CN108706479A - A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight - Google Patents
A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight Download PDFInfo
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- CN108706479A CN108706479A CN201810799573.3A CN201810799573A CN108706479A CN 108706479 A CN108706479 A CN 108706479A CN 201810799573 A CN201810799573 A CN 201810799573A CN 108706479 A CN108706479 A CN 108706479A
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- server
- tower crane
- arm
- jack mechanism
- counterweight
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses the intelligent barrier avoiding tower cranes that a kind of dynamic changes counterweight, including the tower crane pylon being vertically arranged, perpendicular to the arm of tower crane pylon, the counterweight cabin below goods jack mechanism peace weighing apparatus arm being arranged below crane arm, and rotating mechanism and the commander storehouse on rotating mechanism positioned at arm and tower crane pylon crossover location, the server calculates the weight real time load torque of jack machinism by the strain gauge being respectively set on counter-jib and crane arm, and the distance moved left and right by real time load Torque Control counterweight cabin, the server judges that goods jack mechanism walking path has clear, carry out obstacle avoidance, goods jack mechanism is set to avoid barrier from interfering in moving process.It is of the invention intelligent higher, solves the problems, such as in the prior art can not fast and accurately avoidance, tower crane automatic counter-balanced can be realized according to the weight for slinging weight to adjust the position of clump weight, so that building tower crane is more stable at work.
Description
Technical field
The present invention relates to the intelligent barrier avoiding tower cranes that tower crane field more particularly to a kind of dynamic change counterweight.
Background technology
With the development of science and technology, more and more new technologies and instrument are used for building trade, and building tower crane is to build
One of tool important in construction is built, the height for building tower crane is generally relatively high, causes the stability of tower crane itself bad, and pushes up
The balance in portion is also bad, and current tower crane is only simply provided with clump weight, currently, clump weight is fixed, lifting
When weight, bad grasp is balanced, because building tower crane can fall different weights, causes to balance bad regulation and control, use
Than relatively hazardous in journey.Existing tower crane control system mainly solves the Safety production questions such as anticollision, overturning-preventing, and function is more single
One, intelligence degree is not high.
Patent No. CN201720087523.3 discloses a kind of building tower crane, which includes mask pedestal, drives
Crossbearer is installed above driver's cabin in room, tower crane frame and the cat ladder patent, one end of the crossbearer is equipped with electromagnetism sliding rail,
And clump weight is equipped with by electromagnetism sliding block on electromagnetism sliding rail, the one end of the crossbearer far from electromagnetism sliding rail is hinged with pulley, and
Promotion motor is installed on the crossbearer at pulley position, rope is provided on the pulley, and one end of rope ties up to promotion electricity
On the output end of machine, the other end of the rope is equipped with hook, and close one end linked up with is equipped with pulling force on the rope
Sensor, the output end of the pulling force sensor are electrically connected with the input terminal of PSE300-M controllers, and PSE300-M is controlled
The output end of device is electrically connected with the input terminal of electromagnetism sliding rail.The equipment is equipped with electromagnetism sliding rail, by pulling force sensor and
PSE300-M controllers control electromagnetism sliding rail, can according to the weight for slinging weight, to adjust the position of clump weight so that
Tower crane is built at work more to stablize.
Although above-mentioned patent can be according to the weight for slinging weight, to adjust the position of clump weight, which exists
Certain defect can not calculate the distance of clump weight movement, still can not ensure the balance of arm, play hanging hook and need to lift by crane not
Weight with weight just can guarantee that arm balances, and when arm slinging, can not ensure that driver efficiently carries out operation, and lift by crane
When weight can not precisely budget its operation track.
A kind of intelligent tower crane system of the patent No. CN201720764249.9 disclosure of the invention, including be vertically arranged can
Flexible standard section of tower crane is vertically installed in the crane arm on standard section of tower crane top and for jacking standard section of tower crane top
Lifting body；The upper end of the standard section of tower crane is provided with tower cap, and lower end is provided with and the fixed base in fixing concrete basis
Plinth built-in fitting；The swing mechanism for controlling crane arm rotation is provided in the middle part of the standard section of tower crane, a driver's cabin is set to
On standard section of tower crane between swing mechanism and crane arm.The invention it is complicated, the GPS positioning module of setting is for being aligned
The first laser measuring instrument of lifting components, for assist carry out night lifting operation the first infrared imaging night vision device and be used for
Collect the RFID reading sensors into the RFID material recognition labels in the camera lens of the first full-view camera；The console difference
It communicates and connects with the first GPS positioning module, first laser measuring instrument, the first infrared imaging night vision device and RFID reading sensors, it should
It is higher to invent the capital equipment used, can not apply in tower crane equipment.
