CN111646375A

CN111646375A - Tower crane area protection control device and control method based on field operation setting

Info

Publication number: CN111646375A
Application number: CN202010467819.4A
Authority: CN
Inventors: 王文成; 卢延锋
Original assignee: Beijing Sada Intelligent Technology Co ltd
Current assignee: Beijing Sada Intelligent Technology Co ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-09-11

Abstract

The invention discloses a tower crane area protection control device based on field operation setting, which comprises a data processing module, wherein the data processing module comprises a data processing center, the data processing center is an STM32F105 chip, the data processing center is also connected with an EEPROM (electrically erasable programmable read-only memory), and the data processing module is also connected with a data acquisition module, a power supply module, a human-computer interaction module and a remote control module. The invention also discloses a tower crane area protection control method based on-site operation setting, and the method solves the problem that the danger of the tower crane construction site is high in the prior art.

Description

Tower crane area protection control device and control method based on field operation setting

Technical Field

The invention belongs to the technical field of tower crane safety operation monitoring of tower crane operation in a construction site, and particularly relates to a tower crane area protection control device based on-site operation setting, and further relates to a tower crane area protection control method based on-site operation setting.

Background

In order to improve the efficiency of a large-scale construction site, a large number of tower cranes can be adopted for material transportation, so that the construction efficiency is improved, but the tower cranes (hereinafter referred to as tower cranes) are a great danger source for the construction site due to high gravity center and large lifting capacity, and particularly, the high-altitude falling of a lifted object can bring great personal safety risks to personnel below the tower cranes. Based on the above situation, in the rotation coverage area of the tower crane in some construction sites, if there are personnel dense areas such as kindergartens, high-voltage lines, shopping malls and the like or dangerous places, the lifting hook of the tower crane is often required not to enter the areas to protect the areas. The current common technical means for regional protection include three types: 1) building a frame and a spacer above the protection area, and physically separating; 2) a mechanical region protection device is arranged on the tower crane, and forward power is cut off through mechanical control when the operation of a tower crane hook approaches to the region; 3) and installing an electronic area limiter, and acquiring position data of a rotation angle and the amplitude of the trolley in real time in the running process by setting a coordinate and a position in advance so as to judge whether the electronic area limiter reaches a limited area, wherein if the electronic area limiter is close to the limited area, the electronic area limiter cuts off forward power of the lifting hook. Although the traditional area protection means can effectively protect a specific area, in practical application, the following problems respectively exist:

1) for a physical isolation mode, a large number of additional buildings are often required to be built, the building period is long, the cost is high, the mode is often difficult to realize for small projects with small budgets, and the field applicability is poor;

2) for a mechanical area limiting device, compared with a physical isolation mode, the cost is reduced qualitatively, and the requirements of common projects can be met, but mechanical comparative solidification is considered, so that the device faces one design in one scene, the universality is poor, and the device often faces one design in one machine;

3) for the traditional electronic type area limiting device, the cost is low, the problem of mechanical universality and the problem of cost of a physical isolation mode are solved, but in practical application, because the range and the coordinates of an area need to be calculated in advance, the area is set more difficultly, the requirement on personnel quality is high, and the efficiency is lower. If the protection area changes, professional personnel are required to go to the site for revising, and the maintenance application cost is high.

The defects of the traditional area limiting method cause that the area protection of a construction site cannot be effectively and efficiently deployed in practical application, so that the safe operation of a tower crane on the construction site is influenced.

Disclosure of Invention

The invention aims to provide a tower crane area protection control device based on field operation setting, and solves the problem that the danger of a tower crane construction field is high in the prior art.

The invention aims to provide a tower crane area protection control method based on field operation setting.

The tower crane area protection control device comprises a data processing module, wherein the data processing module comprises a data processing center, the data processing center is an STM32F105 chip, the data processing center is also connected with an EEPROM (electrically erasable programmable read-only memory), and the data processing module is also connected with a data acquisition module, a power supply module, a human-computer interaction module and a remote control module.

