CN110954928A - Satellite positioning-based method and system for monitoring arm tip of building tower crane - Google Patents
Satellite positioning-based method and system for monitoring arm tip of building tower crane Download PDFInfo
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- CN110954928A CN110954928A CN201911275713.8A CN201911275713A CN110954928A CN 110954928 A CN110954928 A CN 110954928A CN 201911275713 A CN201911275713 A CN 201911275713A CN 110954928 A CN110954928 A CN 110954928A
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- G01—MEASURING; TESTING
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- 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
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- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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Abstract
The invention discloses a method and a system for monitoring a building tower crane arm tip based on satellite positioning. The system comprises: the monitoring parameter acquisition unit is used for acquiring the north coordinates and the east coordinates of each monitoring epoch measured by a monitoring station at the nose of the building tower jib; the horizontal arm length determining unit is used for determining the horizontal length of the tower arm of the building tower crane according to the north coordinates and the east coordinates of each monitoring epoch obtained by the monitoring parameter obtaining unit; a horizontal arm length deviation amount determination unit that determines a horizontal arm length deviation amount; and the early warning unit is used for carrying out early warning prompt when the length deviation amount of the horizontal arm length is greater than an early warning threshold value.
Description
Technical Field
The invention relates to a building tower crane and a health monitoring and early warning system thereof.
Background
The construction tower crane occasionally has accidents, and once the accidents happen, great loss can be caused, and some accidents are caused by external force, such as hurricane, collision and the like. Some accidents are caused by the collapse of the tower crane, the breakage of the suspension arm and the like. Therefore, it is very important to monitor the health of the tower crane and give an early warning. Before that, the inventor of the present invention has previously proposed a technical solution, in which a GNSS receiver on a mobile cart is used to monitor a change in elevation of the mobile cart, so as to obtain a deformation condition of a tower arm and prevent a tower crane from being broken due to the deformation of the tower arm. In the technical scheme, the GNSS is arranged on the mobile trolley, so that the structure of the mobile trolley becomes complex.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a solution that alleviates or eliminates one or more of the disadvantages of the prior art, and at least provides a useful alternative.
According to one aspect of the invention, a satellite positioning-based construction tower crane arm tip monitoring system is provided, which comprises: the monitoring parameter acquisition unit is used for acquiring the north coordinates and the east coordinates of each monitoring epoch measured by a monitoring station at the nose of the building tower jib; the horizontal arm length determining unit is used for determining the horizontal length of the tower arm of the building tower crane according to the north coordinates and the east coordinates of each monitoring epoch obtained by the monitoring parameter obtaining unit; a horizontal arm length deviation amount determination unit that determines a horizontal arm length deviation amount; and the early warning unit is used for carrying out early warning prompt when the length deviation amount of the horizontal arm length is greater than an early warning threshold value.
According to one embodiment, the horizontal-arm-length-deviation-amount determining unit determines the horizontal-arm-length deviation amount,
Δln＝ln-Ml
Δlnexpressed as the length deviation amount of the epoch displacement of the tower crane arm tip at the nth monitoring epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of historical epochs,
Mlcalculated as follows:
lnthe horizontal arm length of the tower arm of the construction tower crane expressed as the nth monitoring epoch is calculated as follows:
in the formula (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) Is expressed as the north, east coordinates of the nth monitoring epoch.
According to one embodiment, the warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient, and k is between 2 and 5, and can be 5;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
According to one embodiment, the arm tip comprises an arm tip of a hoisting arm of the construction tower crane or/and an arm tip of a balance arm of the construction tower crane.
According to an embodiment, the system is used for the construction tower crane, the construction tower crane comprises a tower body and a tower arm, the system further comprises a GNSS monitoring station arranged on an arm tip of the construction tower crane, and the monitoring parameter acquisition unit acquires the north coordinates and the east coordinates of each monitoring epoch measured by the monitoring station at the arm tip of the construction tower crane from the GNSS monitoring station.
According to one embodiment, the system further comprises a GNSS reference station that provides GNSS satellite differential correction signals to the monitoring station.
According to another aspect of the invention, a method for monitoring the arm tip of a building tower crane based on satellite positioning is provided, which comprises the following steps: acquiring monitoring parameters, namely acquiring the north coordinates and the east coordinates of each monitoring epoch measured by a monitoring station at the arm tip of the building tower crane; a horizontal arm length determining step, which is used for determining the horizontal arm length of the building tower crane according to the north coordinates and the east coordinates of each monitoring epoch obtained in the monitoring parameter obtaining step; a horizontal arm length deviation amount determination step of determining a horizontal arm length deviation amount; and an early warning step, namely performing early warning prompt when the length deviation of the horizontal arm length is greater than an early warning threshold value.
