CN111196572A - Safety protection method for tower crane - Google Patents
Safety protection method for tower crane Download PDFInfo
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- CN111196572A CN111196572A CN201911408360.4A CN201911408360A CN111196572A CN 111196572 A CN111196572 A CN 111196572A CN 201911408360 A CN201911408360 A CN 201911408360A CN 111196572 A CN111196572 A CN 111196572A
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- tower crane
- tower
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of tower crane construction, in particular to a safety protection method of a tower crane, which is characterized in that a relation curve between the hoisting weight and the output torque is established based on a side pressure type sensor, so that the calculation of a hoisting moment value is realized, the position of the outer end of a tower arm of the tower crane is acquired in real time through a position acquisition device, any two tower cranes are subjected to collision analysis through a processor, and an analysis result is returned to a processing terminal. Compared with the prior art, the invention has 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 timely and effectively adjusted, and safety accidents are prevented.
Description
Technical Field
The invention relates to the technical field of tower crane construction, in particular to a safety protection method of 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.
In addition, the hoisting torque value of the tower crane is the hoisting weight and the trolley distance, and the tower crane may overturn if the torque value is too large, so that the maximum safe torque value under the normal operation condition, namely the rated torque value, is set for each tower crane. Traditional tower crane need detect tower crane's dolly position and hoisting weight according to external sensor, and the reliability is lower, consequently this application is based on the application to the side pressure formula sensor, establishes neotype lifting moment measuring method.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a safety protection method of a tower crane, which is characterized in that a relation curve between the hoisting weight and the output torque is established based on a side pressure type sensor, so that the calculation of the hoisting torque value is realized, the reliability is higher, and the hoisting weight does not need to be directly obtained through the sensor.
In order to achieve the purpose, the safety protection method of the tower crane comprises a moment measurement method based on a side pressure type sensor, wherein the moment measurement method comprises the following steps: the method comprises the steps of carrying out calibration test on the tower crane, recording the output value of the side pressure type sensor when the tower crane is not loaded and the output values of the side pressure type sensors when the tower crane is at different lifting weights, so as to obtain the corresponding relation between the output values of the side pressure type sensors and the lifting force weight of the tower crane, further obtaining a relation curve between the lifting weight of the tower crane in a plurality of continuous sections and the output values of the side pressure type sensors through curve fitting, and further representing the lifting weight through the relation curve.
Therefore, after the hoisting weight is obtained from the output value of the side pressure type sensor through the relation curve, the current moment value of the tower crane is calculated through the following formula:
F＝j·m·l
in the formula, F is the torque value of the current tower crane, j is the current multiplying power, m is the hoisting weight, and l is the variable amplitude.
The invention also has the following preferable technical scheme:
the method also comprises a three-dimensional anti-collision method, the positions of the outer ends of the tower arms of the tower cranes are collected in real time through position collecting equipment, any two tower cranes are subjected to collision analysis through a processor, analysis results are returned to a processing terminal, and 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.
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.
Compared with the prior art, the invention has simple and feasible combination structure, easy installation and disassembly and the advantages that: the calibration test is carried out on the tower crane, and a relation curve between the hoisting weight of the tower crane in a plurality of continuous sections and the output value of the side pressure type sensor is obtained through curve fitting, so that the hoisting weight is represented through the relation curve, the reliability is higher than that of the hoisting weight obtained by directly adopting the sensor, the interchangeability is good, and the problem that the sensor is easy to damage when the hoisting weight is directly obtained is solved; and preferably, the position information is acquired through the position acquisition equipment, the data is processed through the processor and fed back 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 realized through the original design of the data processing method, the specific collision condition and position between the tower cranes can be accurately judged, the operation of the tower cranes can be timely and effectively adjusted, and safety accidents are prevented.
