CN109179228A - A kind of construction crane machine anticollision system - Google Patents
A kind of construction crane machine anticollision system Download PDFInfo
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- CN109179228A CN109179228A CN201811343551.2A CN201811343551A CN109179228A CN 109179228 A CN109179228 A CN 109179228A CN 201811343551 A CN201811343551 A CN 201811343551A CN 109179228 A CN109179228 A CN 109179228A
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- crane machine
- transverse arm
- height
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of construction crane machine anticollision systems, the system comprises anticollision early warning central processing units and Duo Tai construction crane machine, each crane machine has warning device, anticollision early warning central processing unit includes: the first crane machine transverse arm height determination unit module, determines the transverse arm height H1 of the first crane machine；Second crane machine transverse arm height determination unit module, determines the transverse arm height H2 of the second crane machine；Transverse arm height comparing unit module, compares H1 and H2, and a lower height of crane machine of transverse arm is determined as low clearance crane machine, and the higher-height crane machine of transverse arm is determined as high height crane machine；Lifting rope position determination unit module, determines the position of the lifting rope of height crane machine；Beam position determination unit module, determines the position of the transverse arm of low clearance crane machine；Space length determination unit module, determines the space length of lifting rope and transverse arm；Police instruction unit module, when space length be less than anticollision apart from when, instruction the first and second crane machines warning device alarm.
Description
The application be submit on August 11st, 2017 application No. is 201710683918.4, entitled " construction
The divisional application of the application for a patent for invention of crane machine group anti-collision early warning auxiliary system ".
Technical field
The present invention relates to construction tower crane group of planes lifting operation anticollision early warning.
Background technique
The intensive construction of urban architecture building is so that crane machine operating environment becomes complicated at present.Construction crane machine
There are two and the above crane machine juxtaposition operation when group's lifting operation, and crane machine group's lifting operation existing system is commanded to be
It is realized using " operator+lifting person " combination.This system requires strictly, to need to operate to the overall qualities of people
Member establishes unified relationship, close fit just achievable lifting operation with lifting person, and manipulation process is complicated, and intelligence degree is low and not
It is economical；In addition, manual operation or commander's fault are easy to cause collision or crane machine and surrounding between safety accident, such as crane machine
Collision etc. between building.It is anxious to avoid a tower crane group of planes from crash in lifting operation in juxtaposition region
Need one kind that can monitor construction crane machine and its lifting operation that crane machine lifting operation and can be issued warning signal in real time
Collision early warning system.
Summary of the invention
The present invention in view of the above circumstances, propose for alleviate or eliminate one existing in the prior art or more lack
Point at least provides a kind of beneficial selection.
In order to achieve the above object, the system comprises more the invention discloses a kind of construction crane machine anticollision system
Platform construction crane machine and an anticollision central processing unit, each construction crane machine have warning device, institute
Stating anticollision central processing unit includes: the first crane machine transverse arm height determination unit module, determines the first construction tower crane
The transverse arm height H1 of machine；Second crane machine transverse arm height determination unit module determines that the transverse arm of the second construction crane machine is high
Spend H2；Transverse arm height comparing unit module, compares H1 and H2, and a lower height of construction crane machine of transverse arm is determined as low height
Crane machine is spent, the higher-height construction crane machine of transverse arm is determined as height crane machine；Lifting rope position determination unit mould
Block determines the position of the lifting rope of the height crane machine；Beam position determination unit module determines the low clearance crane machine
Transverse arm position；Space length determination unit module, determines the space length of the lifting rope Yu the transverse arm；Police instruction list
Element module, when the space length be less than anticollision apart from when, indicate the report of first crane machine and second crane machine
Alarm device is alarmed.
Technical solution according to the present invention can reduce the process link of artificial system method on duty, improve construction
The safety of tower crane group of planes lifting operation.
Detailed description of the invention
In conjunction with attached drawing, the present invention may be better understood.But attached drawing is only exemplary, and is not to guarantor of the invention
Protect the limitation of range.