A kind of intelligent and safe tower perceiving early warning based on Internet of Things of the patent No. CN201711002305.6 disclosure of the invention
It hangs, including Internet of Things sensing terminal and tower crane manipulation end, Internet of Things sensing terminal and tower crane manipulation end communicate to connect tower crane gateway, tower
Cat net is closed connects ground observing and controlling end by wireless communication；The invention be based on Internet of Things perceive early warning technology, integrated application without
Line video guides the technological means such as manipulation, ultrasonic ranging avoidance, human body infrared detection alarm, realizes tower crane telesecurity behaviour
Control, anti-collision warning, personnel swarm into the functions such as operation area alarm, promote safety and the intelligent level of tower crane operation.
Although the tower crane of the invention is intelligent higher to a certain extent, ultrasonic ranging avoidance is utilized and human body infrared is visited
Survey technology, but cannot real-time avoiding barrier, calculate position and the distance of barrier, the liter of weight can not be considered
The problems such as drop, transport, avoidance.
Based on this, it is necessary to which design one kind is safe efficient, operation operation is precisely rapid, province people is laborsaving, automated intelligent avoidance
Tower crane.
Invention content
It is an object of the invention to overcome problem above of the existing technology, a kind of intelligence of dynamic change counterweight is provided
Avoidance tower crane, the present invention is intelligent higher, solve tower crane in the prior art there are structure designs it is unreasonable, it is inconvenient for operation,
Handling efficiency is relatively low, can not fast and accurately avoidance problem, avoid barrier from interfering, accurate data, concentrate digital management and
Monitoring, can realize tower crane automatic counter-balanced, to make according to the weight for slinging weight to adjust the position of clump weight
Tower crane must be built at work more to stablize, interference from human factor is avoided, realize Intelligent tower crane operating.
To realize above-mentioned technical purpose and the technique effect, the invention is realized by the following technical scheme：
A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight, including be vertically arranged tower crane pylon, hanging perpendicular to tower crane pylon
Arm, wherein arm includes crane arm and counter-jib, matching below the goods jack mechanism peace weighing apparatus arm being arranged below crane arm
Weight storehouse and rotating mechanism and the commander storehouse on rotating mechanism positioned at arm and tower crane pylon crossover location, the finger
The server that control arm operation is provided in storehouse is waved, to command storehouse as pole o, arm is polar axis ox, establishes polar coordinate system, institute
The loop bar for being provided with connection counter-jib on counterweight cabin is stated, the driving device of driving counterweight cabin movement, institute are provided on the loop bar
It states driving device to connect with server, the server is calculated by the strain gauge being respectively set on counter-jib and crane arm
The real time load torque for playing weight of object jack machinism, and the distance moved left and right by real time load Torque Control counterweight cabin,
The real-time torque for calculating counterweight cabin is provided in the goods jack mechanism and to be connect with goods jack mechanism for monitoring in real time
The pulling force sensor of hoisting heavy is provided with the position of the goods jack mechanism for monitoring in real time and acquiring on the crane arm
The position sensor of mobile data is additionally provided with the ranging sensing for measurement distance dyspoiesis object absolute altitude on the crane arm
Device and image sensor for dyspoiesis object plane figure of taking pictures, the goods jack mechanism are reached from current location and are lifted by crane
Point, lifting point hoisting heavy reach in the moving process twice of target drop point, judge that whether there is or not barriers for goods jack mechanism walking path
Hinder object, start avoidance program, carries out obstacle avoidance, goods jack mechanism is made to avoid barrier in the moving process twice
Interference, avoidance include the following steps：
1) server obtains goods jack mechanism present co-ordinate position and angle, altitude information；
2) coordinate position and angle, the altitude information of lifting point and target drop point are obtained；
3) number of coordinates of lifting point and target drop point is subtracted according to the coordinate data of the current location obtained in step 1 and step 2
According to；
4) judge that the goods jack mechanism of crane arm rotates clockwise or rotate counterclockwise to lifting point or target drop point；
5) on acquisition approach barrier coordinate position and data；
6) the server calculating determines whether to avoiding barrier, adjusts counterweight cabin as needed；If desired obstacle avoidance
Object, then server calculate separately the V between current location and several barriersl、Vα 、VhData difference, server control
The hanging object that rises of goods jack mechanism processed moves different speed, different rotation angle, different height avoiding barrier according to difference；
If not needing avoiding barrier, server calculates current location at a distance from the lifting point or target drop point, angle, altitude information
Difference, the server controls crane arm goods jack mechanism lifting object are rotated to lifting point and target drop point；
7) in step 6, the moment keeps balancing with counterweight cabin when moving for the goods jack mechanism.
