CN110632622A - Building tower crane and accurate positioning reliability verification system for lifting hook position thereof - Google Patents

Building tower crane and accurate positioning reliability verification system for lifting hook position thereof Download PDF

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Publication number
CN110632622A
CN110632622A CN201910781855.5A CN201910781855A CN110632622A CN 110632622 A CN110632622 A CN 110632622A CN 201910781855 A CN201910781855 A CN 201910781855A CN 110632622 A CN110632622 A CN 110632622A
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tower crane
cross arm
reliability
arm
building tower
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CN110632622B (en
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周命端
王坚
丁克良
谢贻东
周乐皆
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Beijing Beijianda Technology Park Development Co ltd
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Beijing University of Civil Engineering and Architecture
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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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Abstract

The invention relates to a building tower crane and a system for verifying the accurate positioning reliability of a lifting hook position of the building tower crane, wherein the lifting hook position is determined by positioning data of a GNSS receiver on a mobile trolley of the building tower crane, and the system comprises: the positioning data receiving device is used for receiving the positioning data of the GNSS receiver arranged on the mobile trolley of the building tower crane; the motion state determining device is used for determining whether the current motion state of the building tower crane is the amplitude variation motion of the movable trolley far away from or close to the tower body on the cross arm; the constraint condition determining device is used for determining a reliability verification constraint condition when the movable trolley performs amplitude variation motion on the cross arm to be far away from or close to the tower body; the judgment model determining device is used for establishing a reliability verification judgment model according to the current motion state of the building tower crane and the corresponding reliability verification constraint condition; and the reliability determining device is used for determining the reliability of the measurement result of the GNSS receiver.

Description

Building tower crane and accurate positioning reliability verification system for lifting hook position thereof
Technical Field
The invention relates to a reliability verification method for accurate positioning of a lifting hook position of a building tower crane.
Background
At present, the requirement on the positioning precision of a lifting hook is higher and higher, and meanwhile, the requirement on the positioning reliability is higher and higher, so that the accurate positioning of the lifting hook of the building tower crane is realized. With the progress of science and technology, the positioning accuracy of a survey type GNSS receiver is higher and higher, the improvement of the accuracy comes from the improvement of the performance of components in the GNSS receiver and the perfection of various data processing algorithms and error correction models. Meanwhile, under the dynamic working environment that the hoisting operation of the building tower crane is complex, the probability that the GNSS receiver fails including the unlocking of the navigation satellite signal is increased, and once the GNSS receiver fails, a serious result can be generated. At present, for reliability verification of single measurement of a GNSS real-time precise positioning technology, multiple repeated measurements of GNSS positioning are often required for mutual verification. The verification mode reduces the working efficiency and increases the operation cost. In the aspect of positioning of the GNSS technology applied to hoisting operation of the building tower crane, the GNSS measurement result is assumed to be accurate, and a link for verifying the reliability of the GNSS measurement result is lacked, so that potential risks exist in the construction process of the hoisting operation based on GNSS positioning.
Disclosure of Invention
The present invention has been made in view of the above circumstances of the prior art to overcome or alleviate the above problems of the prior art, and at least provides a useful choice.
According to one aspect of the invention, a system for verifying the accurate positioning reliability of a lifting hook position of a building tower crane is provided, wherein the lifting hook position is determined by using positioning data of a GNSS receiver on a mobile trolley of the building tower crane, and the system comprises: the positioning data receiving device is used for receiving the positioning data of the GNSS receiver arranged on the mobile trolley of the building tower crane; the motion state determining device is used for determining whether the current motion state of the building tower crane is the amplitude variation motion of the movable trolley far away from or close to the tower body on the cross arm; the constraint condition determining device determines a reliability verification constraint condition when the movable trolley performs variable amplitude motion far away from or close to the tower body on the cross arm according to the current motion state of the building tower crane, wherein the reliability verification constraint condition is determined according to a space motion rule of the motion state of the building tower crane; the judgment model determining device is used for establishing a reliability verification judgment model according to the current motion state of the building tower crane and the corresponding reliability verification constraint condition; and a reliability determining device for determining the reliability of the measurement result of the GNSS receiver.