Fig. 1 shows a kind of schematic diagram of construction crane machine anticollision system；
Fig. 2 shows a kind of anticollision of the construction crane machine collision avoidance system of embodiment according to the present invention centers
The schematic block diagram of processing unit internal arithmetic；
Fig. 3 shows the overlapping operation principle schematic diagram for judging unit module in advance；
Fig. 4 shows the anticollision center of the construction crane machine anticollision system of another embodiment according to the present invention
The schematic block diagram of processing unit internal arithmetic.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention are described in further detail, but do not constituted to of the invention any
Limitation.
Fig. 1 shows a kind of schematic diagram of construction crane machine anticollision system.Although Fig. 1 illustrates only two buildings and applies
Work crane machine, it will be understood by those skilled in the art that a construction tower crane group of planes of the invention may include more building
It constructs crane machine, is mounted on warning device on each crane machine.As shown in Figure 1, a kind of construction tower crane according to the present invention
Group of planes anticollision early warning auxiliary system includes two or more construction crane machines and anticollision central processing unit.Respectively
Construction crane machine has warning device and information transceiver, letter needed for transmitting anticollision central processing unit
Breath, such as angular speed, the speed of boom, and receive the instruction from anticollision central processing unit, the instruction such as alarmed
Deng.Anticollision central processing unit also has information transceiver, for needed for the reception of each construction crane machine
Information and to each construction crane machine send instruct.Although anticollision central processing unit shown in figure is with display
The device of the IPAD form of device, but it should be appreciated by one skilled in art that the anticollision central processing unit can be with
For computer, chip, field programmable gate array etc., can have or not have display device, can have mouse, keyboard,
The input units such as touch screen.Anticollision central processing unit may be mounted on some crane machine, can also be with each crane machine phase
It is independent.
By inventor observation and visit, inventors have found that as shown in Figure 1, each tower crane in a construction tower crane group of planes
The material circumstance that mutually colliding occurs in machine is that the lifting rope of a crane machine and the transverse arm of another crane machine are collided and tangled.
Fig. 2 shows a kind of anticollision of the construction crane machine collision avoidance system of embodiment according to the present invention centers
The schematic block diagram of processing unit internal arithmetic.
As shown in Fig. 2, the construction crane machine group anti-collision early warning auxiliary system of a kind of embodiment according to the present invention
Anticollision central processing unit include the first transverse arm height determination unit module 201, the second transverse arm height determination unit module
202, transverse arm height comparing unit module 203, lifting rope position determination unit module 204, beam position determination unit module 205,
Space length determination unit module 206, police instruction unit module 207.At work, the first transverse arm height determination unit first
Module 201 determines the transverse arm height H1 of the first construction crane machine；Then the second transverse arm height determination unit module 202 determines
The transverse arm height H2 of second construction crane machine；Then transverse arm height comparing unit module 203 compares H1 and H2, by transverse arm height
It spends lower construction crane machine and is determined as low clearance crane machine, the higher-height construction crane machine of transverse arm is determined as
Height crane machine；Then, lifting rope position determination unit module 204 determines the position of the lifting rope of the height crane machine；Together
When or in succession, beam position determination unit module 205 determines the position of the transverse arm of the low clearance crane machine；Then, space
Distance determining unit module 206 determines the space length of the lifting rope and the transverse arm；Finally, if the space length is less than
Anticollision distance, then police instruction unit module 207 indicates the first construction crane machine and the second construction crane machine
Warning device is alarmed.These warning devices are, for example, any warning device that can issue audio, video or light or sound.
According to a kind of embodiment, the anticollision central processing unit of system of the invention further includes overlapping pre- judging unit
Module 208, judges whether the first construction crane machine and the working range of the second construction crane machine overlap, this is overlapping pre-
Judgement can be voluntarily to be judged by the processor for realizing the judging unit module, is also possible to receive judgement knot from outside
Fruit.
