CN111039184A - Anti-collision method and anti-collision equipment of tower crane - Google Patents
Anti-collision method and anti-collision equipment of tower crane Download PDFInfo
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- CN111039184A CN111039184A CN201911318300.3A CN201911318300A CN111039184A CN 111039184 A CN111039184 A CN 111039184A CN 201911318300 A CN201911318300 A CN 201911318300A CN 111039184 A CN111039184 A CN 111039184A
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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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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Abstract
The invention relates to the technical field of tower crane construction, in particular to an anti-collision method and anti-collision equipment of a tower crane. Compared with the prior art, the invention has simple and feasible combination structure, easy installation and disassembly and the advantages that: the anti-collision method has the advantages that the position information is acquired through the position acquisition equipment, the data processing is carried out through the processor, the feedback is carried out through the processing terminal, the whole anti-collision method is clear in order, the anti-collision method which is simple and convenient to operate and rapid to process is achieved through the original design of the data processing method, the specific collision condition and the specific collision position between the tower cranes can be accurately judged, the operation of the tower cranes can be adjusted timely and effectively and prevented, and safety accidents are prevented.
Description
Technical Field
The invention relates to the technical field of tower crane construction, in particular to an anti-collision method and anti-collision equipment for a tower crane.
Background
The tower crane is the most common hoisting equipment in construction sites, and is used for hoisting construction raw materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like for construction. The hoisting is realized through the pulley on the tower arm, and the rotation of the tower arm and the hoisting material is realized through the rotary tower frame. In the actual use process, a plurality of tower cranes are often arranged on a building site to work simultaneously, so that mutual collision and friction among the tower cranes are easily caused, and a series of safety accidents are caused. Therefore, the Chinese patent CN107285206B discloses an anti-collision method based on a tower crane collision avoidance early warning system, the parameter characteristics of a building construction site are obtained through cameras and then are mapped to an image site one by one, and anti-collision algorithm calculation is carried out through a geometric model of the image site.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an anti-collision method of a tower crane and anti-collision equipment thereof, adopts a novel anti-collision processing flow, and is convenient and reliable in overall operation.
In order to achieve the above purpose, an anti-collision method for a tower crane is designed, the position of the outer end of a tower arm of the tower crane is collected in real time through a position collecting device, any two tower cranes are subjected to collision analysis through a processor, and an analysis result is returned to a processing terminal, wherein the collision analysis specifically comprises the following steps: step a, judging whether the radiuses of the two current tower cranes are intersected, if so, returning an analysis result in a collision state by a processor; if not, performing the step b; and b, calculating the position relation of the track circles formed by the two tower cranes, and returning an analysis result by the processor according to the position relation of the track circles of the two tower cranes.
The invention also has the following preferable technical scheme:
and acquiring the position of the outer end of the tower arm of each tower crane in the horizontal plane.
The step a specifically comprises the following steps: a1., if one of the results of the fast rejection algorithm is true, the radii of the two tower cranes must not intersect; the quick exclusion algorithm is that for the radiuses of the two tower cranes, whether the maximum abscissa and the maximum ordinate of the radius of each tower crane at the current position are respectively smaller than the minimum abscissa and the minimum ordinate of the radius of the other tower crane at the current position is calculated by a processor.
The step a also comprises a step a2. a straddle algorithm; if the result of the fast exclusion algorithm is not true, the processing of the step a2 needs to be carried out, namely two judgment vectors from two endpoints of the radius of one tower crane to the same endpoint of the radius of the other tower crane and a radius vector formed by the two endpoints of the other tower crane are constructed respectively, then the cross product of the judgment vectors and the radius vector of the other tower crane is judged, and if the result of the two cross product is the same number, the radius of the two tower cranes is not intersected currently; if the result of the cross product is 0, the radius of the two tower cranes is colliding, and the processor returns the analysis result in the collision state.
The step b specifically comprises the following steps: if the track circles of the two tower cranes are separated, returning an analysis result without collision by the processor; if the track circles of the two tower cranes are tangent, further calculating whether the distance between the outer end points of the tower arms of the two tower cranes is smaller than or equal to a safety distance or not, and if so, returning an analysis result of collision by the processor; if not, returning an analysis result which cannot be collided by the processor; if the track circles of the two tower cranes are not tangent and are not separated, the distance from two end points of the radius of each tower crane to the radius of the other tower crane is further calculated, and an analysis result is returned by the processor according to a comparison result of the distance and the safety distance.