According to one embodiment, the positioning data is epoch time t, plane position data (X) obtained after GNSS real-time fine positioning technology processing and broadcast through a data communication linkt,Yt) Elevation position data (H)t) And positioning accuracy information.
According to one embodiment, the system further comprises a swing arm angle sensor for measuring a coordinate azimuth angle of the swing arm of the construction tower crane; the pitch angle sensor is used for measuring the vertical inclination angle of the cross arm, wherein the positive value is an elevation angle, and the negative value is a depression angle; the variable-amplitude radius determining device is used for determining the variable-amplitude radius of the mobile trolley, and for the swing motion state of the cross arm of the building tower crane and the variable-amplitude motion state of the mobile trolley, the reliability verification constraint condition is determined as a conditional equation:
Figure BDA0002176848590000031
aiming at the motion state that the cross arm of the building tower crane does not swing the arm but the movable trolley becomes variable amplitude, the reliability verification constraint condition is determined as a conditional equation:
Figure BDA0002176848590000032
wherein the content of the first and second substances,height of the transverse arm, HnThe actual height of the cross arm is obtained by conversion according to the elevation position data of the nth epoch moment measured by the GNSS receiver, and alpha is the seating of the cross arm and the swing arm of the building tower crane measured by the swing arm angle sensorAzimuth angle (X)n,Yn) The method is characterized in that the method is plane position data under a station center coordinate system converted according to plane position data of an nth epoch time measured by a GNSS receiver, D is the slope distance of a linear equation, is usually a constant, and is determined by the physical structure of a building tower crane and the installation position of the GNSS receiver, C is a cross arm height correction multiplication coefficient, C is 0.9999-1.0001, A is a cross arm height correction multiplication coefficient, and can be determined as follows:
A＝-tan(i)×R
and i is the vertical inclination angle of the cross arm measured by the pitch angle sensor, the positive value is the elevation angle, the negative value is the depression angle, and R is the variable amplitude radius of the mobile trolley.
According to the system, the reliability of the GNSS receiver measuring result for determining the position of the lifting hook is verified, and unreliable results can be eliminated, so that the positioning of the position of the lifting hook can be more reliable and accurate.
Drawings
The embodiments of the present invention can be better explained with reference to the drawings. The drawings are merely schematic and are not drawn to scale and are not intended to limit the scope of the invention. In the drawings, there is shown in the drawings,
fig. 1 shows a schematic view of a construction tower crane according to an embodiment of the invention; and
fig. 2 shows a schematic diagram of a system for verifying the location reliability of a lifting hook of a construction tower crane according to an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the invention refers to the accompanying drawings. These embodiments are exemplary and not intended to limit the scope of the present invention.
The existing system utilizes the positioning data of the GNSS receiver installed on the mobile trolley of the building tower crane to determine the position of the lifting hook, and can avoid the positioning device arranged on the lifting hook, thereby reducing the shielding area with poor signals, reducing the collision damage of the GNSS receiver, prolonging the service life of the GNSS receiver and further being recognized. But it is currently assumed that GNSS receiver measurements are correct, which may sometimes not be the case. The invention aims at the situation, and further determines the positioning reliability of the GNSS receiver, so that the determination of the hook position is more guaranteed.
Fig. 1 shows a schematic view of a construction tower crane according to an embodiment of the invention. The construction tower crane comprises a fixing device 21, a vertical column (tower body) 22, a cross arm 23, a movable trolley 24, a lifting rope 25 and a lifting hook 26. A GNSS rover is provided on the mobile cart 24. The movable trolley 24 is also provided with a fixed pulley. In some embodiments, the lifting rope 25 may be divided into two sections. According to one embodiment, the construction tower crane comprises a travelling car drive for driving the travelling car. The driving device of the movable trolley comprises a motor and a pulley, is arranged on the cross arm and is connected with the movable trolley through a chain cable and the like, so that the movable trolley is driven.