The first technical aspect of the present invention is also characterized in that,

the specific structure of the power supply module is as follows: the data processing system comprises a 3.3V direct-current power supply connected with a data processing center, the 3.3V direct-current power supply is also connected with a 5V direct-current power supply and an EEPROM (electrically erasable programmable read-only memory) storage, and the 5V direct-current power supply is also connected with a data acquisition module, a man-machine interaction module and a 24V direct-current power supply.

The specific structure of the data acquisition module is as follows: the device comprises an amplitude sensor, wherein the amplitude sensor is connected with a hardware filter circuit and then connected to a data processing center, the data processing center is also connected with a rotation sensor, and the amplitude sensor and the rotation sensor are both connected with a power supply module.

The remote control module has the specific structure that: the GPRS module is connected with the cloud server and the WEB interface, and the GPRS module is also connected with the power supply module.

The second technical scheme adopted by the invention is a control method of a tower crane area protection control device based on field operation setting, which comprises the following specific steps:

step 1, setting angle limiting parameters and types, and area limiting parameters and types of a tower crane;

step 2, after the device is started, firstly reading the angle limiting parameters and the area limiting parameters and types set in the step 1 from an EEPROM memory;

step 3, the data processing center obtains and calculates the current hook position through an amplitude sensor and a rotation sensor;

step 4, the data processing center judges whether the current lifting hook position reaches an early warning value of any angle limit, and if the current lifting hook position reaches the early warning value of any angle limit, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limit area at a high speed;

step 5, the data processing center judges whether the current hook position reaches an alarm value limited by any angle, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, the high-speed power supply and the low-speed power supply are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous area;

step 6, the data processing center judges whether the current lifting hook position reaches an early warning value limited by any area, and if the current lifting hook position reaches the early warning value limited by any area, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limited area at a high speed;

step 7, the data processing center judges whether the current hook position reaches an alarm value limited by any region, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, high-speed and low-speed power supplies are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous region;

step 8, the data processing center sends the current hook position data and the alarm state to a local man-machine interaction module for display;

and 9, the data processing center sends the current hook position data and the alarm state to the remote control module, and the step 3 is carried out.

The second technical aspect of the present invention is also characterized in that,

the angle limiting parameters and the type setting of the tower crane in the step 1 comprise a clockwise scene and a counterclockwise scene, and for the clockwise scene: setting a 1 st point position and then setting a 2 nd point position, wherein a fan-shaped angle from the 1 st point to the 2 nd point in a clockwise direction is used as an angle limiting area; for a counterclockwise scene: and setting the number of the angle limiting areas of at most 10 angles of one tower crane according to the fan-shaped angle between the 1 st point and the 2 nd point in the anticlockwise direction as the angle limiting area.

The angle limiting parameters and the type setting of the tower crane in the step 1 are specifically as follows:

step 1.1, determining whether the direction of angle limitation is clockwise or anticlockwise through a touch screen of a human-computer interaction interface when angle parameter setting is carried out;

step 1.2, manually moving a lifting hook of the tower crane to the rear end position of a large arm of the tower crane, and then moving the large arm to an angle limiting position point 1 at a low speed;

step 1.3, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center through a rotation sensor at the moment, and setting the current rotation angle value as a value of the angle limit 1 st point;

step 1.4, continuously moving the lifting hook at a low speed to an angle limiting position point 2 through manual operation;

step 1.5, manually confirming the position of the 2 nd point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center through a rotation sensor, and setting the current rotation angle value as a value of the 2 nd point limited by an angle;

step 1.6, the data processing center sets a final angle limiting area according to the position data of the 1 st point obtained in the step 1.3, the position data of the 2 nd point obtained in the step 1.5 and the clockwise or anticlockwise type selection;

step 1.7, setting high-speed early warning angle parameters through a touch screen of a human-computer interaction interface, and aiming at setting the distance between a lifting hook and an angle limiting area, cutting off high-speed power and preventing the lifting hook from rushing into a dangerous area due to large inertia when the lifting hook approaches the angle limiting area at a high speed;

step 1.8, setting a low-speed alarm angle parameter through a touch screen of a human-computer interaction interface, and aiming at cutting off low-speed power when the distance between a lifting hook and an angle limiting area is set, wherein the high-speed power is cut off during early warning, and the cutting off of the low speed is equivalent to completely cutting off the forward power of the lifting hook, so that the lifting hook is prevented from rushing into a dangerous area;

and step 1.9, the data processing center stores the value of the angle limiting position point 1 obtained in the step 1.3, the value of the angle limiting position point 2 obtained in the step 1.5, the high-speed early warning angle parameter, the low-speed warning angle parameter and the angle limiting type determined in the step 1.1 into the EEPROM memory.