Setting the track circle of one tower crane as a first track circle, setting the track circle of the other tower crane as a second track circle, setting the radius of the first track circle as R1, the radius of the second track circle as R2, setting the distance between the centers of the two track circles as d, acquiring the lengths of R1, R2 and d through position acquisition equipment, and judging whether the two track circles are separated from each other or tangent by a processor according to the following conditions: the two trajectory circles are separated from each other, the following condition is satisfied: r1+ R2< d; the two trajectory circles are tangent to each other, and the following conditions are satisfied: r1+ R2 ═ d.
If the track circles of the two tower cranes are not tangent and are not separated, firstly calculating whether a foot drop point exists between the two end points of the tower crane and the radius of the other tower crane, and if the foot drop point exists, calculating the distance from the end point to the radius of the other tower crane; if the foot hanging point does not exist, setting the distance from the end point to the radius of the other tower crane to be infinite; and taking the minimum value of the distances from the four end points to the radius of the other tower crane, and if the minimum value is less than or equal to the safe distance, returning an analysis result that a certain end point collides with the radius of the other tower crane by the processor.
The method for calculating whether the drop-foot point exists between the end point and the radius of the other tower crane is concretely as follows: respectively calculating the inner product between the vector formed by the connection of each end point and any end point of the other tower crane and the vector formed by the two end points of the other tower crane, and if the inner product is less than zero, a foot drop point exists; if any inner product is not larger than zero, the foot drop point is judged to exist.
If the minimum value is larger than the safety distance, respectively calculating the distance between the outer end points of the two tower cranes and the distance between the outer end point and the circle center of the other tower crane, taking the minimum value as the minimum value of the distances, comparing the minimum value with the safety distance, and if the minimum value of the distances smaller than the safety distance exists, returning an analysis result respectively representing the mutual collision of the end points of the two tower cranes by the processor.
The method also comprises a motion compensation method, when the current position information can not be obtained, the current position is calculated according to the motion information obtained finally, and the motion information comprises a time stamp, an angular velocity corresponding to the time stamp and a position corresponding to the time stamp; when the angular velocity of the current position cannot be obtained, the finally obtained angular velocity is taken as a default value to carry out motion compensation; or the angular speed is reduced to zero from the last obtained angular speed at a constant speed.
The invention also relates to an anti-collision device for the anti-collision method of the tower crane, which comprises a position acquisition device for acquiring the position of the outer end of the tower arm of the tower crane in real time, a processor for performing collision analysis on any two tower cranes and returning analysis results to the processing terminal, and the processing terminal for displaying the analysis results.
Compared with the prior art, the invention has simple and feasible combination structure, easy installation and disassembly and the advantages that: the anti-collision method has the advantages that the position information is acquired through the position acquisition equipment, the data processing is carried out through the processor, the feedback is carried out through the processing terminal, the whole anti-collision method is clear in order, the anti-collision method which is simple and convenient to operate and rapid to process is achieved through the original design of the data processing method, the specific collision condition and the specific collision position between the tower cranes can be accurately judged, the operation of the tower cranes can be adjusted timely and effectively and prevented, and safety accidents are prevented.
Drawings
Fig. 1 is a flow chart diagram of a collision avoidance method of the present invention;
FIG. 2 is a schematic diagram (1) of the specific positional relationship between two trajectory circles in a straddle experiment of the present invention;
FIG. 3 is a schematic diagram (2) of the specific positional relationship between two trajectory circles in a straddle experiment of the present invention;
FIG. 4 is a schematic diagram (3) of the specific positional relationship between two trajectory circles in the straddle experiment of the present invention;
FIG. 5 is a schematic diagram (4) showing a specific positional relationship between two trajectory circles in a straddle experiment according to the present invention;
FIG. 6 is a schematic diagram (5) showing a specific positional relationship between two trajectory circles in a straddle experiment according to the present invention;
FIG. 7 is a schematic diagram (6) showing the detailed positional relationship between two trajectory circles in the straddle experiment of the present invention;
FIG. 8 is a schematic diagram (7) of the specific positional relationship between two trajectory circles in the straddle experiment of the present invention;
FIG. 9 is a schematic diagram (8) showing the specific positional relationship between two trajectory circles in the straddle experiment of the present invention;
FIG. 10 is a schematic diagram (9) showing the detailed positional relationship between two trajectory circles in the straddle experiment of the present invention;
FIG. 11 is a schematic diagram (10) showing a specific positional relationship between two trajectory circles in a straddle experiment according to the present invention;
FIG. 12 is a schematic diagram (11) showing a specific positional relationship between two trajectory circles in a straddle experiment according to the present invention;
FIG. 13 is a schematic diagram (12) showing the detailed positional relationship between two trajectory circles in a straddle experiment according to the present invention;
FIG. 14 is a schematic view with a drop foot point present;
fig. 15 is a schematic view when no vertical point exists.