When voluntarily being judged, according to a kind of embodiment, this is overlapped judges that unit module 208 includes respectively with institute in advance
The tower body of the tower body and the second construction crane machine of stating the first construction crane machine is the center of circle, respectively with first building
The transverse arm length of crane machine of constructing and the transverse arm length of the second construction crane machine are that radius draws circle, if the two circles are in tower
Intersect on ground level where body, then judges that the working range of the first construction crane machine and the second construction crane machine is handed over
It is folded.
Fig. 3 diagrammatically illustrates this overlapping working principle judged in advance.Construction crane machine is when carrying out operation, tower
Body substantially long period is motionless, and transverse arm is rotated around tower body, and projection of the scope of activities on ground forms circle.By turn
The limitation of dynamic range, it is also possible to semicircle or arc.Thus picture of the invention circle is construed as including picture arc.Lifting rope is not necessarily
Always in the end of transverse arm, may be moved with the trolley on transverse arm along transverse arm, but as pre- judgement then by the end of transverse arm
As the metric point with overlapping risk.Transverse arm often props up on tower body, i.e., transverse arm is not as a whole usually with tower
As starting point, but for the convenience of statement, based on context, transverse arm may refer to this section of end from tower body to transverse arm,
Have at lifting rope pendency in the section, for transferring and packing up lifting rope.If two drawn no intersections of circle, the two buildings
Construction crane machine does not work overlapping region, will not collide, can terminate to judge at this time.If there is overlapping region, then into
Row unit module 201 with and subsequent each unit work.
According to a kind of embodiment, it overlaps and judges that unit module includes respectively with the first construction crane machine in advance
The tower body of tower body and the second construction crane machine be the center of circle, respectively with the transverse arm length of the first construction crane machine with
The product of the first coefficient greater than 1, the transverse arm length with the second construction crane machine is that radius draws circle, if the two circles exist
Intersect on ground level where tower body, then judges the working range of the first construction crane machine and the second construction crane machine
It is overlapping.The embodiment of this embodiment and upper segment description is not both first utilized the length of some transverse arm greater than 1
Coefficient is extended, and picture circle is carried out using the length after extending as radius, and the calculation formula of first coefficient is as follows:
In formula: n is the first coefficient greater than 1；L,LRopeRespectively the transverse arm length of height crane machine and lifting rope are long；ω1、
a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWindRespectively the movement velocity of wind with plus
The acceleration of speed, wind speed and wind can be measured from external input on construction crane machine.It is applied when in building
When measuring on work crane machine, wind speed measuring device can be set on construction crane machine.
This is allowed for due to inertia or due to the influence of wind, and lifting rope sometimes will not be vertically located at cross with suspension hook
The lower section of arm, and a distance that may blow out outward, thus in order to it is safer, more steadily judged in advance, by some
The length of transverse arm is extended using the first coefficient greater than 1.It will be apparent to those skilled in the art pictures mentioned here
Circle, which can be virtual draw, to be justified, it is not required that must is picture circle on the spot, and be can be the simulation of electronics or the operation of electronics.
Fig. 4 is shown in the anticollision of construction crane machine collision avoidance system of another embodiment according to the present invention
Entreat the schematic block diagram of processing unit internal arithmetic.As shown in figure 4, being contrasted with embodiment shown in Fig. 2, according to Fig. 4
Shown in embodiment, increase overlapping judging unit module 209, the overlapping judging unit module is according to the low clearance tower crane
The position of the lifting rope of the position of the transverse arm end of machine and the height crane machine, determines the work model of the low clearance crane machine
It encloses and whether overlaps mutually with the lifting rope of the height crane machine.For example, in the position for the lifting rope for obtaining the height crane machine
After setting the position with transverse arm, it can be determined that whether transverse arm can intersect with projection of the lifting rope on perpendicular, if non-intersecting,
It then can determine whether out that working region is non-intersecting, will not collide.When the overlapping judging unit module is judged as the low clearance
When the lifting rope of the working range of crane machine and the height crane machine overlaps mutually, the space length determination unit module is determined
The space length of the lifting rope and the transverse arm.