In the step 1, one tower crane can realize the quantity setting of 10 area limiting areas at most, each area forms a regular or irregular shape which covers 10 points at most, when the area setting is carried out, the lifting hook of the tower crane is moved to a key position point which needs to carry out the area limiting one by one at a low speed, the limiting area of a site is virtually set in a polygonal form, the area type comprises two scenes of inner area limiting and outer area limiting, the inner area limiting refers to an area in a surrounding range of a multi-line segment, and the outer area limiting refers to an area outside the surrounding range of the multi-line segment as a limiting area.

The area limitation parameters and the type setting in step 1 are specifically as follows:

step a, determining whether the type of the area limitation is inner area limitation or outer area limitation through a touch screen of a human-computer interaction interface;

b, manually moving a lifting hook of the tower crane to a position point 1 at a low speed;

step c, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value and a hook amplitude value by a data processing center through an amplitude sensor and a rotation sensor, determining the position of a hook of the tower crane and setting the position as a parameter of the area limiting position point 1;

d, continuously moving the lifting hook of the tower crane to the next position point at a low speed through manual operation;

step e, manually confirming the position of the next point through a touch screen of a human-computer interaction interface, automatically acquiring the current rotation angle and the trolley amplitude value through an amplitude sensor and a rotation sensor by a data processing center, determining the position of a lifting hook of the tower crane and setting the position as a parameter for limiting the position of the next point in an area;

f, manually judging whether all the area limiting position points are set and confirmed through a touch screen of a human-computer interaction interface, if the set point number is already finished, judging whether the set point number is less than three points by a data processing center, if the set point number is less than three points, continuing to increase the third point in the step d, if the set point number is not less than three points, entering the step g, if the set point number is not finished, firstly judging whether the set point number is more than or equal to 10 points, if the set point number is more than or equal to 10 points, directly entering the step g, and if the set point number is less than 10 points;

g, the data processing center sets a final limit area according to the position data of the limit set points of all areas and the type of the limit area determined in the step a;

h, setting a high-speed early warning distance parameter through a touch screen of a human-computer interaction interface, and aiming at cutting off high-speed power when the distance between the lifting hook and the limited area of the area is set, so as to prevent the lifting hook from rushing into a dangerous area due to larger inertia when the lifting hook approaches the limited area of the area at a high speed;

i, setting a low-speed alarm distance parameter through a touch screen of a human-computer interaction interface, and cutting off low-speed power when setting the distance between the lifting hook and a region limiting region, wherein the cutting off of the low-speed power is equivalent to completely cutting off the forward power of the lifting hook because the high-speed power is cut off during early warning, so that the lifting hook is prevented from rushing into a dangerous region;

and j, the data processing center stores all the area limit position point parameters, the high-speed early warning distance parameters, the low-speed warning distance parameters and the area limit types determined in the step a, which are obtained in the steps b to f, in the EEPROM.

The tower crane regional protection control device has the beneficial effects that the tower crane regional protection control device is set based on field operation, 1) the data processing center (based on STM32F105) is based on a mature ARM Cotex-M3 technology, the amplitude sensor is a stroke limiter, the rotary sensor is an absolute multi-turn encoder, and the designed basic parts are all universal parts, so that the device is low in cost and has the premise of large-scale popularization and application; 2) the human-computer interface for displaying the operation data of the field setting area and the tower crane is a touch screen, the graphical design is adopted, the operation is simple and easy to use, the requirement on personnel knowledge is not high, and the human-computer interface accords with the practical application environment with low cultural degree of constructors on a construction field; 3) the device can realize local and remote foolproof site area setting, is efficient, does not require complex preliminary preparation and knowledge requirements of operators, and has the characteristic of rapid deployment. In addition, the setting of the area comprises various scenes of an inner area, an outer area, a clockwise angle and a counterclockwise angle, and the scene adaptability is strong. 4) The sensor, the processing circuit, the data processing center, the human-computer interaction and the data remote communication are independent modules by adopting a modular design, system components are convenient to replace, the sensor with different parameters can be selected according to the field environment, and the environmental adaptability is good.