Preferably, the driving device includes driving motor and the pulley that is connect with driving motor, the pulley with
Loop bar is slidably connected.
Preferably, the goods jack mechanism includes suspension hook, the cargo measurement device and connection rope being set on suspension hook,
The pulling force sensor is located at one end of connection rope.
Preferably, the coordinate data of current location subtracts the coordinate data of target location in polar coordinates in the step 3
More than 90 degree, then server controls goods jack mechanism is rotated clockwise, if being less than 90 degree, server controls cargo rises
Heavy-duty machine structure is rotated clockwise.
Preferably, the pulling force sensor, position sensor, distance measuring sensor and image sensor be located at counter-jib and
On crane arm and it is provided with multiple, the pulling force sensor, position sensor, distance measuring sensor and image sensor and server
Connection.
Preferably, the goods jack mechanism plays weight in moving process, the server control counterweight cabin movement
Goods jack mechanism is set to remain balance.
The beneficial effects of the invention are as follows：
1. solving tower crane in the prior art there are structure designs unreasonable, inconvenient for operation, handling efficiency is relatively low, and safety
Property and carrying accuracy by artificial experience control cannot ensure the technical issues of；
2. the proficiency and manipulation accuracy of couple operator require relatively low, guarantee driver's high-efficient homework；
3. avoiding barrier from interfering, accurate data；Digital management and monitoring are concentrated, interference from human factor is avoided, ensures building
Construction safety；
4. realizing, tower crane is intelligent, automates, is remote-controlled.Operation, operation be precisely rapid, safe and reliable, to save people laborsaving, can
To realize tower crane automatic counter-balanced according to the weight for slinging weight to adjust the position of clump weight, so that building is hung
Tower is more stablized at work；Realize that the unsafe condition during being allocated and transported to lifting carries out early warning and intervenes, and utmostly keeps away
Exempt from the security risk in lifting lifting job, it is ensured that personal safety；
5. consider the control problems such as the lifting of weight, transport, avoidance, a kind of safe and efficient tower crane is provided and is automatically controlled
System system.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is coordinated to be described in detail below.This hair
Bright specific implementation mode is shown in detail by following embodiment and its attached drawing.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is structural schematic diagram of the present invention；
Fig. 2 is the polar coordinates schematic diagram of the present invention during avoidance；
Fig. 3 is flow diagram of the present invention；
Fig. 4 is the V between tower crane of the present invention calculating current location 101 and several barriersl、Vα 、VhData
Structural schematic diagram.