Detailed Description
The structure and principles of such apparatus and method will be apparent to those skilled in the art from the following further description of the invention, taken in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment firstly provides an anti-collision device for an anti-collision method of a tower crane, which comprises a position acquisition device for acquiring the position of the outer end of a tower arm of the tower crane in real time, a processor for performing collision analysis on any two tower cranes and returning analysis results to a processing terminal, and the processing terminal for displaying the analysis results, wherein the processing terminal can comprise an alarm for sending an alarm or sending a message prompt to related personnel on site, or the processing terminal can be connected with a controller of the tower crane through signals, and the tower crane is directly controlled to stop running when collision danger occurs.
The embodiment provides an anti-collision method for a tower crane, which is characterized in that collision analysis is sequentially performed on any two tower cranes, so that collision analysis between all the tower cranes is realized, and in the operation process of the tower crane, a tower arm rotates by taking a revolving tower as a rotation center, and a lifted weight is moved, namely, on a two-dimensional plane, the moving range of the tower crane is a circle which is actually formed by taking the center of the revolving tower as the center of a circle and taking the distance between the farthest end of the tower arm and the center of the revolving tower as a radius. In the present embodiment, the radius of the tower crane is set as the line connecting the farthest end of the tower arm of the tower crane and the center of the turret of the tower crane, the trajectory in which the farthest end of the tower arm of the tower crane rotates once around the center of the turret is set as the trajectory circle of the tower crane, and the collision analysis of the radius of the tower crane is equivalent to the collision analysis of the tower arm.
The anti-collision method mainly comprises the following steps:
step a, judging whether the radiuses of the two current tower cranes are intersected, if so, returning an analysis result in a collision state by a processor; if not, proceed to step b.
And b, calculating the position relation of the track circles formed by the two tower cranes, and returning an analysis result by the processor according to the position relation of the track circles of the two tower cranes.
The present embodiment specifically exemplifies this collision avoidance method.
In connection with fig. 1, when performing the calculation of collision avoidance, first, the position of the radius of each tower crane in the horizontal plane is obtained. For example, in the present embodiment, the projection position coordinates of the outer end of the tower arm of each tower crane in the horizontal plane are obtained in real time by the position collecting device, and for the position coordinates of the center of the revolving tower in the horizontal plane, since the position of the center of the revolving tower is fixed after the tower crane is erected, it is only necessary to perform detection once after the erection is completed and record the position of the revolving tower, and of course, the position collecting device may be specially configured to obtain the position of the revolving tower in real time. Therefore, coordinates of two ends of the radius of each tower crane are obtained, namely the positions of the radius are obtained, and the position acquisition equipment can be realized through a GPS or Beidou positioning equipment or other equipment with a positioning function. In other embodiments, the position acquisition device further adopts an azimuth sensor, and since the length of the tower arm and the position of the center of the slewing tower are fixed, the position of the outer end of the tower arm of the tower crane can be determined only according to the slewing angle of the tower arm.
After the real-time acquisition of the positions of the radii of the tower cranes in the horizontal plane is completed, it is necessary to judge whether the radii of the two tower cranes intersect. In the embodiment, the two steps which are sequentially carried out are adopted for judging, if the radiuses of the two tower cranes are intersected, a value of-1 is returned through the processor, and the condition that the two tower cranes are in a collision state currently is represented; if the two are not intersected, the subsequent processing flow is required, and the specific judgment method is as follows:
step a1. fast exclude algorithm;
and step a2. spanning algorithm.