According to one embodiment, the horizontal-arm-length-deviation-amount determining step determines the horizontal-arm-length deviation amount,
Δln＝ln-Ml
Δlnexpressed as the length deviation of the epoch displacement of the arm tip of the building tower crane in the nth epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of historical epochs,
Mlcalculated as follows:
lnthe horizontal arm length of the tower arm of the construction tower crane, denoted as the nth monitoring epoch, is calculated as follows:
in the formula (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) Watch (A)Shown as the north, east coordinates of the nth monitored epoch.
According to one embodiment, the warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient, and k is 2-5;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
According to the technical scheme of the invention, the complexity of the movable trolley can be reduced, and the safety of building construction operation can be improved.
Drawings
The invention may be better understood with reference to the following drawings. The drawings are merely exemplary and are not drawn to scale and are not intended to limit the scope of the invention.
FIG. 1 shows a schematic diagram of a system in which a satellite positioning based construction tower crane arm tip monitoring method and system according to an embodiment of the invention can be used;
fig. 2 shows a schematic functional block diagram of a satellite positioning based construction tower crane arm tip monitoring system according to an embodiment of the present invention.
Fig. 3 is a graph showing the results of monitoring the horizontal arm length of the tower arm in the experiment.
Fig. 4 shows a matching graph of the early warning threshold value and the tower arm horizontal arm length monitoring result of the invention.
Fig. 5 shows a schematic flow chart of a dynamic monitoring method for the arm tip of a construction tower crane based on satellite positioning according to an embodiment of the invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings, but the present invention is not limited thereto. The components that are not relevant to the understanding of the invention, although they are relevant to the operation of the construction tower crane, are not shown in the drawings nor described in the specification, and can be used with various technologies now known or later known, all within the scope of the invention.
FIG. 1 shows a schematic diagram of a system that can use a satellite positioning based construction tower crane (construction tower crane) arm tip monitoring method and system according to an embodiment of the invention
As shown in fig. 1, the construction tower crane to which the present invention can be applied includes a tower body 14 and a tower arm 13, a monitoring station (GNSS Rover) 12 is installed at the arm tip of the tower arm, and the monitoring station 12 includes a receiver (GPS receiver) and can communicate with a reference station (station) 11 set on the ground. The reference station 11 can be installed in a wide-view and low-blocking place. The reference station and the monitoring station can position themselves by positioning the satellite. How the monitoring station 12 receives satellite signals and interacts with the reference station 11, how to receive and use GNSS satellite differential correction signals can be implemented by any method known in the art, and is not described herein.
Fig. 2 shows a schematic functional block diagram of a satellite positioning based construction tower crane arm tip monitoring system according to an embodiment of the present invention.
As shown in fig. 2, the system for monitoring the arm tip of the construction tower crane based on satellite positioning according to one embodiment of the present invention includes a monitoring parameter obtaining unit 201, a horizontal arm length determining unit 202, a horizontal arm length deviation amount determining unit 203, and an early warning unit 204.
The monitoring parameter acquiring unit 201 is configured to acquire the north coordinates and the east coordinates of each monitoring epoch measured by the monitoring station 12. These north, east coordinates may be obtained from the monitoring station 12 through a wireless connection. Zenith coordinates may be obtained simultaneously. According to one embodiment, the tower arm can be rotated to obtain the north coordinates and the east coordinates of each monitoring epoch when the tower arm is not hoisted. The tower arm rotation period may be at least one forward rotation period and at least one reverse rotation period. Rotation in one direction may be followed by rotation in the opposite direction. This way a certain degree of health check can be performed in the un-hoisted state.
The horizontal arm length determining unit 202 is configured to determine the horizontal length of the tower arm of the building tower crane according to the northbound coordinates and the eastern coordinates of each monitoring epoch obtained by the monitoring parameter obtaining unit 201.
Specifically, assume the north, east, and zenith elevations of the nth monitor epoch of the receiver for (x)n,yn,Hn) That means, the horizontal length of the tower arm of the construction tower crane can be calculated as follows:
in the formula InExpressed as the horizontal arm length of the tower arm of the tower crane of the nth monitoring epoch building, (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) Is expressed as the north, east coordinates of the nth monitoring epoch.
The horizontal arm length deviation amount determination unit 203 determines a horizontal arm length deviation amount, that is, a difference value of the arithmetic mean of the horizontal arm length of the current epoch turret arm and the horizontal arm length of the turret arm accumulated by the historical epochs.
Specifically, the calculation can be performed as follows:
Δln＝ln-Ml
Δlnexpressed as the tower crane arm tip of the building at the nth prisonMeasuring the length deviation of the epoch displacement of the epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of the historical epoch.