Drawings

FIG. 1 is a block diagram of a system composition of a tower crane area protection control device based on field operation setting;

FIG. 2(a) is a schematic diagram of the device in a clockwise fashion for angular limit setting;

FIG. 2(b) is a schematic diagram of the angular limit setting of the device in a counterclockwise manner;

FIG. 3 is a flowchart of an algorithm for setting the angular limits of the device clockwise and counterclockwise;

FIG. 4(a) is a schematic diagram of an arrangement of region protection in multiple points of the apparatus;

FIG. 4(b) is a schematic diagram of a multi-point outer zone protection configuration of the device;

FIG. 5 is a flow chart of an algorithm for setting the protection of the multi-point inner and outer regions of the device;

fig. 6 is a flow chart of an algorithm for controlling the lifting hook not to enter the limited area in the operation process of the tower crane by the device.

In the figure, 1 is an amplitude sensor, 2 is a hardware filter circuit, 3 is a data processing center, 4 is a human-computer interaction interface, 5 is a rotary sensor, 6 is a WEB interface, 7 is an EEPROM memory, 8 is a GPRS module, 9 is a cloud server, 10.3.3V direct current power supply system, 11.5V direct current power supply system and 12.24V direct current power supply module.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The tower crane area protection control device based on field operation setting is structurally shown in figure 1 and comprises a data processing module, wherein the data processing module comprises a data processing center 3, the data processing center 3 is an STM32F105 chip, the data processing center 3 is further connected with an EEPROM (electrically erasable programmable read-only memory) 5, and the data processing module is also connected with a data acquisition module, a power supply module, a human-computer interaction module and a remote control module.

The specific structure of the power supply module is as follows: the data processing system comprises a 3.3V direct current power supply 10 connected with a data processing center 3, wherein the 3.3V direct current power supply 10 is also simultaneously connected with a 5V direct current power supply 11 and an EEPROM (electrically erasable programmable read-only memory) 5, and the 5V direct current power supply 11 is also simultaneously connected with a data acquisition module, a man-machine interaction module and a 24V direct current power supply 12.

The specific structure of the data acquisition module is as follows: including amplitude sensor 1, amplitude sensor 1 is connected to after being connected with hardware filter circuit 2 data processing center 3, data processing center 3 still is connected with gyroscopic sensor 5, and amplitude sensor 1, gyroscopic sensor 5 all are connected with power module again.

The remote control module has the specific structure that: the system comprises a GPRS module 8 connected with the data processing center 3, wherein the GPRS module 8 is sequentially connected with a cloud server 9 and a WEB interface 6, and the GPRS module 8 is also connected with a power supply module.

In fig. 1, an amplitude sensor 1 is used for detecting the position of a lifting hook on a large arm of a tower crane; the hardware filter circuit 2 is used for removing preliminary filtering of interference on analog signals of the amplitude sensor when the field motor operates; the data processing center 3 is the core of the device, and comprises data acquisition and software filtering of signals of an amplitude sensor and a revolution sensor, calculation of the current position, and calculation with a region protection limiting region to realize motion control, setting of region protection, local storage of data, data interaction with a human-computer interaction center and interaction with a remote cloud server are processed by the data processing center; the human-computer interaction interface 4 is local human-computer interaction based on a touch screen, is a human-computer interaction interface locally set in a region, and can also present position data of the tower crane in the operation process of the tower crane, so that a driver of the tower crane can conveniently observe the position data; the rotation sensor 5 is a sensor based on an encoding principle, realizes the detection of the rotation angle of the tower crane, and can be matched with an amplitude sensor to determine the determined position of the lifting hook; the WEB interface 6 is a human-computer interface for remotely observing and setting field area protection; the EEPROM 7 is used for storing information such as users and authorities, area setting parameters, amplitude and gyration calibration parameters, operation records, platform addresses, port numbers and the like; the GPRS module 8 realizes data interaction between the local equipment and a remote cloud server; the cloud server 9 realizes cloud storage of data, facilitates subsequent analysis and summarization, and pushes field data to a WEB side in time, so that a manager can conveniently remotely check the field data in real time and set a remote area; the 3.3V direct current power supply system 10 is generated by reducing the voltage of 5V direct current, so that the data processing center and the EEPROM can work normally; the 5V direct current power supply system 11 is generated by 24V direct current through voltage reduction and is a power supply source of the 3.3V direct current power supply system 10, the GPRS module 8 and the rotary sensor 5; the 24V DC power supply module 12 is generated by 220V AC through a switch power supply and is the power supply core of the whole device.