According to one embodiment of the invention, the construction tower crane has a swing arm angle sensor 106, a pitch angle sensor 107 and a luffing radius determination device 108.
The swing arm angle sensor 106 is used for measuring the coordinate azimuth angle of the building tower crane cross arm swing arm. According to one embodiment, it is provided at the intersection of the cross arm 23 and the upright 22, as an angle sensor.
And the pitch angle sensor 107 is used for measuring the vertical inclination angle of the cross arm, wherein the positive value is an elevation angle, and the negative value is a depression angle. According to one embodiment, it is also provided at the intersection of the swing arm 23 and the upright 22, being an angle sensor. Since the vertical tilt angle of the cross arm is generally small, the pitch angle sensor needs to have high accuracy. According to another embodiment, it is provided at the end of the cross arm 23.
The amplitude radius determining device 108 is used for determining the amplitude radius of the mobile trolley, namely the distance between the position of the trolley and the cross arm of the rotation center of the cross arm rotating around the tower body. It can be arranged at a travelling car driving device of a construction tower crane. According to one embodiment, the variable-amplitude radius determining device may comprise an odometer device (including a sensor) for measuring the distance traveled by the mobile trolley, typically driven by a motor provided on the crossbar, and the odometer may measure the mileage of a rope driving the mobile trolley, thereby determining the distance of the mobile trolley from the tower.
Fig. 2 shows a schematic diagram of a system for verifying the location reliability of a lifting hook of a construction tower crane according to an embodiment of the invention.
As shown in fig. 2, the system for verifying the location reliability of the lifting hook position of the construction tower crane according to an embodiment of the present invention includes a location data receiving device 101, which is described below.
The positioning data receiving device 101 receives positioning data of a GNSS receiver mounted on a mobile trolley of a construction tower crane, the positioning data being epoch time t, plane position data (X) obtained after being processed by GNSS real-time precise positioning technology (such as gnssrk technology) and broadcasted through a data communication linkt,Yt) Elevation position data (H)t) And positioning accuracy information.
The motion state determination device 102 determines whether the current motion state of the construction tower crane is the amplitude motion of the movable trolley far away from or close to the tower body on the cross arm. According to one embodiment, the motion states of the construction tower crane are divided into 2 types:
1. a tower crane swings in a swing arm (a tower arm (a cross arm)) and a movable trolley makes variable-amplitude motion on the cross arm, namely, the movable trolley moves away from or approaches a tower body;
2. the tower crane does not swing the arm but moves the trolley to move in an amplitude manner;
the motion state of the hoisting operation of the tower crane can be determined by determining the state of the operating handle of a driver of the tower crane, for example.
The constraint condition determining device 103 determines a reliability verification constraint condition according to the current motion state of the building tower crane when the movable trolley performs variable amplitude motion far away from or close to the tower body on the cross arm, wherein the reliability verification constraint condition is determined according to the space motion rule of the motion state of the building tower crane.
According to one embodiment, the tower crane swing arm device aims at the condition that the swing arm of the tower crane (the cross arm swings) and the movable trolley performs variable-amplitude movement far away from or close to a tower body on the cross arm, and under the condition, the angular speed of the rotation of the cross arm and the movement speed of the trolley can be actually determined according to the angular speed of the rotation of the cross arm and the movement speed of the trolleyThe motion track is determined, but the operation is complex. The linear motion to be followed may be determined by determining a projection onto fixed coordinates using angular velocity using fixed coordinates. According to one embodiment, the height of the cross arm is taken into accountKeeping the same, neglecting the motion track of the mobile car for simplifying the operation, and only based on the motion track
Figure BDA0002176848590000072
And (3) constructing a conditional equation of the geometrical constraint of the cross arm elevation:
Figure BDA0002176848590000073
wherein the content of the first and second substances,
Figure BDA0002176848590000074
height of the transverse arm, HnThe actual height of the cross arm is obtained by conversion according to the elevation position data of the nth epoch time measured by the GNSS receiver, C is a cross arm height correction multiplication coefficient, C is 0.9999-1.0001, A is a cross arm height correction multiplication coefficient, and the height correction multiplication coefficient can be determined as follows:
A＝-tan(i)×R
wherein i is a small vertical inclination angle of the cross arm measured by the pitch angle sensor 107, a positive value is an elevation angle, a negative value is a depression angle, and R is a variable amplitude radius of the mobile trolley measured by the variable amplitude radius determination device 108, that is, a distance from the position of the mobile trolley to the cross arm of the rotation center of the cross arm around the tower body.