The overlapping judging unit module is respectively with the tower body and low clearance building of the high rise buildings construction crane machine
The tower body of crane machine of constructing is the center of circle, respectively with along the transverse arm of the high rise buildings construction crane machine at lifting rope pendency
Length and perimetric length and, the transverse arm length with low clearance construction crane machine is that radius is drawn and justified；If the two circles exist
Intersect on ground level where tower body, then judges the work of high rise buildings construction crane machine and low clearance construction crane machine
Range is overlapping, and the calculation formula of the perimetric length is as follows:
In formula: LKFor perimetric length；LRopeLifting rope for height crane machine is long；L is along the transverse arm of height crane machine
Length to lifting rope pendency；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWind
The respectively movement velocity and acceleration of wind.
According to another embodiment, judging unit module is overlapped with the tower body and low clearance tower crane of the height crane machine
The tower body of machine is the center of circle, respectively to be greater than 1 with one to the length at lifting rope pendency along the transverse arm of the height crane machine
The product of pre-determined factor, the transverse arm length with low clearance construction crane machine are that radius draws circle；If the two circles are in tower body
Intersect on the ground level at place, then judges that the working range of height crane machine and low clearance crane machine is overlapping, the predetermined system
Several calculation formula is as follows:
In formula: m is the pre-determined factor greater than 1；LRopeLifting rope for height crane machine is long；L is the cross of height crane machine
To the length at lifting rope pendency along arm；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；
VWind、aWindThe respectively movement velocity and acceleration of wind.
On the other hand, as shown in figure 4, the anticollision central processing unit of the embodiment of the invention also increases increased heights
Crane machine suspension hook changes judging unit 210, the variation of the position of the height crane machine suspension hook is detected, in the height tower
When the variation of the position of crane hook conforms to a predetermined condition, the overlapping judging unit carries out the work of the low clearance crane machine
The judgement whether range overlaps mutually with the lifting rope of the height crane machine.For example, if the position of height crane machine suspension hook is fast
Speed variation, change rate has been more than predetermined threshold, then original non-intersecting folded working range may become overlapping, lifting rope and transverse arm
Between the distance for arrive predetermined threshold originally may change to obtain shorter than preset distance, thus overlapping judging unit should be at once at this time
Carry out the judgement whether working range of the low clearance crane machine overlaps mutually with the lifting rope of the height crane machine.In addition,
If the variation of the position of the height crane machine suspension hook shows that special track occurs in suspension hook, this may indicate appearance
Special situation, such as lifting rope flies out, tower crane collapses etc..This is that can calculate the distance of suspension hook and transverse arm to replace, to lifting rope
With the calculating of the distance of transverse arm.I.e. at this time the space length determination unit determine the vertical line of the suspension hook and the transverse arm away from
From；When the vertical line distance is less than preset distance, the alarm unit is alarmed.
In this case, each construction crane machine of system of the invention includes changing with height crane machine suspension hook
Judging unit module 210 matches the lift hook position determining device of work.
According to a kind of embodiment, the beam position determination unit can include:
Azimuth determination unit determines the azimuth of the transverse arm, and transverse arm is rotated around tower body, thus can be according to transverse arm
Azimuth is determined with respect to the angle that due north reference direction rotates clockwise around tower body；In the case, each crane machine includes transverse arm
Azimuth determination unit measures the azimuth of each transverse arm and is sent to party's parallactic angle determination unit.Transverse arm azimuth determination unit
It can be mechanical measuring device and be also possible to electronic measuring device；
Transverse arm extreme coordinates determination unit, according to the tower body of the azimuth and the low clearance crane machine and the transverse arm
Vertical range between endpoint determines the coordinate of the transverse arm endpoint；Formula can beWherein αiFor side
Parallactic angle, (xTi,yTi,HRi) it is tower body position coordinates, SiVertical range long for transverse arm, i.e., between tower body and the transverse arm endpoint,
It is corresponding with the R2 in figure.(xBi,yBi,HBi) be the transverse arm endpoint coordinate；
And transverse arm delineates unit, the coordinate using the tower body of the coordinate and institute's low clearance crane machine of the transverse arm endpoint is true
The position of the fixed transverse arm.Obviously the two coordinates have been able to sketch out a line segment or straight line.