Drawings
Fig. 1 is a flow chart of a two-dimensional collision avoidance method according to 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 in the absence of a vertical dot;
fig. 16 is a flow chart illustrating a three-dimensional collision avoidance method of the present invention;
FIG. 17 is a schematic longitudinal view of two tower cranes (1);
FIG. 18 is a schematic longitudinal view of two tower cranes (2);
FIG. 19 is a schematic longitudinal view of two tower cranes (3);
FIG. 20 is a schematic longitudinal view of two tower cranes (4);
fig. 21 is a schematic longitudinal state diagram (5) of two tower cranes.
Detailed Description
The principles of this 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 provides a safety protection method of a tower crane, which mainly comprises a moment measurement method and a three-dimensional anti-collision method based on a side-pressure sensor, wherein the equipment for realizing the method comprises position acquisition equipment for acquiring the positions of the outer ends of tower arms of the tower crane in real time, a processor for performing collision analysis on any two tower cranes, performing moment measurement processing and returning analysis results and moment measurement results to a processing terminal, and the processing terminal for displaying the analysis results and the moment measurement results, wherein the processing terminal can comprise an alarm and sends out an alarm on site or sends out a message prompt to related personnel, or the processing terminal can also be connected with a controller signal of the tower crane, and the tower crane is directly controlled to stop running when collision danger or overweight danger occurs. The methods are described below separately.
For the torque measuring method, the side pressure type sensor is arranged on a hoisting steel wire rope of the tower crane, the device is used for measuring the micro deformation of the sensor caused by the tension on the steel wire rope, but the output of the side-pressing type sensor is dimensionless data, and has the nonlinear characteristic, is only used for threshold value alarm in general application, and cannot be directly used for accurately calculating the moment, so the calibration test is required to be carried out on the moment, recording the output value of the side-pressing type sensor when the tower crane is unloaded and the output values of the side-pressing type sensors when the tower crane is lifted at different weights in a calibration test, so as to obtain the corresponding relation between the output values of the plurality of side pressure type sensors and the lifting force weight of the tower crane, therefore, a relation curve between the hoisting weight of the tower crane in a plurality of continuous sections and the output value of the side pressure type sensor is obtained through curve fitting, and the hoisting weight is further represented through the relation curve.
The method specifically comprises the following steps of measuring and calibrating, and converting and calculating, wherein the two steps are a calibration test process, and the conversion process of the relevant moment value is carried out according to the result obtained by the calibration test.
1) Measuring
The side-pressure type sensor is arranged at the fixed end of a main hoisting steel wire of the tower crane, an output signal is generated due to the tension generated by pulling a heavy object in the steel wire rope, the signal is output in a dimensionless digital form after being sampled, and the numerical value of the signal is recorded as k.
2) Calibration
i. Hanging the hook of the tower crane in an idle state, and recording the output value at the moment as k0。
ii, under the default multiplying power, the hoisting weight of the tower crane is m1The weight of (2), recording the output value k at that time1。
Passing point (0, k)0) And (m)1，k1) A straight line can be obtained, the equation of which is:
let x be denoted as f (y), a function for y can be obtained. The input variable y of the function is the output value k of the sensor, and the function value is the weight m.
iv, making the continuous hoisting weight of the tower crane be m2、m3、……、mnThe weight of (2) records the corresponding output value k2、k3、……、kn。
v. for ease of description, assume herein a range of weights m1～mnIs monotonically increasing. Actually, the sequence can meet the requirement in a sequencing mode, namely, hoisting is not required to be carried out strictly according to the size sequence of the weight, and only the sequencing is carried out subsequently when the data are counted.
For each set of neighboring points (m)p，kp) And (m)p+1，kp+1) Reference iii, a corresponding straight line can be obtained, together with a corresponding function fp(y)。
3) Conversion
i. In actual use, for the sensing value k output by the sensor, it is first inquired in which interval [ kp, kp +1) it falls. Then, take the corresponding function fp(y) if k is substituted, the weight value m is fp(k)。
if the value of k is greater than the maximum value k recorded during the preceding calibrationmaxThen the function corresponding to the maximum value is taken for calculation.
