CN111488665B - Cable crane operation monitoring system and method - Google Patents
Cable crane operation monitoring system and method Download PDFInfo
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Abstract
The cable crane operation monitoring system comprises positioning devices and a data processing module, wherein the positioning devices are arranged on each cable crane main tower, each cable crane auxiliary tower and each cable crane hook, and are in wireless connection with the data processing module; the positioning device is used for acquiring coordinate information of each cable crane main tower, each cable crane auxiliary tower and each cable crane hook in real time and sending the coordinate information to the data processing module; the data processing module is used for analyzing the running state of each cable crane in real time, calculating the real-time swing amplitude value of a cable crane hook in the running process of the cable crane, obtaining corresponding fitting coordinate points according to the real-time swing amplitude value of the cable crane hook, drawing an envelope graph of the running area of the cable crane hook according to the coordinates of the cable crane hook and the fitting coordinate points corresponding to the real-time swing amplitude value of the cable crane hook, calculating the minimum distance of the envelope graphs of the running area of the adjacent cable crane hooks, and sending the real-time swing amplitude value and the minimum distance of the cable crane hook to a cable crane manager. The method and the system are suitable for real-time monitoring of operation of the cable crane.
Description
Technical Field
The invention relates to the field of operation monitoring of hydraulic engineering cable cranes, in particular to a system and a method for monitoring operation of a cable crane.
Background
In the construction process of hydraulic engineering, particularly concrete dams such as arch dams and gravity dams, cable cranes are used as transportation equipment which is crucial to concrete construction, safe and efficient operation of the cable cranes directly determines the construction progress of the dams and is related to personal safety of operating personnel, and therefore safe and efficient operation of the cable cranes is guaranteed, and the cable cranes are important in construction management. However, the river valley of the dam is often windy, the span of the cable crane is large, the construction environment and construction interference and other factors influence, so that the swing amplitude of the cable crane is too large, if the cable crane runs in windy weather, the spacing control of the cable crane is not in time or in place, the cable crane collides with other construction equipment (such as a tower crane, a crane and the like), side slopes of left and right banks, high dam sections and the like occasionally, shutdown and maintenance are performed slightly, the working progress is influenced, and casualties occur seriously.
In the traditional cable crane operation safety management, a manual management and control mode is mostly adopted, on one hand, the current minimum distance of the cable crane is judged according to historical wind level information through field meteorological monitoring, and then field operators are informed to adjust the distance of the cable crane in time through short messages (telephones) and the like; on one hand, through observation of field operators, collision risks exist in a hook (a hanging tank) of the cable crane, the collision risks are timely fed back to field production workers, and operators on duty timely inform cable crane operators of distance adjustment of related cable cranes. The traditional cable crane safety management and control mode is difficult to master the real-time pile number and the distance of a cable crane (lifting hook) in real time, construction and production can not effectively carry out emergency adjustment on the distance of the cable crane, certain hysteresis exists in the adjustment on the distance of the cable crane, potential safety hazards in cable crane operation are caused, and casualties are caused seriously.
Disclosure of Invention
The invention aims to provide a cable crane operation monitoring system and a cable crane operation monitoring method, which can monitor the operation state of a cable crane in real time, and send the real-time swing amplitude of a cable crane hook and the minimum distance between adjacent cable crane hooks to a cable crane manager, thereby realizing the cable crane operation monitoring and effectively reducing the probability of occurrence of risk accidents in the cable crane operation process.
The cable crane operation monitoring system comprises a positioning device and a data processing module, wherein the positioning device is arranged on each cable crane main tower, each cable crane auxiliary tower and each cable crane hook, and the positioning devices are in wireless connection with the data processing module;
the positioning device is used for acquiring the coordinate information of each cable crane main tower, the coordinate information of each cable crane auxiliary tower and the coordinate information of each cable crane hook in real time and sending the coordinate information to the data processing module;
the data processing module is used for analyzing the running state of each cable crane in real time, calculating the real-time swing amplitude value of a cable crane hook in the running process of each cable crane, obtaining a corresponding fitting coordinate point according to the real-time swing amplitude value of the cable crane hook, drawing a cable crane hook running area enveloping graph according to the coordinates of the cable crane hook and the fitting coordinate point corresponding to the real-time swing amplitude value of the cable crane hook, calculating the minimum distance between adjacent cable crane hook running area enveloping graphs, and sending the real-time swing amplitude value of the cable crane hook and the minimum distance between adjacent cable crane hook running areas to cable crane managers.