The fast exclusion algorithm is that for the radii of the two tower cranes, whether the maximum abscissa and the maximum ordinate of the radius of each tower crane at the current position are respectively smaller than the minimum abscissa and the minimum ordinate of the radius of the other tower crane at the current position is calculated by a processor. For example, two end points of the radius of the tower crane are necessarily the positions where the abscissa and the ordinate can be maximized and minimized, that is, the position of the center of the revolving tower and the position of the farthest end of the tower arm, that is, the positions where the abscissa and the ordinate can be maximized and minimized, and therefore, it is only necessary to separately determine, by the processor, whether the larger abscissa of the center of the revolving tower and the farthest end of the tower arm of each tower crane is smaller than the smaller abscissa of the center of the revolving tower and the farthest end of the tower arm of another tower crane, and whether the larger ordinate of the center of the revolving tower and the farthest end of the tower arm of each tower crane is smaller than the smaller ordinate of the center of the revolving tower and the farthest end of the tower arm of another tower crane. If one of the above judgments is true, the radii of the two tower cranes must not intersect, otherwise, the calculation of the second step needs to be performed.
The cross-over algorithm is to judge whether two end points of the radius of each tower crane are positioned at two sides of the radius of the other tower crane, namely whether the radii of the two tower cranes are intersected. In the present embodiment, the determination is implemented by cross multiplication, and the principle is as follows: assuming that one vector is P ═ x1, y1 and the other vector is Q ═ x2, y2, the vector cross product of the two is calculated: p × Q ═ x1 ═ y2-x2 ═ y1, a vector result is obtained, normal to the plane of the PQ vector, with the apparent properties P × Q ═ P × P and P × (-Q) ═ P × Q), so that the clockwise and anticlockwise relationship between the two vectors with respect to each other can be judged by the sign of the vector result:
if P × Q >0, then P is clockwise of Q.
If P × Q <0, P is counterclockwise to Q.
If P × Q is 0, P and Q are collinear, but may be in the same direction or in opposite directions.
Therefore, if two end points of the radius of one tower crane are respectively a point a and a point B, and two end points of the radius of the other tower crane are respectively a point C and a point D, then only two judgment vectors from the two end points of the radius of one tower crane to the same end point of the radius of the other tower crane and a radius vector formed by the two end points of the other tower crane need to be constructed, and then whether cross product products of the two judgment vectors and the radius vector of the other tower crane are the same number or not is judged, for example, in the present embodiment, the vector AC and the vector BC are used as the two judgment vectors, and the vector CD is used as the radius vector, and then only whether product of the vector AC and the vector CD and the vector BC are the same number or not needs to be judged: if the result of the cross product is 0, the radii of the two tower cranes are crossed, and if the result is the same, the radii of the two tower cranes are not crossed.
And if the radiuses of the two tower cranes are not intersected, further calculating the specific position relation of the track circles of the two tower cranes according to the radiuses and the distance between the circle centers of the two tower cranes by using the processor. The track circles of the two tower cranes are respectively called a first track circle and a second track circle, the radius of the first track circle is R1, the radius of the second track circle is R2, the center distance of the two track circles is d, R1, R2 and d can be obtained by position acquisition equipment, or can be obtained by self-operation of a processor after the position acquisition equipment acquires coordinates of each point, and because the radius value of each tower crane can be determined, the values of R1 and R2 can also be directly set by related data obtained by engineering personnel in advance, the specific position relation between the track circles of all the two tower cranes is as follows:
(1) referring to fig. 2, if the two trajectory circles are separated, the following condition is satisfied: r1+ R2< d.
(2) Referring to fig. 3, if the two trajectory circles are tangent, the following condition is satisfied: r1+ R2 ═ d.
(3) Referring to fig. 4, if two trajectory circles intersect each other, but the radii of both trajectory circles do not contact the center of the other trajectory circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l < d; r1< d; r2< d.
(4) Referring to fig. 5, two trajectory circles intersect, and the radius of the first trajectory circle contacts the center of the second trajectory circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l < d; r1> ═ d; r2< d.
(5) Referring to fig. 6, when two trajectory circles intersect and the radius of the second trajectory circle is in contact with the radius of the first trajectory circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l < d; r1< d; r2> -d.