4) Computing
i. By the means in c), a weight value m is obtained. And (3) recording the amplitude value of the tower crane as l and the current multiplying power as j, and calculating the current moment value of the tower crane according to the following formula. The default magnification is to make j equal to 1. The unit is kilogram-meter.
F＝j·m·l
ii, obtaining rated maximum torque F of any type of tower crane according to data provided by a tower crane manufacturermax. The final available current torque percentage n is:
therefore, the moment measurement step is completed, the current hoisting moment load of the tower crane can be known according to the moment measurement result, and when the hoisting moment is overweight or approaches to the rated maximum moment, the processor triggers the processing terminal to alarm or inform an operator or stop the operation of the tower crane.
The side-pressure sensor has the advantages of low cost and convenience in installation, the precision of the side-pressure sensor for directly measuring the torque can be improved by the method provided by the embodiment, the level meeting the actual application requirement is improved, the more times of correction are, the higher the precision is, and the least secondary correction is needed.
Referring to fig. 16, a three-dimensional collision avoidance method for tower cranes is explained below, where the three-dimensional collision avoidance method is to perform collision resolution on any two tower cranes in sequence, so as to achieve collision resolution between all tower cranes. In the operation process of the tower crane, the tower arm rotates by taking the revolving tower as a rotation center to move the lifted heavy object, namely, on a two-dimensional plane, the moving range of the tower crane is actually a circle formed by taking the center of the revolving tower as a circle center and taking the distance between the farthest end of the tower arm and the center of the revolving tower as a radius. Therefore, in this embodiment, a connection line between the farthest end of the tower arm of the tower crane and the center of the rotating tower of the tower crane is set as the radius of the tower crane, a trajectory in which the farthest end of the tower arm of the tower crane rotates for one circle around the center of the rotating tower is set as a trajectory circle of the tower crane, and a center distance between two centers of the tower crane refers to a distance between projections of the centers of the rotating towers of the two tower cranes on a horizontal plane, the position of the center of the tower crane can be set or obtained by providing a position acquisition device, the position of the outer end of the radius of the tower crane can be obtained by the position acquisition device provided at the outer end of the radius, and collision analysis of the radius of the tower crane is equivalent to collision analysis of the tower arm.
And for any two tower cranes, one of the two tower cranes is a first tower crane, the other one is a second tower crane, H1 is the height of the first tower crane, L1 is the length of a lifting rope of the first tower crane, H2 is the height of the second tower crane, L2 is the length of a lifting rope of the second tower crane, and A is a safety height, wherein A is a preset value according to actual conditions, and H1, H2, L1 and L2 can be set according to different selected devices and the length of the selected lifting rope before each construction, and preferably position acquisition devices or other height sensors can be respectively arranged at the positions of hooks at the top end of the tower crane and the bottom end of the lifting rope or at the lifted material to acquire the heights in real time.
Referring to fig. 17 and 18, when H1-L1-a > H2 or H2-L2-a > H1, it can be judged only by simple distance calculation that the tower body of the tower crane and the radius of the tower crane may collide with each other.
Specifically, when H1-L1-A > H2 and the distance between the centers of the two tower cranes is equal to the radius of the second tower crane, whether the distance between the outer end of the radius of the second tower crane and the center of the first tower crane is smaller than or equal to a safe distance or not is further calculated, and if the distance is not smaller than the safe distance, a value of 9 is returned by the processor, which indicates that no collision exists; if so, returning a value of-7 by the processor, indicating that the outer end of the radius of the second tower crane will collide with the tower of the first tower crane. The distance between the outer end of the radius of the second tower crane and the circle center of the first tower crane is the distance between the projection of the outer end of the radius of the second tower crane on the horizontal plane and the projection of the circle center of the first tower crane on the horizontal plane.
When H1-L1-A > H2 and the distance between the centers of the two tower cranes is smaller than the radius of the second tower crane, further calculating whether the distance from the center of the first tower crane to the outer end of the radius of the second tower crane is smaller than or equal to a safe distance, and if not, returning a value of 9 by the processor to indicate that no collision exists; if so, a value of 6 is returned by the processor indicating that the tower of the first tower crane will collide with the radius of the second tower crane.