The cable machine operation monitoring method is applied to the cable machine operation monitoring system and comprises the following steps:
step (1), acquiring a real-time swing amplitude value of a cable crane hook;
acquiring a fitting coordinate point corresponding to the real-time swing amplitude of the cable crane hook;
step (3), drawing an envelope diagram of a cable crane hook operation area;
step (4), obtaining the minimum distance of the envelope graphs of the hook operation areas of adjacent cable cranes;
and (5) sending the real-time swing amplitude of the cable crane hook and the minimum distance information of the running area of the adjacent cable crane hook to cable crane management personnel.
Further, in the step (1), the obtaining of the real-time swing amplitude of the cable crane hook comprises the following steps:
A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane which are obtained by the positioning device in real time, the functional relation K of the straight line where the main tower of the cable crane and the auxiliary tower of the cable crane are located can be obtained 1 X-Y + C =0, first function slope K 1 = Yft-Yzt)/(Xft-Xzt) and the function constant C = Yzt-Xzt*Yft)/(Xft-Xzt)；
B. According to the cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1), calculating the distance D = | K between the cable crane hook and the straight line where the cable crane main tower and the cable crane auxiliary tower are located 1 *Xd1-Yd1+C|/(K 1 2 +1) 1/2 And if the real-time swing amplitude of the cable crane hook is f = D.
Further, in the step (2), the obtaining of the fitting coordinate point corresponding to the real-time swing amplitude value of the cable crane hook includes the following steps:
A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, obtaining sine values and cosine values of included angles between straight lines where the main tower of the cable crane and the auxiliary tower of the cable crane are located and the y axis, wherein the sine values and the cosine values are respectively:
sinα＝(Yft-Yzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ，
cosα＝(Xft-Xzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ；
B. substituting the following formula according to a cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1), a cable crane main tower coordinate point Zt (Xzt, yzt, zzt) and a cable crane auxiliary tower coordinate point Ft (Xft, yft, zft):
s (Zt, ft, pd 1) = (Xzt-Xd 1) = (Yft-Yd 1) (-Yft-Yd 1) - (Yzt-Yd 1) (Xft-Xd 1) gives the value of S, if S is a positive number, pd1 is on the left side of vector ZtFt, setting l =1; if S is a negative number, pd1 is on the right side of the vector ZtFt, and l = -1 is set; if S is 0, pd1 is on the straight line ZtFt, setting l =0;
C. set the fitted coordinate points Pd2 (Xd 2, yd2, zd 2), then Xd2= Xd1+ l f sin α, yd2= Yd1+ l f cos α,
Zd2＝Zd1。
further, in the step (3), the concrete step of drawing the cable crane hook operation area envelope graph includes that according to the cable crane hook coordinate point Pd1 at the current moment and the fitting coordinate point Pd2 corresponding to the current cable crane hook real-time swing amplitude, the cable crane hook coordinate point Ps1 at the previous moment and the fitting coordinate point Ps2 corresponding to the cable crane hook real-time swing amplitude at the previous moment, four coordinate points form a quadrangle, and the quadrangle is filled in real time to obtain the cable crane hook operation area envelope graph.