According to another embodiment, there is GNSS rover station on the transverse arm of each crane machine, the beam position determines single
Member includes: flowing station coordinates acquiring unit, obtains the coordinate of the GNSS rover station of low clearance crane machine；Transverse arm expression determines single
Member determines the straight line table of the transverse arm using the coordinate of the tower body of the coordinate and low clearance crane machine of the GNSS rover station
It reaches；Transverse arm delineates unit, according to the tower body and the transverse arm endpoint of the expression of the straight line of the transverse arm and the low clearance crane machine
Between vertical range determine the position of the transverse arm.
In this case, which can also include the GNSS base station with the cooperation of GNSS rover station.GNSS rover station
Differential correcting signal is received from GNSS base station, improves positioning accuracy.
For determining the position of lifting rope, it can determine that lifting rope starts the coordinate of the position of pendency and the position of suspension hook on transverse arm
The coordinate set.According to a kind of embodiment, can on suspension hook and transverse arm with lifting rope start pendency position corresponding position set
GNSS rover station is set, it is hereby achieved that the coordinate and lifting rope of suspension hook start the coordinate for the position dangled from transverse arm, is realized
Restriction to the lifting rope.
Another embodiment according to the present invention, can install high precision odometer on crane machine, and odometer can be with
It is mounted on a certain quiet pulley for carrying out lifting rope folding and unfolding.The high precision odometer can be used for accurately measure and go out lifting rope retractable
Length Quantity (the referred to as mileage of lifting rope), so as to calculate hook lifting amount.It can be simply according to high-precision mileage
The mileage of meter and the elevation of GNSS rover station carry out plus-minus and calculate the elevation location for determining crane machine suspension hook.Crane machine suspension hook is put down
Face position can be replaced with the coordinate of GNSS rover station.According to this embodiment, can not have to that GNSS is installed on suspension hook
Rover station etc. reduces the complexity of suspension hook, and suspension hook is avoided to collide the damage to GNSS instrument and equipment.
According to a kind of embodiment, police instruction unit module 207 determines the anticollision distance as follows:
In formula: D is anticollision distance；LXD、LZGIn relative motion or pursuit movement feelings between respectively two crane machines
Early warning distance under condition；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration, a1It is the first crane machine
Preset parameter, be known quantity；V2、a2The respectively movement velocity of the second crane machine and normal brake application acceleration, a2It is the second tower
The preset parameter of loop wheel machine is known quantity, V1、V2Anticollision early warning center can be passed to by the first crane machine and the second crane machine
Processing unit；V3、a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0For time of driver's reaction, which can
To be empirical value or for value determined by each driver；t1To pursue crane machine normal brake application process total time, including driving
Member's reaction time and equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
According to another embodiment, police instruction unit module 207 can also determine the anticollision distance as follows:
In formula: D is anticollision distance；LXD、LZGIn relative motion or pursuit movement feelings between respectively two crane machines
Alarm distance increment under condition；L is along the transverse arm of height crane machine to the length at lifting rope pendency；L is low clearance tower crane
Exist along the transverse arm of machine to the space length between the lifting rope of the height crane machine and the transverse arm of the low clearance crane machine
Length on transverse arm at orthogonal points；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；ω2、
a2The respectively angular velocity of satellite motion of low clearance crane machine and normal brake application acceleration；ω3、a3Respectively it is caught-up the fortune of crane machine
Dynamic angular speed and acceleration；t0For time of driver's reaction；t1To pursue crane machine normal brake application process total time, including driving
Member's reaction time and equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind, ω1、ω2It can be by first
Crane machine and the second crane machine pass to anticollision early warning central processing unit.
This embodiment according to the present invention can be real-time when construction tower crane group of planes lifting operation can be improved
The suspension hook of every crane machine and the spatial position of transverse arm are monitored, a construction tower crane group of planes is avoided to make because intensive overlapping intersects lifting
Industry and crash, intelligence ensure a construction tower crane group of planes be safely operated.
