
Prejudge the moment 17.5 meters 5.36 rice 8.33 rice
The results show:
1) current time lightning rod is all higher than with window cleaning equipment fuselage distance, telescopic arm vertical range, telescopic arm breakpoint distance Anti-collision alarm distance, system is in a safe condition at this time, and collisionless is dangerous.
2) according to window cleaning equipment current motion state, swing mechanism is run according to the speed of 4 °/s, then after prejudging T=1.5s, Wiping installation and the collision relation of lightning rod calculate T moment lightning rod and window cleaning equipment fuselage distance, telescopic arm vertical range, stretch Arm breakpoint distance, it is known that the distance of following T moment, window cleaning equipment telescopic arm and lightning rod is 5.36 meters, is touched less than system revolution 6 meters of the security alarm distance hit, therefore alert, the prompting of right-hand rotation motion alarm, advance notice operate system at this time Personnel are likely to occur right-hand rotation risk of collision.
3) when the real-time collision distance for detecting current time is less than default collision distance, system alarm simultaneously exports and blocks control System, forbids window cleaning equipment to continue to move, and ensure that the safety of window cleaning equipment operation, prevents to collide.
4) by the present invention anticipation anti-collision algorithm, can accurate judgement window cleaning equipment due to right-hand rotation movement will be in T It collides after quarter with lightning rod, accurately sends alarm and control information, effectively prevent the generation of collision accident.

Claims (9)