As shown in fig. 1, the tower crane area protection control device based on the field operation setting of the present invention includes five parts in application: the system comprises a power supply part, a data acquisition part, a data processing part, a human-computer interaction part and a remote control part. Wherein the first partial supply comprises 3 units: the 24V direct current power supply module 12 and the 24V direct current power supply module 12 are direct power supply sources of the rotary sensor 5 and the human-computer interaction interface 4 and are indirect power supply sources of the data processing center 3, the EEPROM 7, the GPRS module 8 and the amplitude sensor 1, in order to ensure a scene that the field voltage fluctuation range of the tower crane is possibly large, a 65W bright and weft switch power supply PS-65-24 is selected for the device, the efficiency is as high as 80%, and the input range can reach 90-264 VAC; the 5V direct current power supply system 11 adopts an LM2575-5.0 switching power supply chip, supports direct current wide voltage input of 7V-40V, has output current reaching 3A and mainly meets the requirement of 5V direct current power supply of the GPRS module 8 and the amplitude sensor 1; the 3.3V direct current power supply system 10 is generated by 5V power supply through the AMS1117-3.3 type LDO power supply chip, the output current can reach 1A, and the power supply requirements of a data processing center and an EEPROM are met. The second part of data acquisition comprises 3 units, the amplitude value of the lifting hook is acquired by an amplitude sensor 1, the amplitude sensor 1 is a stroke limiter and outputs a 0-5V analog signal, and the voltage value is linearly related to the amplitude value; considering the interference of a field motor to the space, a hardware low-pass RC filter circuit is specially designed, namely the hardware filter circuit 2 is used for shielding the interference of high-frequency signals; the rotary sensor 5 is collected by a multi-turn encoder, the model is AML50S8ESRM12U12, the interior of the rotary sensor is provided with filtering and directly outputs digital signals, and the interface is an RS485 interface. The third part of the data processing part comprises 2 units: the operation core based on the STM32F105 chip comprises AD sampling and software filtering of amplitude analog signals, acquisition of data of a rotary sensor, calibration and calculation of position data, setting or revising of a protection area range, interaction with data of a local touch screen and a remote platform, and modification and storage of parameters; the EEPROM 7 is a chip AT24C64, is mainly used for storing information such as user and authority, parameters set by a region, amplitude, calibration parameters of rotation, operation records, platform addresses, port numbers and the like, is used for ensuring that the device can be started to operate according to field parameters after being started every time, has the storage capacity of 8KB, and performs data interaction with an STM32F105 chip through an I2C bus. The fourth part is a human-computer interaction part, the DMT80600T 080-07 WT touch screen is adopted in the fourth part, a friendly graphical human-computer interaction interface is provided, operation and checking of an operator are facilitated, and the fourth part is communicated with the STM32F105 of the data processing part through a serial port. The fifth part is that the remote control part comprises 3 units: the GPRS module 8 performs data interaction with the STM32F105 chip through a serial port to realize data bridging between the equipment and the cloud server; the cloud server 9 realizes remote storage and data analysis of the operation data and parameters; the WEB interface 6 is an interface for interaction between remote personnel and field equipment, and can display the operation data and state of the field tower crane in real time and remotely set parameters such as the protection position of a field area, user permission and the like through the cloud server.