Provide to present system a kind of science, easy, high-precision, it is round-the-clock, without intervisibility, intelligentized construction
Crane machine group anti-collision early warning auxiliary system is suitably mounted on two or more various brands tower crane machine equipments and lifts work
There are the construction sites of juxtaposition for industry, quick, accurate, efficient in lifting operation between auxiliary crane machine to complete to hang
While dress task, the safety of equipment use and skilled worker in operation process is improved.
Each unit module of the invention can execute software realization with processor, can also be with field programmable gate array etc.
Hardware realization.
Above-mentioned detailed description of the invention only further believes content to those skilled in the art, for real
Preferred aspect of the invention is applied, and the scope of the present invention will not be limited.Only claim is for determining the present invention
Protection scope.Therefore, the combination of the feature in foregoing detailed description and unit is not necessary in most wide model
The interior implementation present invention is enclosed, and introduction only alternatively is provided to the representative embodiment being especially described in detail of the invention.This
Outside, in order to obtain it is of the invention add useful embodiment, a variety of different features for providing introduction in the description can be by more
Kind mode combines, however these modes are not included particularly and.
Claims (8)
1. a kind of construction crane machine anticollision system, the system comprises in more construction crane machines and an anticollision
Processing unit is entreated, each construction crane machine has warning device, and the anticollision central processing unit includes:
First crane machine transverse arm height determination unit module, determines the transverse arm height H1 of the first construction crane machine；
Second crane machine transverse arm height determination unit module, determines the transverse arm height H2 of the second construction crane machine；
Transverse arm height comparing unit module, compares H1 and H2, and a lower height of construction crane machine of transverse arm is determined as low height
Crane machine is spent, the higher-height construction crane machine of transverse arm is determined as height crane machine；
Lifting rope position determination unit module determines the position of the lifting rope of the height crane machine；
Beam position determination unit module determines the position of the transverse arm of the low clearance crane machine；
Space length determination unit module, determines the space length of the lifting rope Yu the transverse arm；
Police instruction unit module, when the space length be less than anticollision apart from when, indicate first crane machine and described
The warning device of second crane machine is alarmed.
The anticollision central processing unit further includes overlapping judging unit module, and the overlapping judging unit module is according to
The position of the lifting rope of the position of the transverse arm end of low clearance crane machine and the height crane machine, determines the low clearance tower crane
Whether the working range of machine overlaps mutually with the lifting rope of the height crane machine, when the overlapping judging unit module judges institute
When the lifting rope of the working range and the height crane machine of stating low clearance crane machine overlaps mutually, the space length determination unit
Module determines the space length of the lifting rope Yu the transverse arm,
The overlapping judging unit module is respectively with the tower body of the high rise buildings construction crane machine and low clearance construction
The tower body of crane machine is the center of circle, respectively with the transverse arm of the high rise buildings construction crane machine along the line to the length at lifting rope pendency
It is that radius draws circle with perimetric length and low clearance construction crane machine transverse arm length；If the two circles are in tower body institute
Ground level on intersect, then judge that the working range of high rise buildings construction crane machine and low clearance construction crane machine is handed over
Folded, the calculation formula of the perimetric length is as follows:
In formula: LKFor perimetric length；LRopeLifting rope for height crane machine is long；L is along the transverse arm of height crane machine to lifting rope
Length at pendency；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、aWindRespectively
The movement velocity and acceleration of wind.
2. system according to claim 1, which is characterized in that the anticollision central processing unit further includes overlapping judgement
Unit module,
Position and the height tower crane of the overlapping judging unit module according to the transverse arm end of the low clearance crane machine
The position of the lifting rope of machine, determines whether the working range of the low clearance crane machine intersects with the lifting rope of the height crane machine
It is folded, when the overlapping judging unit module be judged as the low clearance crane machine working range and the height crane machine
When lifting rope overlaps mutually, the space length determination unit module determines the space length of the lifting rope Yu the transverse arm,
The overlapping judging unit module is divided using the tower body of the tower body of the height crane machine and low clearance crane machine as the center of circle
It is not greater than the product of 1 pre-determined factor with one to the length at lifting rope pendency along the line with the transverse arm of the height crane machine, with
The transverse arm length of low clearance construction crane machine is that radius draws circle；If the two circle phases on the ground level where tower body
It hands over, then judges that the working range of height crane machine and low clearance crane machine is overlapping, the calculation formula of the pre-determined factor is as follows:
In formula: m is the pre-determined factor greater than 1；LRopeLifting rope for height crane machine is long；L is the transverse arm edge of height crane machine
Length at line to lifting rope pendency；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；VWind、
aWindThe respectively movement velocity and acceleration of wind.