1. a kind of rail mounted window cleaning equipment safety monitoring system, it is characterised in that:Including host machine part and display portion,
Host machine part structure is, including host (23), host (23) input terminal is examined respectively with brachium detection sensor (24), revolution Sensor (25), walking detection sensor (26) connection are surveyed, host (23) output terminal is connected with blocking control (27), host (23) It is also interconnected with wireless communication module A (20), host (23) is installed on the swing mechanism of window cleaning equipment;The swing mechanism is set In walking mechanism, walking mechanism is arranged on the walking track of roof;Swing mechanism is equipped with telescopic arm upwardly through stent, The inner end of telescopic arm is equipped with hoisting mechanism, and the steel wire rope drawn from hoisting mechanism is lifted with downwards wiping around the outer end of telescopic arm Window machine hanging basket;
The structure of display portion is, including display (22), display (22) is connected with wireless communication module B (21);Display (22) and its wireless communication module B (21) is arranged in window cleaning machine hanging basket, display (22) by wireless communication module B (21) and Wireless communication module A (20) realizes signal communication with host (23).
2. rail mounted window cleaning equipment safety monitoring system according to claim 1, it is characterised in that:The brachium detection passes Sensor (24) includes displacement detection module (11), drawstring (12) and pull head (13), and displacement detection module (11) uses dragline type position Displacement sensor, displacement detection module (11) are mounted on the final section telescopic arm of telescopic arm inner end, and pull head (13) is mounted on flexible The end of arm outer end, pull head (13) are connected by drawstring (12) with displacement detection module (11) bracing wire, and pull head (13) passes through string holes It is connected with telescopic arm top lock, the length of drawstring (12) changes when telescopic arm is flexible, measures the length of telescopic arm in real time Degree variation.
3. rail mounted window cleaning equipment safety monitoring system according to claim 1, it is characterised in that:The revolution detection passes Sensor (25) includes rotary encoder (14), nylon tooth (15) and connecting shaft (16), and nylon tooth (15) is mounted on swing mechanism Edge placement is equipped with rotary encoder (14) on nylon tooth (15) by connecting shaft (16), and swing mechanism rotates, and passes through nylon Tooth (15) drives rotary encoder (14) to detect corner.
4. rail mounted window cleaning equipment safety monitoring system according to claim 1, it is characterised in that:The walking detection passes Sensor (26) includes walking encoder (18), idler wheel (17) and fixed frame (19), and idler wheel (17) is mounted on by fixed frame (19) The chassis side of walking mechanism is equipped with walking encoder (18) on the wheel shaft of idler wheel (17), and idler wheel (17) is pressed in by spring It walks on track, when walking mechanism moves idler wheel (17) is driven to rotate, walking encoder (18) is driven to be rotated with idler wheel (17), lead to The travel distance of window cleaning equipment can be calculated by crossing the product of idler wheel (17) perimeter and the number of turns.
5. rail mounted window cleaning equipment safety monitoring system according to claim 1, it is characterised in that:Described blocks control (27) output control is carried out using relay, is connected by cable with the electric control cabinet in walking mechanism, relay is defeated Go out for normally-closed contact, in the connect walking for accessing window cleaning equipment, rotation and telescopic arm expansion control loop, using three group relays Respectively walking, rotation and the telescopic arm of window cleaning equipment is controlled to stretch.
6. a kind of rail mounted window cleaning equipment anticollision forecast Control Algorithm wipes window using any rail mounteds of claim 1-5 Machine safety monitoring system, which is characterized in that implement according to following steps:
Step 1 calculates the current pose of window cleaning equipment and movement velocity,
Window cleaning equipment is obtained using brachium detection sensor (24), revolution detection sensor (25), walking detection sensor (26) The position of telescopic arm collapsing length, corner and window cleaning equipment on walking track, obtains current pose:
Step 2 calculates the minimum range of window cleaning equipment and barrier under current pose;
The hazardous act of window cleaning equipment, is controlled accordingly according to different situations under step 3, prediction current motion state.
7. rail mounted window cleaning equipment anticollision forecast Control Algorithm according to claim 6, which is characterized in that the step In 1, detailed process is:
The top layer built where window cleaning equipment establishes relative coordinate system OXY, sets the direction parallel to walking track as X-axis, hangs down Directly in the direction of walking track for Y-axis, coordinate origin is O (0,0), and the track length of track of walking is L, the starting point for track of walking For M, P is barrier;In coordinate system OXY, M point coordinates is M (xm,ym), P point coordinates is P (xp,yp);Window cleaning equipment fuselage center For A (xa,ya), the length of telescopic arm is R, and the external end head of telescopic arm is B, and window cleaning equipment is θ with respect to the corner of X-direction;Window cleaning equipment Travel distance be l0;Coordinate (the x of B points is then obtained according to calculating formula (1)b,xb):
<mrow> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>x</mi> <mi>b</mi> </msub> <mo>=</mo> <mi>R</mi> <mo>*</mo> <mi>cos</mi> <mi>&amp;theta;</mi> <mo>+</mo> <msub> <mi>X</mi> <mi>a</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>y</mi> <mi>b</mi> </msub> <mo>=</mo> <mi>R</mi> <mo>*</mo> <mi>sin</mi> <mi>&amp;theta;</mi> <mo>+</mo> <msub> <mi>y</mi> <mi>a</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
The calculating formula for obtaining window cleaning equipment telescopic arm is:
It is when θ is not equal to 90 degree:Y=tan θ * (x-Xa)+ya (2)
It is when θ is equal to 90 degree:Y=Xa,
Defining window cleaning equipment kinematic parameter includes window cleaning equipment travel distance variation delta s in sampling period T, flexible brachium variation delta R, angle of revolution variation delta θ.
8. rail mounted window cleaning equipment anticollision forecast Control Algorithm according to claim 7, which is characterized in that the step In 2, detailed process is:
By window cleaning equipment telescopic arm calculating formula (2) and the coordinate of barrier, calculate current barrier and window cleaning equipment telescopic arm away from From d0;If Q is intersection point of the P points on telescopic arm AB, when intersection point Q points are on line segment AB, then distance is | PQ |:
<mrow> <msub> <mi>d</mi> <mn>0</mn> </msub> <mo>=</mo> <mo>|</mo> <mi>P</mi> <mi>Q</mi> <mo>|</mo> <mo>=</mo> <mfrac> <mrow> <mo>|</mo> <mrow> <mo>(</mo> <mi>y</mi> <mi>b</mi> <mo>-</mo> <mi>y</mi> <mi>a</mi> <mo>)</mo> </mrow> <mo>*</mo> <mi>x</mi> <mi>p</mi> <mo>+</mo> <mrow> <mo>(</mo> <mi>x</mi> <mi>a</mi> <mo>-</mo> <mi>x</mi> <mi>b</mi> <mo>)</mo> </mrow> <mo>*</mo> <mi>y</mi> <mi>p</mi> <mo>+</mo> <mrow> <mo>(</mo> <mi>y</mi> <mi>a</mi> <mo>*</mo> <mi>x</mi> <mi>b</mi> <mo>-</mo> <mi>y</mi> <mi>b</mi> <mo>*</mo> <mi>x</mi> <mi>a</mi> <mo>)</mo> </mrow> <mo>|</mo> </mrow> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <mi>y</mi> <mi>b</mi> <mo>-</mo> <mi>y</mi> <mi>a</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>-</mo> <msup> <mrow> <mo>(</mo> <mi>x</mi> <mi>a</mi> <mo>-</mo> <mi>x</mi> <mi>b</mi> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>3</mn> <mo>)</mo> </mrow> </mrow>
If the distance that the distance that intersection point Q not on line segment AB, defines barrier P points and telescopic arm is P and B points is | PB |, Then have:
<mrow> <msub> <mi>d</mi> <mn>0</mn> </msub> <mo>=</mo> <mo>|</mo> <mi>P</mi> <mi>B</mi> <mo>|</mo> <mo>=</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <msub> <mi>x</mi> <mi>p</mi> </msub> <mo>-</mo> <msub> <mi>x</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>y</mi> <mi>p</mi> </msub> <mo>-</mo> <msub> <mi>y</mi> <mi>b</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow>
If the risk of collision of window cleaning equipment and barrier distance is s, work as d0<During s, system sends danger warning, and operator is prompted to touch The danger hit.
9. rail mounted window cleaning equipment anticollision forecast Control Algorithm according to claim 8, which is characterized in that the step In 3, detailed process is:
The anticipation coordinate of window cleaning equipment fuselage center A is A'(xa+ Δ s, ya);Telescopic arm anticipation length is R'=R+ Δs r;
Telescopic arm anticipation corner is θ '=θ+Δ θ, then it is B'(R'*cos θ ', R'* to obtain the anticipation coordinate B ' that telescopic arm end is B sinθ');According to calculating formula (2) obtain anticipation telescopic arm calculating formula be:
When θ ' is not equal to 90 degree, y=tan θ ' * (x-Xa-Δs)+ya, (5)
When θ ' is equal to 90 degree:Y=Xa+ Δ s,
Judge the anticipation most narrow spacing of the window cleaning equipment only when window cleaning equipment is only in walking movement respectively according to calculating formula (3), calculating formula (4) From ds', the anticipation minimum range d of window cleaning equipment only in rotary motionw', the anticipation of window cleaning equipment is most only in telescopic arm stretching motion Small distance dr', it is compared with default anti-collision alarm distance, is handled according to following different modes:
1) d is worked ass'<During s, system anticipation walking movement is present with risk of collision, prompts walking movement alarm;
2) d is worked asw'<During s, system anticipation rotary motion is present with risk of collision, prompts walking movement alarm;
3) d is worked asr'<During s, system anticipation telescopic arm stretching motion is present with risk of collision, prompts the alarm of telescopic arm stretching motion.
CN201711270316.2A 2017-12-05 2017-12-05 Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm Pending CN108089577A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711270316.2A CN108089577A (en) 2017-12-05 2017-12-05 Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711270316.2A CN108089577A (en) 2017-12-05 2017-12-05 Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm

Publications (1)

Publication Number Publication Date
CN108089577A true CN108089577A (en) 2018-05-29

Family

ID=62173771

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711270316.2A Pending CN108089577A (en) 2017-12-05 2017-12-05 Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm

Country Status (1)

Country Link
CN (1) CN108089577A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11278794A (en) * 1998-03-26 1999-10-12 Ishikawajima Constr Mach Co Crane equipment
CN201192308Y (en) * 2008-05-08 2009-02-11 山东交通学院 Aloft-work window cleaning device
CN201358133Y (en) * 2009-03-06 2009-12-09 南京市特种设备安全监督检验研究院 Anti-collision safety device of rail-mounted crane
CN103613014A (en) * 2013-11-21 2014-03-05 中联重科股份有限公司 Tower crane, and anti-collision system, anti-collision method and anti-collision device thereof
CN104627842A (en) * 2014-12-01 2015-05-20 长安大学 Jib crane hoisting operation anti-collision method and system
CN105366574A (en) * 2015-10-27 2016-03-02 张琳 Safety control device for tower cranes

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11278794A (en) * 1998-03-26 1999-10-12 Ishikawajima Constr Mach Co Crane equipment
CN201192308Y (en) * 2008-05-08 2009-02-11 山东交通学院 Aloft-work window cleaning device
CN201358133Y (en) * 2009-03-06 2009-12-09 南京市特种设备安全监督检验研究院 Anti-collision safety device of rail-mounted crane
CN103613014A (en) * 2013-11-21 2014-03-05 中联重科股份有限公司 Tower crane, and anti-collision system, anti-collision method and anti-collision device thereof
CN104627842A (en) * 2014-12-01 2015-05-20 长安大学 Jib crane hoisting operation anti-collision method and system
CN105366574A (en) * 2015-10-27 2016-03-02 张琳 Safety control device for tower cranes

Similar Documents

Publication Publication Date Title
CN105347211B (en) Derrick crane panorama visible, controllable, intellectual monitoring and safeguarding integrated system
CN105201184B (en) Basket-hanging high-altitude wall sprayer
CN109231016B (en) Anti-collision method for building construction tower crane
CN102789221B (en) Internet of things-based remote monitoring system of construction machinery and monitoring method thereof
CN109160419B (en) Anti-collision central processing device for building construction tower crane group
KR20190135462A (en) Windows washing robot
CN103241654B (en) Intelligent operation control system of bridge crane
CN106927357B (en) Tower crane lift hook safe condition monitoring device and control method
CN104843585A (en) Intelligent tower crane control system
CN105366574A (en) Safety control device for tower cranes
CN108089577A (en) Rail mounted window cleaning equipment safety monitoring system and anticollision forecast Control Algorithm
CN101624163A (en) Tower crane cluster operation wireless communication safety device
CN111137792A (en) Three-dimensional anti-collision method and equipment for tower crane
CN205187682U (en) Anticollision tower machine
CN104627872A (en) Novel detector combined system for monitoring movement range of tower crane jib
CN203373012U (en) Overhead and gantry crane and display system thereof
CN107247456A (en) A kind of safe collision avoidance system in many equipment cross-operation regions
CN208087072U (en) A kind of multifunctional intelligent tower crane monitoring and acquisition system
CN106429814A (en) Novel tower crane
CN207738335U (en) A kind of derrick crane multimachine collision prevention device
CN208577369U (en) Derrick crane construction anti-collision alarm system
CN202864789U (en) Crane and double-winch synchronous control device thereof
CN207347027U (en) A kind of intelligent and safe tower crane that early warning is perceived based on Internet of Things
CN106629406B (en) tower crane monitoring system and method
CN104965480B (en) A kind of flexible cable gate electric-control system and method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20180529