Figure label explanation：Tower crane pylon 1, arm 2, crane arm 201, counter-jib 202, goods jack mechanism 3, counterweight cabin
4, command storehouse 5, rotating mechanism 6, server 7, pulling force sensor 8, position sensor 9, distance measuring sensor 10, image sensor
11, barrier 12, strain gauge 13, current location 101, lifting point 102, target drop point 103.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
Shown in Fig. 4, a kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight, including be vertically arranged tower crane pylon 1,
Perpendicular to the arm 2 of tower crane pylon 1, wherein arm 2 includes crane arm 201 and counter-jib 202, is arranged below crane arm 201
Goods jack mechanism 3 and the lower section of counter-jib 202 counterweight cabin 4 and rotation positioned at 1 crossover location of arm 2 and tower crane pylon
Rotation mechanism 6 and the commander storehouse 5 on rotating mechanism 6, described command are provided with the server 7 that control arm 2 is run in storehouse 5,
To command storehouse 5 for pole o, arm 2 is polar axis ox, establishes polar coordinate system, and connection counter-jib 202 is provided on the counterweight cabin 4
Loop bar, the driving device that driving counterweight cabin 4 moves is provided on the loop bar, the driving device is connect with server 6, institute
It states server 6 and rising for object jack machinism 3 is calculated by the strain gauge 13 being respectively set on counter-jib 202 and crane arm 201
The real time load torque of weight, and the distance moved left and right by real time load Torque Control counterweight cabin 4 calculate counterweight cabin 4
Real-time torque is provided with for monitoring the hoisting heavy being connect with goods jack mechanism 3 in real time in the goods jack mechanism 3
Pulling force sensor 8 is provided with the position movement of the goods jack mechanism 3 for monitoring in real time and acquiring on the crane arm 201
The position sensor 9 of data is additionally provided with the ranging sensing for measurement distance dyspoiesis object absolute altitude on the crane arm 201
Device 10 and image sensor 11 for dyspoiesis object plane figure of taking pictures, the goods jack mechanism 3 from current location 101 to
Up to lifting point 102,102 hoisting heavy of lifting point reaches in the moving process twice of target drop point 103, judges goods jack mechanism
3 walking paths have clear 12, start avoidance program, carry out obstacle avoidance, make goods jack mechanism 3 in the shifting twice
Barrier 12 is avoided to interfere during dynamic, avoidance includes the following steps：
101, the server 7 obtains 3 present co-ordinate position of goods jack mechanism and angle, altitude information；
In embodiments of the present invention, server 7 obtains the coordinate bit of current cargo jack machinism 3 according to the coordinate of polar coordinate system
It sets, the angle of current cargo jack machinism 3, altitude information is obtained according to the position sensor 9 of setting and distance measuring sensor 10.
102, coordinate position and angle, the altitude information of lifting point 102 and target drop point 103 are obtained；
In embodiments of the present invention, server 7 obtains the seat of lifting point 102 and target drop point 103 according to the coordinate of polar coordinate system
Cursor position obtains angle, the height of lifting point 102 and target drop point 103 according to the position sensor 9 of setting and distance measuring sensor 10
Degrees of data.
The lifting point 102 and target drop point 103 are used for description purposes only in the present invention, lifting point 102 and target
Drop point 103 can be located at any position, and the present invention is not specifically limited.
103, lifting point 102 and target are subtracted according to the coordinate data of the current location 101 obtained in step 1 and step 2
The coordinate data of drop point 103；
104, judge that the goods jack mechanism 3 of crane arm 201 rotates clockwise or rotate counterclockwise to lifting point 102 or target is fallen
Point 103；
It is big in polar coordinates to subtract the coordinate data of target location for the coordinate data of current location 101 in heretofore described step 3
In 90 degree, then server 7 controls goods jack mechanism 3 and is rotated clockwise, if being less than 90 degree, server controls cargo rises
Heavy-duty machine structure 3 is rotated clockwise.
105, on acquisition approach barrier 12 coordinate position and data；
In embodiments of the present invention, the barrier plan view and ranging that the server 7 is generated according to image sensor 11 sense
The coordinate of barrier absolute altitude and polar coordinate system that 10 measurement distance of device generates, according to the coordinate data and barrier of barrier 12
12 incremental data calculates barrier 12 to current location or the V of lifting point 102 or target drop point 103l、Vα 、VhData.
106, the calculating of the server 7 determines whether to avoiding barrier 12, adjusts counterweight cabin 4 as needed；If desired
Avoiding barrier 12, then server 7 calculate separately the V between current location 101 and several barriersl、Vα 、VhData
Difference, the hanging object that rises that server 7 controls goods jack mechanism 3 move different speed, different rotation angle, difference according to difference
Height avoiding barrier 12；If not needing avoiding barrier 12, server 7 calculates current location 101 and lifting point 102 or target
Distance, angle, the difference of altitude information of drop point 103, the server 7 control 201 goods jack mechanism 3 of crane arm and play hanging object
It rotates to lifting point 102 and target drop point 103；
If goods jack mechanism 3 is moved to lifting point 102, or the lift heavy from lifting point 102 from current location 101 in the present invention
Object then needs to avoid this barrier, institute when moving to having 1 barrier, the goods jack mechanism 3 between target drop point 103
Server 7 is stated according to the coordinate and height with barrier 12, calculates 3 current location 101 of the goods jack mechanism and barrier
Movement speed, angle, the difference of height between 12, calculate separately Vl1、Vα1、Vh1 Value;If goods jack mechanism 3 is from working as
Front position 101 is moved to lifting point 102, or from 102 hoisting heavy of lifting point to having N number of barrier, institute between target drop point 103
State goods jack mechanism 3 and then need to avoid this barrier 12 when moving, the server according to barrier 12 coordinate and
Highly, movement speed between 3 current location 101 of the goods jack mechanism and the last one barrier 12, angle, height are calculated
The difference of degree, calculates separately VlN+1、VαN+1、VhN+1 Value.