3. system according to claim 1, which is characterized in that the anticollision central processing unit includes overlapping pre- judgement
Unit module, judges whether the working range of the first crane machine and the second crane machine overlaps, and described overlap judges unit module in advance
Voluntarily to judge or receiving judging result from outside, described overlap judges unit module respectively with the first construction tower in advance
The tower body of the tower body of loop wheel machine and the second construction crane machine is the center of circle, respectively with the transverse arm of the first construction crane machine
Length and the transverse arm length of the second construction crane machine are that radius draws circle, if the two circles are on the ground level where tower body
Intersection then judges that the working range of the first crane machine and the second crane machine is overlapping.
4. system according to claim 1, which is characterized in that the police instruction unit module determines described anti-as follows
Collision distance:
In formula: D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Early warning distance；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration；V2、a2Respectively the second tower crane
The movement velocity and normal brake application acceleration of machine；V3、a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0To drive
The person's of sailing reaction time；t1It is normally made for pursuit crane machine normal brake application process total time, including time of driver's reaction and equipment
Dynamic time, VWind、aWindThe respectively movement velocity and acceleration of wind.
5. system according to claim 1, which is characterized in that the police instruction unit module can determine institute as follows
State anticollision distance:
In formula: D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Alarm distance increment；L is along the transverse arm of height crane machine to the length at lifting rope pendency；L is low clearance crane machine
To the space length between the lifting rope of the height crane machine and the transverse arm of the low clearance crane machine in transverse arm along transverse arm
Length at upper orthogonal points；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；ω2、a2Point
Not Wei low clearance crane machine angular velocity of satellite motion and normal brake application acceleration；ω3、a3Respectively it is caught-up the movement angle of crane machine
Velocity and acceleration；t0For time of driver's reaction；t1It is anti-for pursuit crane machine normal brake application process total time, including driver
Between seasonable and the equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
6. system according to claim 1, which is characterized in that each construction crane machine has warning device and letter
Transceiver is ceased, for information needed for transmitting the anticollision central processing unit, and receives and comes from the anticollision
The instruction of central processing unit, the anticollision central processing unit also have information transceiver, are used for from each described
Construction crane machine receives required information and sends alarm command to each construction crane machine.
7. a kind of construction crane machine anticollision system, the system comprises in more construction crane machines and an anticollision
Processing unit is entreated, each construction crane machine has warning device, and the anticollision central processing unit includes:
First crane machine transverse arm height determination unit module, determines the transverse arm height H1 of the first construction crane machine；
Second crane machine transverse arm height determination unit module, determines the transverse arm height H2 of the second construction crane machine；
Transverse arm height comparing unit module, compares H1 and H2, and a lower height of construction crane machine of transverse arm is determined as low height
Crane machine is spent, the higher-height construction crane machine of transverse arm is determined as height crane machine；
Lifting rope position determination unit module determines the position of the lifting rope of the height crane machine；
Beam position determination unit module determines the position of the transverse arm of the low clearance crane machine；
Space length determination unit module, determines the space length of the lifting rope Yu the transverse arm；
Police instruction unit module, when the space length be less than anticollision apart from when, indicate first crane machine and described
The warning device of second crane machine is alarmed,
The police instruction unit module determines the anticollision distance as follows:
In formula: D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Early warning distance；V1、a1The respectively movement velocity of the first crane machine and normal brake application acceleration；V2、a2Respectively the second tower crane
The movement velocity and normal brake application acceleration of machine；V3、a3Respectively it is caught-up the movement velocity and acceleration of crane machine；t0To drive
The person's of sailing reaction time；t1It is normally made for pursuit crane machine normal brake application process total time, including time of driver's reaction and equipment
Dynamic time, VWind、aWindThe respectively movement velocity and acceleration of wind.