MlCan be calculated as follows:
the early warning unit 204 gives an alarm when the deviation of the length of the horizontal arm is greater than the early warning threshold.
According to one embodiment, the warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient, and k is 2-5;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
According to the embodiments of the present invention, the health of the tower arm can be detected before the object lifting work is performed, and various risks due to the health of the tower arm can be better dealt with.
Fig. 3 shows a piece of data of a tower arm horizontal arm length monitoring result graph in an experiment.
In the experiment, 1 GPS receiver is installed on the tip end of a tower arm of a large-scale building tower crane as a monitoring station, and 1 GPS receiver with the same brand is erected on the wide visual field of a construction site as a reference station. The sampling intervals of the two GPS receivers are set to be 1s, the satellite cut-off altitude angle is set to be 15 degrees, the altitude difference between the monitoring station and the mobile station is about 30m (the altitude difference between the monitoring station and the mobile station is 1/3-3/5 of the height of a tower body of the building tower crane, so that a better measurement result can be obtained by matching with the 15-degree satellite cut-off altitude angle), the height h of the tower body of the building tower crane is 67.124m, the length l of a tower arm of the building tower crane is 66.587m, the position of a central plane of a tower body main body of the building tower crane is (x0 is 0382.2812m, y0 is 3554.4645m), and the building tower crane is of a vertical head type. And carrying out engineering experiment GPS data acquisition under the condition that the building tower crane is in a swing arm and in a breeze state. 600 monitoring epochs are selected for continuous 10min for statistics and analysis, wherein: the 1-206 epoch is the clockwise swing arm circular motion state, the 207-389 epoch is the clockwise swing arm braking, static and direction changing operation state, and the 390-600 epoch is the counterclockwise swing arm circular motion state.
It can be seen from the figure that in the process of forward and reverse rotation, the horizontal arm length is not always stable, and peaks appear according to a special rule, and must be accommodated, so that unnecessary false alarms are avoided.
Fig. 4 shows a matching graph of the above warning threshold and the tower arm horizontal arm length monitoring result. As can be seen from the figure, according to the embodiment of the invention, the early warning threshold value can be well matched with the monitoring result of the horizontal arm length of the tower arm, so that the early warning can be well performed, and the false warning can be avoided.
Fig. 5 shows a schematic flow chart of a dynamic monitoring and early warning method for an arm tip of a building tower crane based on satellite positioning according to an embodiment of the invention. The method of the present invention may be understood with reference to the previous description of the apparatus and units.
As shown in fig. 5, according to the dynamic monitoring and early warning method for the arm tip of the building tower crane based on satellite positioning in an embodiment of the present invention, firstly, in a monitoring parameter obtaining step 501, the northbound coordinates and the eastern coordinates of each monitoring epoch measured by a monitoring station at the arm tip of the tower arm during the rotation of the tower arm are obtained; then in a horizontal arm length determining step 502, determining the horizontal length of the tower arm of the building tower crane according to the north coordinates and the east coordinates of each epoch obtained in the monitoring parameter obtaining step; next, in a horizontal arm length deviation amount determination step 503, a horizontal arm length deviation amount is determined; and in an early warning step 504, early warning is carried out when the deviation amount of the length of the horizontal arm is larger than an early warning threshold value.
According to one embodiment, the tower arm rotation periods are at least one forward rotation period and at least one reverse rotation period. Preferably after rotation in one direction and in the opposite direction. Such an approach can make the results of the detection more trustworthy.
According to one embodiment, the horizontal arm length deviation amount determining step 502 determines the horizontal arm length deviation amount,
Δln＝ln-Ml
Δlnexpressed as the length deviation of the epoch displacement of the arm tip of the building tower crane in the nth epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of historical epochs,
Mlcalculated as follows:
lnthe horizontal arm length of the tower arm of the construction tower crane, denoted as the nth monitoring epoch, is calculated as follows:
in the formula (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) North coordinates and east coordinates of the nth monitoring epoch are indicated.
The early warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient, and k is 2-5;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
According to the embodiment of the invention, the health condition of the tower arm can be monitored and alarmed in real time during hoisting.
According to some embodiments of the invention, the tower arm can be rotated in the positive and negative directions before hoisting, and in the rotating process, the north and dynamic coordinates of the arm tip of each epoch are detected, the horizontal arm length of the tower arm is determined, whether the arm length variation exceeds a preset value is determined, and warning is given if the arm length variation exceeds a preset threshold value. The method uses the rotation in two directions of positive rotation and negative rotation, and utilizes the special rule of the variable quantity of the horizontal arm length in the rotation process, thereby playing a good early warning effect.
The above detailed description of the invention is merely to give the person skilled in the art further insight into implementing preferred aspects of the invention, and does not limit the scope of the 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, however, are not specifically exemplified, in order to obtain additional useful embodiments of the present invention.