Further, in the step (4), the obtaining of the minimum distance between the envelope maps of the operating regions of the adjacent cable cranes includes the following steps:
A. according to coordinate points D1 (XD 1, YD1, ZD 1) and D2 (XD 2, YD2, ZD 2) of a main tower rail of the measuring cable crane, a function relation of a straight line where D1 and D2 are located is obtained, wherein Y = K 2 * (X-XD 1) + YD1, the slope K of the second function 2 ＝(YD1-YD2)/(XD1-XD2)；
B. Taking adjacent edge coordinate points P1 (Xp 1, yp1, zp 1), P2 (Xp 2, yp2, zp 2) of an envelope graph of a crane hook operation area, setting the corresponding pile numbers ZP1 and ZP2 respectively, setting the foot G1 (Xg 1, yg1, zg 1) and G2 (Xg 2, yg2, zg 2) of the P1 and P2 on a straight line D1D2, and then setting the function relationship of the straight line where the P1G1 is located as Y = (-1/K2) 2 )*(X-Xp1)+Yp1；
C. When two simultaneous linear equations are solved, xg1= [ K = 2 2 *XD1+K 2 *(Yp1-YD1)+Xp1]/(K 2 2 +1),Yg1＝K 2 *(X-XD1)+YD1；
D. Obtaining the distance L1= [ (Xg 1-XD 1) from the stake number corresponding to the P1 to the D1 according to the vertical foot coordinate 2 +(Yg1-YD1) 2 ] 1/2 Distance L2= [ (Xg 1-XD 2) to D2 2 +(Yg1-YD2) 2 ] 1/2 And combining the pile numbers Z1 and Z2 corresponding to D1 and D2, the pile number ZP1= L1 × (Z2-Z1)/L2 + Z1, and obtaining the value of the pile number ZP2 by the same calculation method, and the minimum distance L = ZP2-ZP1 between the adjacent cable crane hooks.
The invention respectively installs a positioning device on each cable crane main tower, each cable crane auxiliary tower and each cable crane hook, the positioning device acquires the coordinate information of each cable crane main tower, the coordinate information of each cable crane auxiliary tower and the coordinate information of each cable crane hook in real time and sends the coordinate information to the data processing module, the data processing module analyzes the cable crane running state in real time according to the coordinate information, calculates the cable crane hook real-time swing amplitude in the cable crane running process, obtains the corresponding fitting coordinate point according to the cable crane hook real-time swing amplitude, draws the cable crane hook running area envelope map according to the cable crane hook coordinates and the fitting coordinate point corresponding to the cable crane hook real-time swing amplitude, calculates the minimum distance of the adjacent cable crane hook running area envelope map, sends the cable crane hook real-time swing amplitude and the minimum distance of the adjacent cable crane hook running area to the cable crane manager, can enable the manager to monitor the cable crane running state in real time, and know the real-time swing amplitude of the cable crane hook and the minimum distance of the adjacent cable crane hook, can effectively pre-process and can effectively reduce the risk of accidents in the cable crane running process.
Drawings
Fig. 1 is a method flowchart of the method for monitoring the operation of a cable crane according to the present invention.
Fig. 2 is an envelope diagram of the real-time operation of the cable crane hook of the present invention.
In the attached drawing, 1 is cable machine main platform device, 2 is cable machine auxiliary platform device, 3 is the cable rope of connecting cable machine main tower and cable machine auxiliary tower, D1, D2 are the coordinate point of cable machine main tower orbit of measuring on the spot, pd1 is the real-time coordinate point of cable machine lifting hook, pd2 is the fitting coordinate point that Pd1 corresponds, ps1 is the coordinate point of cable machine lifting hook at the last moment, ps2 is the fitting coordinate point that Ps1 corresponds.
Detailed Description
The cable crane operation monitoring system comprises positioning devices and a data processing module, wherein the positioning devices are arranged on each cable crane main tower, each cable crane auxiliary tower and each cable crane hook, and are in wireless connection with the data processing module;
the positioning device is used for acquiring the coordinate information of each cable crane main tower, the coordinate information of each cable crane auxiliary tower and the coordinate information of each cable crane hook in real time and sending the coordinate information to the data processing module;
the data processing module is used for analyzing the running state of each cable crane in real time, calculating the real-time swing amplitude value of the cable crane hook in the running process of each cable crane, obtaining corresponding fitting coordinate points according to the real-time swing amplitude value of the cable crane hook, drawing an envelope graph of the running area of the cable crane hook according to the coordinates of the cable crane hook and the fitting coordinate points corresponding to the real-time swing amplitude value of the cable crane hook, calculating the minimum distance between the envelope graphs of the running area of the adjacent cable crane hooks, and sending the real-time swing amplitude value of the cable crane hook and the minimum distance between the running areas of the adjacent cable crane hooks to a cable crane manager.
In order to improve the flexibility of realizing the positioning function of the invention, the positioning device of the invention can adopt a satellite positioning device, an ultra-wideband positioning device and a laser positioning device.