8. a kind of construction crane machine anticollision system, the system comprises in more construction crane machines and an anticollision
Processing unit is entreated, each construction crane machine has warning device, and the anticollision central processing unit includes:
First crane machine transverse arm height determination unit module, determines the transverse arm height H1 of the first construction crane machine；
Second crane machine transverse arm height determination unit module, determines the transverse arm height H2 of the second construction crane machine；
Transverse arm height comparing unit module, compares H1 and H2, and a lower height of construction crane machine of transverse arm is determined as low height
Crane machine is spent, the higher-height construction crane machine of transverse arm is determined as height crane machine；
Lifting rope position determination unit module determines the position of the lifting rope of the height crane machine；
Beam position determination unit module determines the position of the transverse arm of the low clearance crane machine；
Space length determination unit module, determines the space length of the lifting rope Yu the transverse arm；
Police instruction unit module, when the space length be less than anticollision apart from when, indicate first crane machine and described
The warning device of second crane machine is alarmed,
The police instruction unit module can determine the anticollision distance as follows:
In formula: D is anticollision distance；LXD、LZGBetween respectively two crane machines under relative motion or pursuit motion conditions
Alarm distance increment；L is along the transverse arm of height crane machine to the length at lifting rope pendency；L is low clearance crane machine
To the space length between the lifting rope of the height crane machine and the transverse arm of the low clearance crane machine in transverse arm along transverse arm
Length at upper orthogonal points；ω1、a1The respectively angular velocity of satellite motion of height crane machine and normal brake application acceleration；ω2、a2Point
Not Wei low clearance crane machine angular velocity of satellite motion and normal brake application acceleration；ω3、a3Respectively it is caught-up the movement angle of crane machine
Velocity and acceleration；t0For time of driver's reaction；t1It is anti-for pursuit crane machine normal brake application process total time, including driver
Between seasonable and the equipment normal brake application time, VWind、aWindThe respectively movement velocity and acceleration of wind.
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| CN201911042103.3A Active CN110615368B (en) | 2017-08-11 | 2017-08-11 | Building construction tower crane anti-collision early warning system considering wind speed influence |
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| WO2021046843A1 (en) * | 2019-09-14 | 2021-03-18 | 南京东南建筑机电抗震研究院有限公司 | Anti-collision early warning monitoring method for building construction group tower cranes |
| CN111061987B (en) * | 2019-12-11 | 2024-01-26 | 北京工业大学 | Group tower scheduling optimization method considering active avoidance |
| CN111039184A (en) * | 2019-12-19 | 2020-04-21 | 大器物联科技（广州）有限公司 | Anti-collision method and anti-collision equipment of tower crane |
| CN111196572A (en) * | 2019-12-31 | 2020-05-26 | 大器物联科技（广州）有限公司 | Safety protection method for tower crane |
| CN112173984B (en) * | 2020-09-22 | 2022-04-05 | 广州珠江建设发展有限公司 | Method, device, equipment and medium for managing operation safety of tower group based on Internet of things |
| CN112678692A (en) * | 2020-12-23 | 2021-04-20 | 中哲国际工程设计有限公司 | Anti-collision early warning auxiliary system for building construction tower crane group |
| CN114455490B (en) * | 2022-02-08 | 2023-03-24 | 张家港市中联建设机械有限公司 | Tower crane safety control method and system |
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| CN110615368A (en) | 2019-12-27 |
| CN109179228B (en) | 2020-01-14 |
| CN109160419B (en) | 2020-04-17 |
| CN110615368B (en) | 2020-08-28 |
| CN107539887A (en) | 2018-01-05 |
| CN107539887B (en) | 2019-02-12 |
| CN109160419A (en) | 2019-01-08 |
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