Claims (10)
1. A building tower crane arm tip monitoring system based on satellite positioning comprises:
the monitoring parameter acquisition unit is used for acquiring the north coordinates and the east coordinates of each monitoring epoch measured by a monitoring station at the nose of the building tower jib;
the horizontal arm length determining unit is used for determining the horizontal length of the tower arm of the building tower crane according to the north coordinates and the east coordinates of each monitoring epoch obtained by the monitoring parameter obtaining unit;
a horizontal arm length deviation amount determination unit that determines a horizontal arm length deviation amount; and
and the early warning unit is used for carrying out early warning prompt when the length deviation amount of the horizontal arm is greater than an early warning threshold value.
2. The satellite positioning-based building tower crane arm tip monitoring system of claim 1, wherein the horizontal arm length deviation determination unit determines the horizontal arm length deviation as follows,
Δln＝ln-Ml
Δlnexpressed as the length deviation amount of the epoch displacement of the tower crane arm tip at the nth monitoring epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of historical epochs,
Mlcalculated as follows:
lnthe horizontal arm length of the tower arm of the construction tower crane expressed as the nth monitoring epoch is calculated as follows:
in the formula (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) Is expressed as the north, east coordinates of the nth monitoring epoch.
3. The satellite positioning-based building tower crane arm tip monitoring system of claim 1, wherein the early warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
4. The satellite positioning based construction tower crane arm tip monitoring system according to claim 1, wherein the arm tip comprises an arm tip of a hoisting arm of a construction tower crane or/and an arm tip of a balance arm of a construction tower crane.
5. The system for monitoring the arm tip of the building tower crane based on the satellite positioning as claimed in claim 1, wherein the system is used for the building tower crane, the building tower crane comprises a tower body and a tower arm, the system further comprises a GNSS monitoring station arranged on the arm tip of the building tower crane, and the monitoring parameter acquisition unit acquires the north coordinates and the east coordinates of each monitoring epoch measured by the monitoring station at the arm tip of the building tower crane from the GNSS monitoring station.
6. The satellite positioning-based building tower crane arm tip monitoring system of claim 1, further comprising a GNSS reference station that provides GNSS satellite differential correction signals to the monitoring station.
7. A building tower crane arm tip monitoring method based on satellite positioning comprises the following steps:
acquiring monitoring parameters, namely acquiring the north coordinates and the east coordinates of each monitoring epoch measured by a monitoring station at the arm tip of the building tower crane;
a horizontal arm length determining step, which is used for determining the horizontal arm length of the building tower crane according to the north coordinates and the east coordinates of each monitoring epoch obtained in the monitoring parameter obtaining step;
a horizontal arm length deviation amount determination step of determining a horizontal arm length deviation amount; and
and early warning, namely performing early warning prompt when the length deviation of the horizontal arm length is greater than an early warning threshold value.
8. The satellite positioning-based building tower crane arm tip monitoring method according to claim 7, wherein the horizontal arm length deviation amount determining step determines the horizontal arm length deviation amount as follows,
Δln＝ln-Ml
Δlnexpressed as the length deviation of the epoch displacement of the arm tip of the building tower crane in the nth epoch in the horizontal direction of the arm length, n>1 and is an integer, MlExpressed as an arithmetic average of the horizontal arm length based on the accumulated displacement of historical epochs,
Mlcalculated as follows:
lnthe horizontal arm length of the tower arm of the construction tower crane, denoted as the nth monitoring epoch, is calculated as follows:
in the formula (x)0,y0) The central plane position (x) of the main body structure of the tower body of the building tower cranen,yn) Is expressed as the north, east coordinates of the nth monitoring epoch.
9. The satellite positioning-based building tower crane arm tip monitoring method according to claim 7, wherein the early warning threshold is determined as follows:
When n → ∞ is reached,
In the formula, aLevel of、bLevel ofRespectively, a fixed error and a proportional error of the planar positioning of the receiver of the monitoring station; lnThe length of the horizontal arm length of the tower arm of the construction tower crane of the nth monitoring epoch; k is an early warning critical coefficient;
dynamically monitoring horizontal arm length early warning parameters for the tower arm; when the length deviation of the horizontal arm
And in time, dynamically monitoring and early warning the arm tip of the building tower crane.
10. The method for monitoring the arm tip of the building tower crane based on the satellite positioning as claimed in claim 7, wherein the monitoring parameter obtaining step obtains the north coordinates and the east coordinates of each monitoring epoch measured by the monitoring station during the rotation of the tower arm, and the rotation periods of the tower arm are at least one forward rotation period and at least one reverse rotation period, and the tower arm rotates in the opposite direction after rotating in one direction.
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