(6) Referring to fig. 7, when two trajectory circles intersect each other, and the radius of the first trajectory circle contacts the center of the second trajectory circle, and the radius of the second trajectory circle also contacts the radius of the first trajectory circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l < d; r1> ═ d; r2> -d.
(7) Referring to fig. 8, the second locus circle is inscribed in the first locus circle, and the following conditions are satisfied: r1+ R2> d; R1-R2 ═ d.
(8) Referring to fig. 9, the first locus circle is inscribed in the second locus circle, and the following conditions are satisfied: r1+ R2> d; R2-R1 ═ d.
(9) Referring to fig. 10, the second locus circle includes the first locus circle, that is, the first locus circle is located in the second locus circle, and the radius of the first locus circle does not contact with the center of the second locus circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l > d; r1< d; r2> d.
(10) Referring to fig. 11, the second locus circle includes the first locus circle, and the radius of the first locus circle contacts with the center of the second locus circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l > d; r1< R2; r1> ═ d; r2> d.
(11) Referring to fig. 12, the first locus circle includes a second locus circle, that is, the second locus circle is located in the first locus circle, and the radius of the second locus circle does not contact with the center of the first locus circle, the following conditions are satisfied: r1+ R2> d; l R1-R2 l > d; r1> d; r2< d.
(12) Referring to fig. 13, the first locus circle includes a second locus circle having a radius contacting a center of the first locus circle, R1+ R2> d; l R1-R2 l > d; r1> R2; r1> d; r2> -d.
Thus, the specific positional relationship between the trajectory circles of the two tower cranes can be calculated separately by the above conditions. In the present embodiment, a more specific way is adopted, that is, only whether the trajectory circles of the two tower cranes are separated or tangent is calculated, and the rest of the specific positional relationship is not calculated. If the track circles of the two tower cranes are separated according to the conditions in the item (1), the processor returns a value of 0, which means that the two tower cranes cannot collide; if the tangent of the track circles of the two tower cranes is obtained according to the conditions of the item (2), further calculating whether the distance between the outer end points of the radiuses of the two tower cranes at present is smaller than or equal to a safe distance, if so, returning a value of-2 by the processor to represent that the outer end points of the radiuses of the two tower cranes collide, and if not, returning a value of 0 by the processor to represent that the two tower cranes do not collide; if the conditions of the two items (1) and (2) are not met, the trajectory circles of the two tower cranes are considered to be in other states, and the following operation is performed. The safe distance can be set independently at the background of the processor according to actual requirements on site, and the area range of a common set value is 0-10 m.
If the trajectory circles of the two tower cranes are obtained to be neither separated nor tangent through the calculation, the distance from the two end points of the radius of each tower crane to the radius of the other tower crane is further calculated. Specifically, it includes the following two steps:
firstly, calculating whether a foot drop point exists between the end point and the radius of another tower crane;
if the foot point exists, calculating the distance from the end point to the radius of another tower crane; if there is no drop foot point, the distance from the end point to the radius of the other tower crane is set to infinity.
If a perpendicular line is drawn from a point to a straight line where a line segment is located, and the perpendicular line intersects with the line segment, defining that a foot hanging point exists; if the vertical line does not intersect the line segment, i.e. the intersection point is on the extension of the line segment, see fig. 15, it is defined that there is no foothold point. The method for calculating whether the drop foot point exists between the end point and the radius of the other tower crane is concretely as follows: and if one included angle is an obtuse angle, judging that no vector inner product of the foot hanging point exists for calculation. For example, similarly as described above, assuming that the two end points of the radius of one tower crane are point a and point B, respectively, and the two end points of the radius of the other tower crane are point C and point D, respectively, the cosine value of point a and the radius of the other tower crane can be obtained by the inner product of vector AC and vector DC.
And taking the minimum value of the distances from the four end points to the radius of the other tower crane, and if the minimum value is less than or equal to the safety distance, returning a value 1 or 2 or 3 or 4 by the processor according to the content corresponding to the minimum value, wherein the value represents that a certain end point collides with the radius of the other tower crane. Specifically, when the distance from the outer end of the R1 to the radius of the second tower crane is the minimum value and is less than or equal to the safe distance, the value is returned to 1; when the distance from the inner end of the R1 to the radius of the second tower crane is the minimum value and is less than or equal to the safe distance, returning a value of 2; when the distance from the outer end of the R2 to the radius of the first tower crane is the minimum value and is less than or equal to the safe distance, returning to the value of 3; when the distance from the inner end of R2 to the radius of the first tower crane is the minimum value and is less than or equal to the safe distance, return a value of 4.