In embodiments of the present invention, the calculating of server 7 determines whether to avoiding barrier 12, because of goods jack mechanism 3
Meeting avoiding barrier 12 during forward or reverse, exists and needs avoiding barrier 12 and do not need 12 two kinds of avoiding barrier
Situation；
If desired avoiding barrier 12, for example, goods jack mechanism 3, which is moved to from current location 101 between lifting point 102,1
A barrier, server 7 subtract obstacle according to distance, angle, altitude information and the coordinate data of the current location 101 of calculating
Distance, angle, altitude information and the coordinate data of object, the difference between obtaining calculate Vl1、Vα1、Vh1 Value, server 7 control
The goods jack mechanism 3 of crane arm 201 processed rotates different angles, different height evades this barrier, is revolved from current location
Go to lifting point 102.
And so on, if there is N number of barrier, calculate VlN+1、VαN+1、VhN+1 Value, computational methods and above method phase
Together, the present invention is not repeating.
Meanwhile server 7 calculates the reality of the hoisting heavy of goods jack mechanism 3 also according to pulling force sensor 8 in the present invention
When loading moment, according to real time load torque obtain counterweight cabin 4 real time load torque so that counterweight cabin 4 and goods jack machine
Structure 3 keeps balance in real time, and the goods jack mechanism 3 is during mobile avoidance, 3 current location of goods jack mechanism
101 are moved to during lifting point 102 or target drop point, adjust the distance of counterweight cabin 4 moved left and right in real time, make goods jack
Mechanism 3 remains balance with counterweight cabin.
For example, the hoisting heavy of goods jack mechanism 3 is the power of 100 newton, when goods jack mechanism 3 is moved to commander storehouse 5
When dynamic, the counterweight article held in counterweight cabin 4 is also moved to commander storehouse 5, and the distance of the movement is according to 13 He of strain gauge
Position sensor 9 calculates, and is allowed to remain balance.
107, in step 6, when moving, the moment keeps balancing with counterweight cabin 4 for the goods jack mechanism 3.
In the present invention, 7 real-time control of server configuration storehouse 4 and the weight that rises of goods jack mechanism 3 keep balancing.
Preferably, the driving device includes driving motor and the pulley that is connect with driving motor, the pulley with
Loop bar is slidably connected.
Preferably, the goods jack mechanism 3 includes suspension hook, the cargo measurement device and connecting rope being set on suspension hook
Rope, the pulling force sensor 8 are located at one end of connection rope.
Preferably, the coordinate data of current location 101 subtracts the coordinate data of target location in polar coordinates in the step 3
In be more than 90 degree, then server 7 controls goods jack mechanism 3 and is rotated clockwise, if being less than 90 degree, the control of server 7
Goods jack mechanism 3 is rotated clockwise.
It is put down preferably, the pulling force sensor 8, position sensor 9, distance measuring sensor 10 and image sensor 11 are located at
It on weighing apparatus arm 202 and crane arm 201 and is provided with multiple, the pulling force sensor 8, position sensor 9, distance measuring sensor 10 and takes the photograph
As sensor 11 is connect with server 7.