According to an implementation mode, aiming at the condition that the tower crane does not swing the arm but moves the trolley in a variable amplitude manner, the motion state of the GNSS receiver is a linear track sliding along the cross arm, and a conditional equation of geometric constraint of the linear track is constructed
Figure BDA0002176848590000075
Wherein, alpha is the coordinate azimuth angle of the transverse arm swing arm of the construction tower crane, (X)n,Yn) Refers to the plane position data of the nth epoch time measured by the GNSS receiverAnd D is the slant range of a linear equation, is usually a constant and is determined by the physical structure of the building tower crane and the installation position of the GNSS receiver. In one embodiment, the cross arm of the building tower crane is in an isosceles triangle structure, and D is the distance from the mounting position of the GNSS receiver to the center line of the bottom of the cross arm of the building tower crane along the X-axis direction (north direction, gaussian projection plane coordinate system).
Then, the determination model determining device 104 establishes a reliability verification determination model according to the constraint condition, the current motion state of the construction tower crane and the corresponding reliability verification constraint condition.
According to one embodiment, the accurate positioning reliability is judged to form an algorithm criterion based on critical threshold early warning according to the hoisting operation behavior of the tower crane and the data of a tower crane state sensor (such as an angle sensor for measuring the coordinate azimuth angle of a cross arm swing arm of the building tower crane).
Specifically, according to one embodiment, a reliability critical condition formula (reliability determination model) of elevation geometric constraint is constructed for the motion state of the swing of the cross arm and the amplitude of the mobile trolley
Figure BDA0002176848590000081
According to an implementation mode, a reliability critical condition formula (reliability judgment model) of the geometric constraint of a straight line track is constructed aiming at the movement state of the amplitude of a tower crane moving trolley without swinging arm
The use of the above formula allows a certain flexibility in the decision on reliability, avoiding unnecessary false alarms due to, for example, accidental errors in the measurement of the vertical inclination of the crossarm, or accidental errors in the measurement of the radius of the luffing of the mobile trolley.
According to the embodiment of the invention, the reliability verification is judged by using the last epoch positioning result and the current epoch positioning result, and the used data is simple and high in accuracy.
It is important to determine the threshold parameters ξ and ε reasonably, and the inventors of the present application have found that the determined parameters must be conservative, which ensures that all "nanofarad" location-aware epochs are discarded.
According to one embodiment, the values of these two parameters are determined as follows.
The threshold parameter ξ is determined as follows:
wherein, av,bvRespectively a fixed error and a proportional error of a vertical measurement of the GNSS receiver; h is the height of the tower body of the building tower crane.
According to one embodiment, the threshold parameter epsilon is determined as follows:
ε＝arccot(3·mα)
wherein m isαThe nominal precision of the swing arm angle sensor 106 for measuring the coordinate azimuth angle of the swing arm of the cross arm of the building tower crane.
In an embodiment of the present invention, the substrate is,
xi: the height H of the tower body is adopted to replace the length of a base line between the GNSS mobile station and the GNSS reference station, and the fixed error and the proportional error of the vertical measurement of the GNSS receiver are considered;
epsilon: the method comprises the step of introducing angle sensor precision index information for measuring the coordinate azimuth angle of a cross arm swing arm of a building tower crane into the calculation of a threshold parameter as an external reference condition.
Compared with the traditional system, the system adopted by the scheme changes the dynamic parameters into the static parameters, so that the determined threshold parameters are more conservative, and the 'nano-fake' position sensing epoch can be guaranteed to be discarded.