If the minimum value is larger than the safety distance, respectively calculating the distance between the outer end points of the two tower cranes and the distance between the outer end point and the circle center of the other tower crane, taking the minimum value as the minimum value of the distances, comparing the minimum value with the safety distance, and if the minimum value of the distances smaller than the safety distance exists, returning to-2, or-3 or-4 by the processor according to the content corresponding to the minimum value of the distances, wherein the minimum value of the distances respectively represents that the outer end points of the two tower cranes collide with each other, the outer end point of the first tower crane collides with the circle center of the second tower crane and the outer end point of the second tower crane collides with the circle center of the first tower crane. Specifically, if the distance between the outer end points of the two tower cranes is the minimum value and is less than or equal to the minimum distance value, returning a value of-2; if the distance between the outer end point of the first tower crane and the circle center of the second tower crane is the minimum value and is less than or equal to the minimum distance value, returning a value of-3; and if the distance between the outer end point of the second tower crane and the circle center of the first tower crane is the minimum value and is less than or equal to the minimum value of the distance, returning to the value of-3.
According to the return value of the processor, the collision condition between the two tower cranes can be known, and corresponding prompt can be given through an alarm or other equipment, and the return value of the processor is summarized as follows:
0: indicating no possibility of collision;
-4: the outer end point of R2 is possible to hit the center of R1;
-3: the outer end point of R1 is possible to hit the center of R2;
-2: indicating that the outer end of R1 has the possibility of colliding with the outer end of R2;
-1: indicating that the first tower crane and the second tower crane are in a collision state;
1: the outer end point of R1 is shown to have the possibility of colliding with R2;
2: the possibility of collision R2 is shown in the center of the R1;
3: the outer end point of R2 is shown to have the possibility of colliding with R1;
4: the possibility of collision R1 is shown in the center of the R2;
wherein the return values-4, -3, -2 belong to the collision types of points and points, and the return values 1, 2, 3, 4 belong to the collision types of points and segments. Therefore, by the anti-collision method of the embodiment, the collision type between the two tower cranes can be determined specifically, so that the operation of the tower cranes can be adjusted better subsequently.
In addition, when the current position information does not exist due to the loss of the communication data, and thus the collision condition cannot be estimated, the current position information needs to be subjected to motion compensation, so that equipment such as an angular velocity sensor and the like needs to be arranged on the tower crane to acquire relevant motion information, and then the current position azimuth and the current coordinate are estimated according to the motion information acquired last time, including a timestamp when the data is acquired, an angular velocity corresponding to the timestamp, a position direction angle corresponding to the timestamp and the like.
When the angular velocity of the current position is not obtained due to the communication problem, the angular velocity obtained last time is taken as a default value, namely the angular velocity is kept unchanged; of course, for safety reasons, the angular velocity may also be decreased to zero at a constant speed.
Claims (10)
1. The anti-collision method of the tower crane is characterized in that the position of the outer end of a tower arm of the tower crane is collected in real time through a position collecting device, any two tower cranes are subjected to collision analysis through a processor, and an analysis result is returned to a processing terminal, wherein the collision analysis specifically comprises the following steps:
step a, judging whether the radiuses of the two current tower cranes are intersected, if so, returning an analysis result in a collision state by a processor; if not, performing the step b;
and b, calculating the position relation of the track circles formed by the two tower cranes, and returning an analysis result by the processor according to the position relation of the track circles of the two tower cranes.
2. A method of collision avoidance for a tower crane according to claim 1, wherein the position in the horizontal plane at which the outer end of the tower arm of each tower crane is located is obtained.