The device is based on the Internet of things + technology, coordinates do not need to be calculated in advance at a site end, the embedded technology is used for directly calibrating a new field region and correcting an old field region through the running position of the tower crane, and the remote transmission technology is used for remotely setting the field region. Because the installation is convenient, the setting is flexible and efficient, and the cost is equivalent to that of an electronic area limiter, the defects that the traditional isolator scheme is high in cost, the mechanical scheme is not universal, and the electronic scheme is low in area setting and maintenance efficiency are overcome.

The invention relates to a control method of a tower crane area protection control device based on field operation setting, which comprises the following specific steps:

the angle limitation setting of the invention is schematically shown in fig. 2(a) to 2(b), the angle limitation parameter and type setting of the tower crane in step 1 include two scenes of clockwise and anticlockwise, and for the clockwise scene: setting a 1 st point position and then setting a 2 nd point position, wherein a fan-shaped angle from the 1 st point to the 2 nd point in a clockwise direction is used as an angle limiting area; for a counterclockwise scene: and setting the number of the angle limiting areas (shaded areas) from the 1 st point to the 2 nd point according to the fan-shaped angle in the anticlockwise direction, wherein one tower crane realizes the setting of the number of the 10 angle limiting areas at most. The algorithm flow of the angle limitation is shown in fig. 3, and the specific implementation process is as follows:

step 1.2, manually moving a hook of the tower crane to the rear end position of a large arm of the tower crane, and then moving the large arm to an angle limiting position point 1 at a low speed, as shown in fig. 2;

step 1.3, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center 3 through a rotation sensor 5 at the moment, and setting the current rotation angle value as a value of the angle limit 1 st point;

step 1.4, continuously moving the lifting hook at a low speed to an angle limiting position point 2 through manual operation, as shown in fig. 2;

step 1.5, manually confirming the position of the 2 nd point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center 3 through a rotation sensor 5, and setting the current rotation angle value as a value of the 2 nd point limited by an angle;

step 1.6, the data processing center 3 sets a final angle limiting area according to the position data of the 1 st point obtained in the step 1.3, the position data of the 2 nd point obtained in the step 1.5 and the clockwise or counterclockwise type selection;

step 1.7, setting high-speed early warning angle parameters through a touch screen of a human-computer interaction interface 4, and aiming at setting the distance between a lifting hook and an angle limiting area, cutting off high-speed power and preventing the lifting hook from rushing into a dangerous area due to large inertia when the lifting hook approaches the angle limiting area at a high speed;

step 1.8, setting a low-speed alarm angle parameter through a touch screen of a human-computer interaction interface 4, aiming at cutting off low-speed power when the distance between a lifting hook and an angle limiting area is set to be a certain degree, wherein the cutting off of the low-speed power is equivalent to completely cutting off the forward power of the lifting hook because the high-speed power is cut off during early warning, so that the lifting hook is prevented from rushing into a dangerous area;

and step 1.9, the data processing center 3 stores the value of the angle limiting position point 1 obtained in the step 1.3, the value of the angle limiting position point 2 obtained in the step 1.5, the high-speed early warning angle parameter, the low-speed warning angle parameter and the angle limiting type determined in the step 1.1 into the EEPROM memory 5.

The region limitation setting of the invention is schematically shown in fig. 4, in step 1, one tower crane realizes the number setting of 10 region limitation regions at most, each region constitutes a regular or irregular shape which covers 10 points at most, when the region setting is carried out, the hook of the tower crane is moved to the key position points which need to carry out the region limitation one by one at low speed, such as the position points 1, 2, 3, 4, 5 and 6 in fig. 4, the limitation regions of the site are virtually set in the form of polygons, the region types include two scenes of inner region limitation and outer region limitation, the inner region limitation refers to the region (black region in fig. 4 (a)) within the multi-line segment surrounding range, and the outer region limitation refers to the region (black region in fig. 4 (b)) outside the multi-line segment surrounding range.