The invention relates to a cable crane operation monitoring method, a flow chart of which is shown in figure 1, and the method comprises the following steps:
step 101: acquiring a real-time swing amplitude of a cable crane hook;
step 102: acquiring a fitting coordinate point corresponding to the real-time swing amplitude of the cable crane hook;
step 103: drawing an envelope diagram of a cable crane hook operation area;
step 104: acquiring the minimum distance between the envelope graphs of the operating areas of the lifting hooks of the adjacent cable cranes;
step 105: and sending the real-time swing amplitude of the cable crane hook and the minimum spacing information of the adjacent cable crane hook operation areas to cable crane managers.
In step 101, the specific implementation means for acquiring the real-time swing amplitude of the cable crane hook comprises:
A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, which are obtained in real time by the positioning device, the functional relation K of the straight line where the main tower of the cable crane and the auxiliary tower of the cable crane are located can be obtained 1 X-Y + C =0, first function slope K 1 = Yft-Yzt)/(Xft-Xzt), function constant C = (Xft. Yzt-Xzt. Yft)/(Xft-Xzt);
B. calculating the distance D = | K from the cable crane hook to the straight line where the cable crane main tower and the cable crane auxiliary tower are located according to the cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1) 1 *Xd1-Yd1+C|/(K 1 2 +1) 1/2 And the real-time amplitude f = D of the cable crane hook.
In step 102, the specific implementation steps of obtaining the fitting coordinate point corresponding to the real-time swing amplitude value of the cable crane hook include:
A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, obtaining sine values and cosine values of included angles between straight lines where the main tower of the cable crane and the auxiliary tower of the cable crane are located and the y axis, wherein the sine values and the cosine values are respectively:
sinα＝(Yft-Yzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ，
cosα＝(Xft-Xzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ；
B. substituting the following formula according to a cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1), a cable crane main tower coordinate point Zt (Xzt, yzt, zzt) and a cable crane auxiliary tower coordinate point Ft (Xft, yft, zft):
s (Zt, ft, pd 1) = (Xzt-Xd 1) = (Yft-Yd 1) (-Yft-Yd 1) (Xft-Xd 1) the value of S is derived, if S is a positive number, pd1 is on the left side of vector ZtFt, setting l =1; if S is a negative number, pd1 is on the right side of the vector ZtFt, and l = -1 is set; if S is 0, pd1 is on the straight line ZTFt, and l =0 is set;
C. set the fitted coordinate points Pd2 (Xd 2, yd2, zd 2), then Xd2= Xd1+ l f sin α, yd2= Yd1+ l f cos α,
Zd2＝Zd1。
in step B, the formula is to determine whether the point is on the left side or the right side of the straight line, the left-right direction is relative to the forward direction, and the left-right direction can be known as long as the forward direction is specified (for example, the forward direction is specified from the start point to the end point of the straight line). Whether the decision point is on the left side or the right side of the straight line is the most basic algorithm for calculating the geometry, and the decision point is determined by using a vector.
In step 103, the specific implementation means for drawing the envelope graph of the cable crane hook operating area comprises: according to the coordinate point Pd1 of the cable crane hook at the current moment and the fitting coordinate point Pd2 corresponding to the real-time swing amplitude value of the current cable crane hook, the coordinate point Ps1 of the cable crane hook at the last moment and the fitting coordinate point Ps2 corresponding to the real-time swing amplitude value of the cable crane hook at the last moment, four coordinate points form a quadrangle, and the quadrangle is filled in real time to obtain an envelope map of the operation area of the cable crane hook.