3. The anti-collision method for the tower crane according to claim 2, wherein the step a specifically comprises:
a1., if one of the results of the fast rejection algorithm is true, the radii of the two tower cranes must not intersect;
step a2, a straddle algorithm;
the fast exclusion algorithm is that for the radiuses of two tower cranes, a processor calculates whether the maximum abscissa and the maximum ordinate of the radius of each tower crane at the current position are respectively smaller than the minimum abscissa and the minimum ordinate of the radius of the other tower crane at the current position;
if the result of the fast exclusion algorithm is not true, the processing of the step a2 needs to be carried out, namely two judgment vectors from two endpoints of the radius of one tower crane to the same endpoint of the radius of the other tower crane and a radius vector formed by the two endpoints of the other tower crane are constructed respectively, then the cross product of the judgment vectors and the radius vector of the other tower crane is judged, and if the result of the two cross product is the same number, the radius of the two tower cranes is not intersected currently; if the result of the cross product is 0, the radius of the two tower cranes is colliding, and the processor returns the analysis result in the collision state.
4. The anti-collision method for the tower crane according to claim 1, wherein the step b specifically comprises:
if the track circles of the two tower cranes are separated, returning an analysis result without collision by the processor;
if the track circles of the two tower cranes are tangent, further calculating whether the distance between the outer end points of the tower arms of the two tower cranes is smaller than or equal to a safety distance or not, and if so, returning an analysis result of collision by the processor; if not, returning an analysis result which cannot be collided by the processor;
if the track circles of the two tower cranes are not tangent and are not separated, the distance from two end points of the radius of each tower crane to the radius of the other tower crane is further calculated, and an analysis result is returned by the processor according to a comparison result of the distance and the safety distance.
5. The anti-collision method for the tower crane according to claim 4, wherein the track circle of one tower crane is a first track circle, the track circle of the other tower crane is a second track circle, the radius of the first track circle is R1, the radius of the second track circle is R2, the distance between the centers of the two track circles is d, the lengths of R1, R2 and d are obtained by the position acquisition device, and the processor determines whether the two track circles are separated from each other or tangent to each other by the following conditions:
the two trajectory circles are separated from each other, the following condition is satisfied: r1+ R2< d;
the two trajectory circles are tangent to each other, and the following conditions are satisfied: r1+ R2 ═ d.
6. The anti-collision method for the tower crane according to claim 4, wherein if the trajectory circles of the two tower cranes are not tangent and are not separated from each other, first calculating whether a foot drop point exists between the two end points of the tower crane and the radius of the other tower crane, and if the foot drop point exists, calculating the distance from the end point to the radius of the other tower crane; if the foot hanging point does not exist, setting the distance from the end point to the radius of the other tower crane to be infinite;
and taking the minimum value of the distances from the four end points to the radius of the other tower crane, and if the minimum value is less than or equal to the safe distance, returning an analysis result that a certain end point collides with the radius of the other tower crane by the processor.
7. The anti-collision method for the tower crane according to claim 6, wherein the method for calculating whether the drop-foot point exists between the end point and the radius of the other tower crane is specifically as follows: respectively calculating the inner product between the vector formed by the connection of each end point and any end point of the other tower crane and the vector formed by the two end points of the other tower crane, and if the inner product is less than zero, a foot drop point exists; if any inner product is not larger than zero, the foot drop point is judged to exist.
8. The anti-collision method for the tower crane according to claim 6, wherein if the minimum value is greater than the safety distance, the distance between the outer end points of the two tower cranes and the distance between the outer end point and the center of the other tower crane are calculated respectively, the minimum value is taken as the minimum value of the distances, the minimum value is compared with the safety distance, and if the minimum value of the distances is smaller than the safety distance, the processor returns the analysis results respectively representing the mutual collision of the end points of the two tower cranes.
9. The anti-collision method for the tower crane according to claim 1, wherein the method further comprises a motion compensation method,
when the current position information cannot be obtained, calculating the current position according to the motion information obtained last, wherein the motion information comprises a timestamp, an angular speed corresponding to the timestamp and a position corresponding to the timestamp;
when the angular velocity of the current position cannot be obtained, the finally obtained angular velocity is taken as a default value to carry out motion compensation; or the angular speed is reduced to zero from the last obtained angular speed at a constant speed.
10. An anti-collision device for an anti-collision method of a tower crane according to claim 1, comprising a position acquisition device for acquiring positions of outer ends of tower arms of the tower crane in real time, a processor for performing collision analysis on any two tower cranes and returning analysis results to the processing terminal, and the processing terminal for displaying the analysis results.
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Application publication date: 20200421 |