Preferably, the goods jack mechanism 3 plays weight in moving process, the server 7 is controlled counterweight cabin 4 and is moved
Dong Shi goods jacks mechanism 3 remains balance.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. a kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight, including the tower crane pylon being vertically arranged（1）, perpendicular to tower crane pylon
（1）Arm（2）, wherein arm（2）Including crane arm（201）And counter-jib（202）, be arranged in crane arm（201）Lower section
Goods jack mechanism（3）And counter-jib（202）The counterweight cabin of lower section（4）And it is located at arm（2）With tower crane pylon（1）Intersect
The rotating mechanism of position（6）With positioned at rotating mechanism（6）On commander storehouse（5）, the commander storehouse（5）Inside it is provided with control arm
（2）The server of operation（7）, it is characterised in that：To command storehouse（5）For pole o, arm（2）For polar axis ox, polar coordinates are established
System, the counterweight cabin（4）On be provided with connection counter-jib（202）Loop bar, be provided with driving counterweight cabin on the loop bar（4）It moves
Dynamic driving device, the driving device and server（6）Connection, the server（6）Pass through counter-jib（202）And crane arm
（201）On the strain gauge that is respectively set（13）Calculate object jack machinism（3）The real time load torque for playing weight, and pass through
Real time load Torque Control counterweight cabin（4）The distance moved left and right calculates counterweight cabin（4）Real-time torque, the goods jack
Mechanism（3）On be provided with for monitor in real time with goods jack mechanism（3）The pulling force sensor of the hoisting heavy of connection（8）, institute
State crane arm（201）On be provided with goods jack mechanism for monitoring in real time and acquiring（3）Position mobile data position
Sensor（9）, the crane arm（201）On be additionally provided with distance measuring sensor for measurement distance dyspoiesis object absolute altitude（10）
With the image sensor for dyspoiesis object plane figure of taking pictures（11）, the goods jack mechanism（3）From current location（101）
Reach lifting point（102）, lifting point（102）Hoisting heavy reaches target drop point（103）Moving process twice in, judge cargo
Jack machinism（3）Walking path has clear（12）, start avoidance program, carry out obstacle avoidance, make goods jack mechanism（3）
Barrier is avoided in the moving process twice（12）Interference, avoidance include the following steps：
1）The server（7）Obtain goods jack mechanism（3）Present co-ordinate position and angle, altitude information；
2）Obtain lifting point（102）With target drop point（103）Coordinate position and angle, altitude information；
3）According to the current location obtained in step 1 and step 2（101）Coordinate data subtract lifting point（102）It is fallen with target
Point（103）Coordinate data；
4）Judge crane arm（201）Goods jack mechanism（3）Rotate clockwise or rotate counterclockwise to lifting point（102）Or mesh
Village point（103）；
5）Barrier on acquisition approach（12）Coordinate position and data；
6）The server（7）Calculating determines whether to avoiding barrier（12）, counterweight cabin is adjusted as needed（4）；If desired
Avoiding barrier（12）, then server（7）Calculate separately current location（101）With the V between several barriersl、Vα 、Vh's
The difference of data, server（7）Control goods jack mechanism（3）Rise hanging object according to difference move different speed, rotation not
Same angle, different height avoiding barrier（12）；If not needing avoiding barrier（12）, server（7）Calculate current location
（101）With lifting point（102）Or target drop point（103）Distance, angle, the difference of altitude information, the server（7）Control
Crane arm（201）Goods jack mechanism（3）Hanging object is played to rotate to lifting point（102）With target drop point（103）；
7）In step 6, the goods jack mechanism（3）Moment holding and counterweight cabin when moving（4）Balance.
2. a kind of dynamic according to claim 1 changes the intelligent barrier avoiding tower crane of counterweight, it is characterised in that：The driving dress
The pulley being connect including driving motor and with driving motor is set, the pulley is slidably connected with loop bar.
3. a kind of dynamic according to claim 1 changes the intelligent barrier avoiding tower crane of counterweight, it is characterised in that：The cargo rises
Heavy-duty machine structure（3）Including suspension hook, the cargo measurement device being set on suspension hook and connection rope, the pulling force sensor are located at connecting rope
One end of rope.
4. a kind of dynamic according to claim 1 changes the intelligent barrier avoiding tower crane of counterweight, it is characterised in that：The step 3）
Middle current location（101）Coordinate data subtract the coordinate data of target location and be more than 90 degree in polar coordinates, then server（7）Control
Goods jack mechanism processed（3）It is rotated clockwise, if being less than 90 degree, server（7）Control goods jack mechanism（3）Up time
Needle direction rotates.