In step 104, the specific implementation steps for obtaining the minimum distance of the envelope graphs of the hook operation areas of the adjacent cable cranes comprise:
A. according to coordinate points D1 (XD 1, YD1, ZD 1) and D2 (XD 2, YD2, ZD 2) of a main tower rail of the measuring cable crane, a function relation of a straight line where D1 and D2 are located is obtained, wherein Y = K 2 * (X-XD 1) + YD1, second function slope K 2 ＝(YD1-YD2)/(XD1-XD2)；
B. Taking coordinate points P1 (Xp 1, yp1, zp 1), P2 (Xp 2, yp2, zp 2) of adjacent edges of an envelope graph of a cable crane hook operation area, setting the corresponding pile numbers as ZP1 and ZP2 respectively, setting the foot G1 (Xg 1, yg1, zg 1) and G2 (Xg 2, yg2, zg 2) of the P1 and P2 on a straight line D1D2, and setting the functional relation of the straight line where the P1G1 is located asY＝(-1/K 2 )*(X-Xp1)+Yp1；
C. When two simultaneous linear equations are solved, xg1= [ K = 2 2 *XD1+K 2 *(Yp1-YD1)+Xp1]/(K 2 2 +1),Yg1＝K 2 *(X-XD1)+YD1；
D. Obtaining the distance L1= [ (Xg 1-XD 1) from the stake number corresponding to the P1 to the D1 according to the vertical foot coordinate 2 +(Yg1-YD1) 2 ] 1/2 Distance to D2L 2= [ (Xg 1-XD 2) 2 +(Yg1-YD2) 2 ] 1/2 And combining the pile numbers Z1 and Z2 corresponding to D1 and D2, the pile number ZP1= L1 × (Z2-Z1)/L2 + Z1, and obtaining the value of the pile number ZP2 by the same calculation method, and the minimum distance L = ZP2-ZP1 between the adjacent cable crane hooks.
In conclusion, the cable crane operation state monitoring system can monitor the cable crane operation state, send the cable crane hook real-time swing amplitude and the minimum distance between adjacent cable crane hook operation areas to the cable crane manager, enable the manager to monitor the cable crane operation state in real time, know the real-time swing amplitude of the cable crane hook and the minimum distance between adjacent cable crane hooks, can effectively pre-judge and process risks in time, and can effectively reduce the probability of occurrence of risk accidents in the cable crane operation process.
Claims (2)
1. Cable machine operation monitored control system, its characterized in that: the cable crane lifting hook positioning device comprises a positioning device and a data processing module, wherein the positioning device is arranged on each cable crane main tower, each cable crane auxiliary tower and each cable crane lifting hook, and the positioning devices are in wireless connection with the data processing module;
the positioning device is used for acquiring the coordinate information of each cable crane main tower, the coordinate information of each cable crane auxiliary tower and the coordinate information of each cable crane hook in real time and sending the coordinate information to the data processing module;
the data processing module is used for analyzing the running state of each cable crane in real time and calculating the real-time swing amplitude of a cable crane hook in the running process of each cable crane according to the main tower coordinate information, the auxiliary tower coordinate information and the cable crane hook coordinate information of each cable crane;
the calculation of the real-time swing amplitude of the cable crane hook comprises the following steps: cable crane main tower coordinate point obtained in real time according to positioning deviceZt (Xzt, yzt, zzt), coordinate point Ft (Xft, yft, zft) of the cable machine auxiliary tower, and function relation K of straight line where the cable machine main tower and the cable machine auxiliary tower are located can be obtained 1 X-Y + C =0, first function slope K 1 = Yft-Yzt)/(Xft-Xzt), function constant C = (Xft. Yzt-Xzt. Yft)/(Xft-Xzt);