It should be noted that in the context of the present invention, the constraint determining means 103 does not necessarily need to present specific constraints. The constraint condition may simply be an indication of the constraint model. It is within the scope of the present invention that the constraint determining means 103 and the decision model determining means 104 may be combined and finally give a decision model. That is, although described as two devices, these cases are included.
The reliability determination device 105 then determines the reliability of the GNSS rover measurement according to the reliability determination model described above. For example, in practical applications, if the elevation data in the positioning data cannot be satisfiedIt indicates that the measurement result is erroneous. The reliability of the positioning result of the GNSS rover station can be determined according to the determined reliability determination model, when the reliability is determined, the positioning data of the epoch time can be abandoned, the calculation of the position of the hook is not carried out temporarily, or the alarm is carried out, so that the positioning result of the GNSS rover station is more reliable and accurate.
In the event that the positioning data for the GNSS rover is determined to be reliable, the positioning data may be utilized to determine the position of the hook. Various systems now known or later known may be used to determine the position of the hook. The hook position may be determined, for example, by determining the length of the lifting rope, the diameter of the crown block, and the distance of the GNSS rover to the center of the crown block. In the case of double hoist line segments, the position of the hook can be determined from the diameter of the fixed pulley between the two hoist line segments and the length of the second hoist line segment.
Although in the above description the swing arm angle sensor 106, the pitch angle sensor 107 and the luffing radius determination device 108 have been described as being part of a construction tower crane, it will be appreciated that they may be part of the accurate location reliability verification system for the position of the lifting hook of a construction tower crane of the present invention.
The above detailed description of the present invention is provided only to provide those skilled in the art with further information for implementing preferred aspects of the present invention, and is not intended to limit the scope of the present invention. Only the claims are presented to determine the scope of the invention. Therefore, combinations of features and steps in the foregoing detailed description are not necessary to practice the invention in the broadest sense, and are instead taught merely to particularly detailed representative examples of the invention. Furthermore, the various features of the teachings presented in this specification may be combined in various ways, which are not specifically exemplified, as these combinations are understood, in order to obtain additional useful embodiments of the present invention.

Claims (7)

1. The utility model provides a building tower machine lifting hook position accurate positioning reliability verification system, the lifting hook position utilizes the positioning data of the GNSS receiver on the building tower machine travelling car to confirm, its characterized in that, the system includes:
the positioning data receiving device receives the positioning data of the GNSS receiver;
the motion state determining device is used for determining whether the current motion state of the building tower crane is the amplitude variation motion of the movable trolley far away from or close to the tower body on the cross arm;
the constraint condition determining device determines a reliability verification constraint condition when the movable trolley performs variable amplitude motion far away from or close to the tower body on the cross arm according to the current motion state of the building tower crane, wherein the reliability verification constraint condition is determined according to a space motion rule of the motion state of the building tower crane;
the judgment model determining device is used for establishing a reliability verification judgment model according to the current motion state of the building tower crane and the corresponding reliability verification constraint condition; and
and the reliability determining device is used for determining the reliability of the measurement result of the GNSS receiver.
2. The system for verifying the reliability of the accurate positioning of the position of a lifting hook of a construction tower crane according to claim 1, wherein the positioning data is epoch time t and plane position data (X) which are obtained after being processed by GNSS real-time accurate positioning technology and are broadcasted through a data communication chaint,Yt) Elevation position data (H)t) And positioning accuracy information.