5. a kind of dynamic according to claim 1 changes the intelligent barrier avoiding tower crane of counterweight, it is characterised in that：The pulling force passes
Sensor（8）, position sensor（9）, distance measuring sensor（10）And image sensor（11）Positioned at counter-jib（202）And crane arm
（201）It goes up and is provided with multiple, the pulling force sensor（8）, position sensor（9）, distance measuring sensor（10）And video sensor
Device（11）With server（7）Connection.
6. a kind of dynamic according to claim 1 changes the intelligent barrier avoiding tower crane of counterweight, it is characterised in that：The cargo rises
Heavy-duty machine structure（3）Rise weight in moving process, server controls goods jack mechanism（3）With counterweight cabin（4）Always it protects
Maintain an equal level weighing apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810799573.3A CN108706479A (en) | 2018-07-19 | 2018-07-19 | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810799573.3A CN108706479A (en) | 2018-07-19 | 2018-07-19 | A kind of dynamic changes the intelligent barrier avoiding tower crane of counterweight |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110771704A (en) * | 2019-11-29 | 2020-02-11 | 湖南浩茗茶业食品有限公司 | Tea spreading device for dark tea pile fermentation |
| CN111806327A (en) * | 2020-08-19 | 2020-10-23 | 八时物流科技(成都)有限公司 | Vehicle-mounted balance hoisting equipment and vehicle-mounted intelligent exchange box system |
| CN111825036A (en) * | 2020-07-21 | 2020-10-27 | 湖南航天建筑工程有限公司 | Building hanging basket monitoring early warning and auxiliary assembly of subsidiary computer vision |
| CN112978585A (en) * | 2021-02-24 | 2021-06-18 | 殷智勇 | Electron tube self-counterweight hoisting platform equipment |
| CN113460897A (en) * | 2021-07-30 | 2021-10-01 | 盛景智能科技(嘉兴)有限公司 | Counterweight determination method, device, equipment and operation machine |
| CN114314393A (en) * | 2022-03-17 | 2022-04-12 | 杭州杰牌传动科技有限公司 | Amplitude-variation balance sensing method for intelligent tower crane and Internet of things equipment |
| CN117422835A (en) * | 2023-11-14 | 2024-01-19 | 国网湖北省电力有限公司超高压公司 | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
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2018
- 2018-07-19 CN CN201810799573.3A patent/CN108706479A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110771704A (en) * | 2019-11-29 | 2020-02-11 | 湖南浩茗茶业食品有限公司 | Tea spreading device for dark tea pile fermentation |
| CN111825036A (en) * | 2020-07-21 | 2020-10-27 | 湖南航天建筑工程有限公司 | Building hanging basket monitoring early warning and auxiliary assembly of subsidiary computer vision |
| CN111825036B (en) * | 2020-07-21 | 2021-08-27 | 湖南航天建筑工程有限公司 | Building hanging basket monitoring early warning and auxiliary assembly of subsidiary computer vision |
| CN111806327A (en) * | 2020-08-19 | 2020-10-23 | 八时物流科技(成都)有限公司 | Vehicle-mounted balance hoisting equipment and vehicle-mounted intelligent exchange box system |
| CN111806327B (en) * | 2020-08-19 | 2023-09-19 | 成都物天物联网科技有限责任公司 | Vehicle-mounted intelligent exchange box system |
| CN112978585A (en) * | 2021-02-24 | 2021-06-18 | 殷智勇 | Electron tube self-counterweight hoisting platform equipment |
| CN112978585B (en) * | 2021-02-24 | 2022-04-26 | 殷智勇 | Electron tube self-counterweight hoisting platform equipment |
| CN113460897A (en) * | 2021-07-30 | 2021-10-01 | 盛景智能科技(嘉兴)有限公司 | Counterweight determination method, device, equipment and operation machine |
| CN114314393A (en) * | 2022-03-17 | 2022-04-12 | 杭州杰牌传动科技有限公司 | Amplitude-variation balance sensing method for intelligent tower crane and Internet of things equipment |
| CN117422835A (en) * | 2023-11-14 | 2024-01-19 | 国网湖北省电力有限公司超高压公司 | Crane safety operation range evaluation method and system based on spherical polar coordinate system |
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Application publication date: 20181026 |