according to the cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1), calculating the distance D = | K between the cable crane hook and the straight line where the cable crane main tower and the cable crane auxiliary tower are located 1 *Xd1-Yd1+C|/(K 1 2 +1) 1/2 If the real-time swing amplitude of the cable crane hook is f = D;
obtaining corresponding fitting coordinate points according to the real-time swing amplitude of the cable crane hook, and specifically comprising the following steps: according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, obtaining sine values and cosine values of included angles between straight lines where the main tower of the cable crane and the auxiliary tower of the cable crane are located and the y axis, wherein the sine values and the cosine values are respectively: sin α = (Yft-Yzt)/[ (Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ，cosα＝(Xft-Xzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ；
Substituting the real-time coordinate points Pd1 (Xd 1, yd1, zd 1) of the cable crane hook, the coordinate points Zt (Xzt, yzt, zzt) of the cable crane main tower, the coordinate points Ft (Xft, yft, zft) of the cable crane auxiliary tower into the following formula:
s (Zt, ft, pd 1) = (Xzt-Xd 1) = (Yft-Yd 1) (-Yft-Yd 1) - (Yzt-Yd 1) (Xft-Xd 1) gives the value of S, if S is a positive number, pd1 is on the left side of vector ZtFt, setting l =1; if S is a negative number, pd1 is on the right side of the vector ZtFt, and l = -1 is set; if S is 0, pd1 is on the straight line ZtFt, setting l =0;
setting fitting coordinate points Pd2 (Xd 2, yd2, zd 2), then Xd2= Xd1+ l f sin α, yd2= Yd1+ l f cos α, zd2= Zd1;
then drawing a cable crane hook operation area envelope graph according to the cable crane hook coordinates and the fitting coordinate points corresponding to the cable crane hook real-time swing amplitude values, and calculating the minimum distance between adjacent cable crane hook operation area envelope graphs, wherein the minimum distance specifically comprises the following steps:
according to the coordinate point Pd1 of the cable crane hook at the current moment and the fitting coordinate point Pd2 corresponding to the real-time swing amplitude of the current cable crane hook, the coordinate point Ps1 of the cable crane hook at the last moment and the fitting coordinate point Ps2 corresponding to the real-time swing amplitude of the cable crane hook at the last moment, forming a quadrangle by the four coordinate points, and filling the quadrangle in real time to obtain an envelope map of the operation area of the cable crane hook;
according to coordinate points D1 (XD 1, YD1, ZD 1) and D2 (XD 2, YD2, ZD 2) of the track of the main tower of the cable crane, a function relation of straight lines where D1 and D2 are located is Y = K 2 * (X-XD 1) + YD1, second function slope K 2 ＝(YD1-YD2)/(XD1-XD2)；
Taking adjacent coordinate points P1 (Xp 1, yp1, zp 1), P2 (Xp 2, yp2, zp 2) of an envelope graph of a cable crane hook operation area, setting corresponding pile numbers ZP1 and ZP2 respectively, setting a foot G1 (Xg 1, yg1, zg 1) and a foot G2 (Xg 2, yg2, zg 2) of the P1 and the P2 on a straight line D1D2, and then setting a function relation of the straight line where the P1G1 is located as Y = (-1/K2) 2 )*(X-Xp1)+Yp1；
When two simultaneous linear equations are solved, xg1= [ K = 2 2 *XD1+K 2 *(Yp1-YD1)+Xp1]/(K 2 2 +1),Yg1＝K 2 *(X-XD1)+YD1；
Obtaining the distance L1= [ (Xg 1-XD 1) from the stake number corresponding to the P1 to the D1 according to the vertical foot coordinate 2 +(Yg1-YD1) 2 ] 1/2 Distance to D2L 2= [ (Xg 1-XD 2) 2 +(Yg1-YD2) 2 ] 1/2 Combining the pile numbers Z1 and Z2 corresponding to D1 and D2, the pile number ZP1= L1 (Z2-Z1)/L2 + Z1, obtaining the value of the pile number ZP2 by the same calculation method, and obtaining the minimum distance L = ZP2-ZP1 between the adjacent cable crane hooks;
and sending the real-time swing amplitude of the cable crane hook and the minimum distance between adjacent cable crane hook operation areas to a cable crane manager.