When H2-L2-A > H1 and the distance between the centers of the two tower cranes is equal to the radius of the first tower crane, further calculating whether the distance between the outer end of the radius of the first tower crane and the center of the second tower crane is smaller than or equal to a safe distance, and if not, returning a value of 9 by the processor to indicate that no collision exists; if so, returning a value of-10 by the processor, indicating that the outer end of the radius of the first tower crane collides with the tower body of the second tower crane. The distance between the outer end of the radius of the second tower crane and the circle center of the first tower crane is the distance between the projection of the outer end of the radius of the second tower crane on the horizontal plane and the projection of the circle center of the first tower crane on the horizontal plane.
When H2-L2-A > H1 and the distance between the centers of the two tower cranes is smaller than the radius of the first tower crane, further calculating whether the distance between the center of the second tower crane and the outer end of the radius of the first tower crane is smaller than or equal to a safe distance, and if not, returning a value of 9 by the processor to indicate that no collision exists; if so, the processor returns a value of 8 indicating that the tower of the second tower crane will collide with the radius of the first tower crane.
Referring to fig. 19, when H1 is H2, the two-dimensional plane collision avoidance operation may be performed directly.
The anti-collision operation of the two-dimensional plane 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.
This embodiment is specifically exemplified as follows:
referring to fig. 1, in performing the two-dimensional plane collision avoidance calculation, 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: two included angles are formed by a connecting line between the end point and two end points of the radius of the other tower crane, whether the two included angles are obtuse angles is calculated through a processor or position acquisition equipment, and if one included angle is an obtuse angle, it is judged that a foot hanging point does not exist; if any included angle is not an obtuse angle, the foot drop point is judged to exist. Whether the included angle is an obtuse angle can be judged according to the cosine value of the included angle, if the included angle is negative, the included angle is an obtuse angle and is 0 or is a right angle or an acute angle regularly, and the included angle cosine value can be calculated through vector inner products. 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.
Referring to FIG. 20, when H1-L1-A is not more than H2 and H1 is more than H2, the two-dimensional plane anti-collision operation is performed by taking the amplitude of the first tower crane as the radius of the first tower crane. Referring to FIG. 21, when H2-L2-A is not more than H1 and H2 is more than H1, the two-dimensional plane anti-collision operation is performed by taking the amplitude of the second tower crane as the radius of the second tower crane. The amplitude variation refers to a line segment obtained by connecting the projection of the bottom end of the lifting rope of the tower crane on the horizontal plane and the projection of the rotation center of the tower crane on the horizontal plane. When the amplitude variation is used as the radius to perform anti-collision operation, the amplitude variation middle section does not exist actually, so that the return value is output to be collision-free under the condition that the radius middle sections collide with each other, namely the collision-free return value is returned when the condition that the amplitude variation middle section intersects with another tower crane is obtained.
Specifically, when amplitude variation is used as a radius to perform two-dimensional plane anti-collision operation, in the step a, only when the radius of another tower crane is used as a radius vector and the obtained cross product result is 0, the intersection of the amplitude variation and the radius of the other tower crane is indicated, otherwise, the intersection is considered; in the step b, if the second tower crane performs the two-dimensional plane anti-collision operation by taking the amplitude of variation as the radius, returning to the value of 9 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 or 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; if the first tower crane performs the two-dimensional plane anti-collision operation by taking the amplitude of variation as the radius, 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, or when the distance from the inner 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, the same value of 9 is returned. These cases are all cases where the end points of a tower crane intersect the mid-section of the luffing of another tower crane and therefore need to be excluded.