3. The system for verifying the reliability of the accurate positioning of the position of a lifting hook of a construction tower crane according to claim 2,
the construction tower crane further comprises:
the swing arm angle sensor is used for measuring the coordinate azimuth angle of the swing arm of the cross arm of the building tower crane;
the pitch angle sensor is used for measuring the vertical inclination angle of the cross arm;
a variable-amplitude radius determining device for determining the variable-amplitude radius of the mobile trolley,
aiming at the motion state that the cross arm of the building tower crane swings and the movable trolley becomes variable amplitude, the reliability verification constraint condition is determined as a conditional equation:
aiming at the motion state that the cross arm of the building tower crane does not swing the arm but the movable trolley becomes variable amplitude, the reliability verification constraint condition is determined as a conditional equation:
wherein the content of the first and second substances,
Figure FDA0002176848580000023
height of the transverse arm, HnThe actual height of the cross arm is obtained by conversion according to the elevation position data of the nth epoch moment measured by the GNSS receiver, alpha is the coordinate azimuth angle, (X) of the cross arm of the building tower crane measured by the swing arm angle sensorn,Yn) The method is characterized in that the method is plane position data under a station center coordinate system converted according to plane position data of an nth epoch time measured by a GNSS receiver, D is the slope distance of a linear equation, is usually a constant, and is determined by the physical structure of a building tower crane and the installation position of the GNSS receiver, C is a cross arm height correction multiplication coefficient, C is 0.9999-1.0001, A is a cross arm height correction multiplication coefficient, and can be determined as follows:
A＝-tan(i)×R
and i is the vertical inclination angle of the cross arm measured by the pitch angle sensor, the positive value is the elevation angle, the negative value is the depression angle, and R is the variable amplitude radius of the mobile trolley determined by the variable amplitude radius determining device.
4. The system for verifying the reliability of the accurate positioning of the position of a lifting hook of a construction tower crane according to claim 3,
aiming at the movement state of the swing arm of the cross arm of the building tower crane and the amplitude of the movable trolley, establishing a reliability verification judgment model as a critical condition formula:
Figure FDA0002176848580000031
aiming at the motion state that the cross arm of the building tower crane does not swing the arm but the movable trolley changes the amplitude, establishing a reliability verification judgment model as a critical condition formula:
Figure FDA0002176848580000032
where ξ and ε are the threshold parameters of the critical condition,
Figure FDA0002176848580000033
height of the transverse arm, HnThe actual height of the cross arm is converted according to the elevation position data of the nth epoch time measured by the GNSS receiver, (X)n,Yn) The method is plane position data (X) in a station center coordinate system converted according to plane position data of nth epoch time measured by a GNSS receivern-1,Yn-1) The method is plane position data under a station center coordinate system converted according to plane position data of an n-1 epoch time measured by a GNSS receiver.
5. The system for verifying the accurate positioning reliability of the position of the lifting hook of the building tower crane according to claim 4, wherein the threshold parameter ξ is determined as follows:
Figure FDA0002176848580000034
wherein，av,bvRespectively a fixed error and a proportional error of a vertical measurement of the GNSS receiver; h is the height of the tower body of the building tower crane.
6. The system for verifying the accurate positioning reliability of the position of the lifting hook of the construction tower crane according to claim 5, wherein the threshold parameter epsilon is determined as follows:
ε＝arc cot(3·mα)
wherein m isαThe nominal accuracy of the swing arm angle sensor.
7. A tower crane for building comprises a fixing device, a vertical column, a cross arm, a movable trolley, a lifting rope, a lifting hook, a GNSS mobile station arranged on the movable trolley, a fixed pulley arranged on the movable trolley, and a movable trolley driving device arranged on the cross arm,
the construction tower crane further comprises:
the swing arm angle sensor is used for measuring the coordinate azimuth angle of a swing arm of a cross arm of the building tower crane, is arranged at the joint of the cross arm and the upright column and is an angle sensor;
the pitch angle sensor is used for measuring the vertical inclination angle of the cross arm and is arranged at the end part of the cross arm or the joint of the cross arm and the stand column;
a variable-amplitude radius determining device for determining the variable-amplitude radius of the mobile trolley,
the construction tower crane comprises the system for verifying the accurate positioning reliability of the position of the lifting hook of the construction tower crane, which is disclosed by any one of claims 1 to 6.
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CN113959351A (en) * 2021-09-07 2022-01-21 北京建筑大学 Omnibearing dynamic deformation test monitoring device

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