2. The cable machine operation monitoring method is applied to the cable machine operation monitoring system as claimed in claim 1, and is characterized in that: comprises the following steps of (a) preparing a solution,
step (1), obtain the real-time pendulum amplitude of cable crane lifting hook, specifically include:
A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, which are obtained in real time by the positioning device, the functional relation K of the straight line where the main tower of the cable crane and the auxiliary tower of the cable crane are located can be obtained 1 X-Y + C =0, first function slope K 1 = Yft-Yzt)/(Xft-Xzt), function constant C = (Xft. Yzt-Xzt. Yft)/(Xft-Xzt);
B. calculating the distance D = | K from the cable crane hook to the straight line where the cable crane main tower and the cable crane auxiliary tower are located according to the cable crane hook coordinate point Pd1 (Xd 1, yd1, zd 1) 1 *Xd1-Yd1+C|/(K 1 2 +1) 1/2 If the real-time swing amplitude of the cable crane hook is f = D;
step (2), obtaining a fitting coordinate point corresponding to the real-time swing amplitude value of the cable crane hook, and specifically comprising the following steps: A. according to the coordinate points Zt (Xzt, yzt, zzt) of the main tower of the cable crane and the coordinate points Ft (Xft, yft, zft) of the auxiliary tower of the cable crane, obtaining sine values and cosine values of included angles between straight lines where the main tower of the cable crane and the auxiliary tower of the cable crane are located and the y axis, wherein the sine values and the cosine values are respectively: sin α = (Yft-Yzt)/[ (Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ，cosα＝(Xft-Xzt)/[(Xft-Xzt) 2 +(Yft-Yzt) 2 ] 1\2 ；
B. Substituting the real-time coordinate points Pd1 (Xd 1, yd1, zd 1) of the cable crane hook, the coordinate points Zt (Xzt, yzt, zzt) of the cable crane main tower, the coordinate points Ft (Xft, yft, zft) of the cable crane auxiliary tower into the following formula:
s (Zt, ft, pd 1) = (Xzt-Xd 1) = (Yft-Yd 1) (-Yft-Yd 1) (Xft-Xd 1) the value of S is derived, if S is a positive number, pd1 is on the left side of vector ZtFt, setting l =1; if S is a negative number, pd1 is on the right side of the vector ZtFt, and l = -1 is set; if S is 0, pd1 is on the straight line ZtFt, setting l =0;
C. set the fitted coordinate points Pd2 (Xd 2, yd2, zd 2), then Xd2= Xd1+ l f sin α, yd2= Yd1+ l f cos α,
Zd2＝Zd1；
step (3), drawing an envelope diagram of the operation area of the lifting hook of the cable crane, which specifically comprises the following steps: according to the coordinate point Pd1 of the cable crane hook at the current moment and the fitting coordinate point Pd2 corresponding to the real-time swing amplitude of the current cable crane hook, the coordinate point Ps1 of the cable crane hook at the last moment and the fitting coordinate point Ps2 corresponding to the real-time swing amplitude of the cable crane hook at the last moment, forming a quadrangle by the four coordinate points, and filling the quadrangle in real time to obtain an envelope map of the operation area of the cable crane hook;
step (4), obtaining the minimum distance of the envelope graphs of the hook running areas of adjacent cable cranes, and specifically comprising the following steps: A. according to coordinate points D1 (XD 1, YD1, ZD 1) and D2 (XD 2, YD2, ZD 2) of the track of the main tower of the cable crane, a function relation of straight lines where D1 and D2 are located is Y = K 2 * (X-XD 1) + YD1, second functionSlope K 2 ＝(YD1-YD2)/(XD1-XD2)；
B. Taking adjacent edge coordinate points P1 (Xp 1, yp1, zp 1), P2 (Xp 2, yp2, zp 2) of an envelope graph of a crane hook operation area, setting the corresponding pile numbers ZP1 and ZP2 respectively, setting the foot G1 (Xg 1, yg1, zg 1) and G2 (Xg 2, yg2, zg 2) of the P1 and P2 on a straight line D1D2, and then setting the function relationship of the straight line where the P1G1 is located as Y = (-1/K2) 2 )*(X-Xp1)+Yp1；
C. When two simultaneous linear equations are solved, xg1= [ K = 2 2 *XD1+K 2 *(Yp1-YD1)+Xp1]/(K 2 2 +1),Yg1＝K 2 *(X-XD1)+YD1；
Obtaining the distance L1= [ (Xg 1-XD 1) from the stake number corresponding to the P1 to the D1 according to the vertical foot coordinate 2 +(Yg1-YD1) 2 ] 1/2 Distance to D2L 2= [ (Xg 1-XD 2) 2 +(Yg1-YD2) 2 ] 1/2 Combining the pile numbers Z1 and Z2 corresponding to D1 and D2, the pile number ZP1= L1 × (Z2-Z1)/L2 + Z1, and obtaining the value of the pile number ZP2 by the same calculation method, and the minimum distance L = ZP2-ZP1 between the hooks of the adjacent cable cranes;
and (5) sending the real-time swing amplitude of the cable crane hook and the minimum distance information of the running area of the adjacent cable crane hook to cable crane management personnel.
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