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:
0,9: indicating no possibility of collision;
-10: indicating the possibility of the outer end of R1 colliding with the tower body of the second tower crane;
-9: the possibility that the hoisted object (comprising the hoisting rope) of the second tower crane collides with the circle center of the first tower crane is shown;
-8: indicating that the lifting object (comprising a lifting rope) of the second tower crane has the possibility of colliding with the outer end point of the R1;
-7: indicating that the outer end of R2 has the possibility of colliding with the tower body of the first tower crane;
-6: the possibility that the lifting object (including the lifting rope) of the first tower crane collides with the circle center of the second tower crane is shown;
-5: indicating that the lifting object (including the lifting rope) of the first tower crane has the possibility of colliding with the outer end point of R2;
-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;
5: indicating the possibility of the lifting object (including the lifting rope) of the first tower crane colliding with R2;
6: indicating the possibility of the tower body of the first tower crane colliding with R2;
7: indicating that the lifting object (comprising a lifting rope) of the second tower crane has the possibility of colliding R1;
8: indicating the possibility of the tower body of the second tower crane colliding with R1;
wherein the return value is a collision type which belongs to the point and the point negatively, and the return value is a collision type which belongs to the point and the line segment regularly. 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. A safety protection method of a tower crane is characterized by comprising a torque measurement method based on a side pressure type sensor, wherein the torque measurement method comprises the following steps: the method comprises the steps that calibration test is carried out on the tower crane, the output value of a side pressure type sensor when the tower crane is not loaded and the output values of the side pressure type sensors when the tower crane is at different lifting weights are recorded, so that the corresponding relation between the output values of the side pressure type sensors and the lifting force weight of the tower crane is obtained, a relation curve between the lifting weight of the tower crane in a plurality of continuous sections and the output values of the side pressure type sensors is obtained through curve fitting, and then the lifting weight is represented through the relation curve;
after the hoisting weight is obtained from the output value of the side pressure type sensor through the relation curve, the current moment value of the tower crane is calculated through the following formula:
F＝j·m·l
in the formula, F is the torque value of the current tower crane, j is the current multiplying power, m is the hoisting weight, and l is the variable amplitude.
2. The safety protection method of the tower crane according to claim 1, further comprising a three-dimensional anti-collision method, wherein the position of the outer end of the tower arm of the tower crane is acquired in real time through the position acquisition device, any two tower cranes are subjected to collision analysis through the processor, and an analysis result is returned to the processing terminal, and the collision analysis specifically comprises the following steps:
when H1-L1-A > H2 or H2-L2-A > H1, whether the first tower crane and the second tower crane collide is analyzed through distance calculation;
when H1 is H2, performing collision-prevention operation of the two-dimensional plane;
when H1-L1-A is not more than H2 and H1 is more than H2, performing two-dimensional plane anti-collision operation by taking the amplitude of the first tower crane as the radius of the first tower crane;
when H2-L2-A is not more than H1 and H2 is more than H1, performing two-dimensional plane anti-collision operation by taking the amplitude of the second tower crane as the radius of the second tower crane;
wherein H1 is the height of the first tower crane, L1 is the length of the lifting rope of the first tower crane, H2 is the height of the second tower crane, L2 is the length of the lifting rope of the second tower crane, and A is the safety height;
the anti-collision operation of the two-dimensional plane 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.
3. A method of securing a tower crane according to claim 2, wherein the position in the horizontal plane of the outer end of the tower arm of each tower crane is obtained.
4. The safety protection method of the tower crane according to claim 3, 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.
5. The safety protection method of the tower crane according to claim 2, 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.
6. The safety protection method for the tower crane according to claim 5, 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 judges 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.
7. The safety protection method for the tower crane according to claim 5, wherein if the trajectory circles of the two tower cranes are not tangent and are not separated, whether a foot drop point exists between the two end points of the tower crane and the radius of the other tower crane is calculated, and if the foot drop point exists, the distance from the end point to the radius of the other tower crane is calculated; 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.
8. The safety protection method for the tower crane according to claim 7, wherein the method for calculating whether the drop-foot point exists between the end point and the radius of the other tower crane is 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.
9. The safety protection method for the tower crane according to claim 7, 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.
10. A method of safeguarding a tower crane according to claim 2, characterized in that 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.
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