step a, determining whether the type of the area limitation is inner area limitation or outer area limitation through a touch screen of a human-computer interaction interface 4;

b, manually moving the lifting hook of the tower crane to a position point 1 at a low speed, as shown in fig. 5;

step c, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface 4, automatically acquiring a current rotation angle value and a hook amplitude value through an amplitude sensor 1 and a rotation sensor 5 by a data processing center 3, determining the position of a hook of the tower crane and setting the position as a parameter of the area limiting position point 1;

step e, manually confirming the position of the next point through a touch screen of a human-computer interaction interface, automatically acquiring the current rotation angle and the trolley amplitude value through an amplitude sensor 1 and a rotation sensor 5 by a data processing center 3, determining the position of a lifting hook of the tower crane and setting the position as a parameter for limiting the position of the next point in an area;

f, manually judging whether all the area limiting position points are set and confirmed through a touch screen of a human-computer interaction interface, if the set point number is already finished, judging whether the set point number is less than three points (the set point number is less than three points and a definite limiting area cannot be formed), if the set point number is less than three points, entering a step d to continue adding the third point, if the set point number is not less than three points, entering a step g, if the set point number is not finished, firstly judging whether the set point number is more than or equal to 10 points, if the set point number is more than or equal to 10 points, directly entering the step g, and if the set point number is less than 10;

h, setting a high-speed early warning distance parameter through a touch screen of the human-computer interaction interface 4, and aiming at cutting off high-speed power when the distance between the lifting hook and the limited area is set, so as to prevent the lifting hook from rushing into a dangerous area due to larger inertia when the lifting hook approaches the limited area at a high speed;

i, setting a low-speed alarm distance parameter through a touch screen of a human-computer interaction interface 4, aiming at cutting off low-speed power when setting the distance between a lifting hook and a region limit region, wherein the cutting off of the low-speed power is equivalent to completely cutting off the forward power of the lifting hook because the high-speed power is cut off during early warning, so as to prevent the lifting hook from rushing into a dangerous region;

and j, the data processing center 3 stores all the area limit position point parameters, the high-speed early warning distance parameters, the low-speed warning distance parameters and the area limit types determined in the step a obtained in the steps b to f in the EEPROM 5.

Through the tower crane angle limitation and the regional limitation parameter that set up in advance, the tower crane is through gathering lifting hook position data in real time and with angle limitation parameter and regional limitation parameter comparison in the actual operation in-process, can in time early warning, report to the police and cut high-speed, low-speed when the position of motion reachs early warning or alarm value, reaches the control operation that does not allow the lifting hook to get into the danger area, and its specific algorithm flow is shown in fig. 6, and its process of specifically implementing is as follows:

step 2, after the device is started, firstly reading the angle limiting parameters and the area limiting parameters and types set in the step 1 from an EEPROM (electrically erasable programmable read-Only memory) 5;

step 3, the data processing center 3 obtains and calculates the current hook position through the amplitude sensor 1 and the rotation sensor 5;

step 4, the data processing center 3 judges whether the current lifting hook position reaches an early warning value of any angle limit, and if the current lifting hook position reaches the early warning value of any angle limit, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limit area at a high speed;

step 5, the data processing center 3 judges whether the current hook position reaches an alarm value limited by any angle, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, high-speed and low-speed power supplies are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous area;

step 6, the data processing center 3 judges whether the current lifting hook position reaches an early warning value limited by any area, and if the current lifting hook position reaches the early warning value limited by any area, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limited area at a high speed;

step 7, the data processing center 3 judges whether the current hook position reaches an alarm value limited by any region, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, high-speed and low-speed power supplies are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous region;

step 8, the data processing center 3 sends the current hook position data and the alarm state to a local man-machine interaction module for display;

and 9, the data processing center 3 sends the current hook position data and the alarm state to the remote control module, and the step 3 is carried out.

Claims

1. Regional protection controlling means of tower machine based on-the-spot operation sets up, its characterized in that includes data processing module, and data processing module includes data processing center (3), and data processing center (3) are STM32F105 chip, and data processing center (3) still are connected with EEPROM memory (5), and data processing module still is connected with data acquisition module, power module, human-computer interaction module and remote control module simultaneously.

2. The tower crane area protection control device based on field operation setting as claimed in claim 1, wherein the power supply module has a specific structure: the data processing system comprises a 3.3V direct-current power supply (10) connected with a data processing center (3), wherein the 3.3V direct-current power supply (10) is also simultaneously connected with a 5V direct-current power supply (11) and an EEPROM (electrically erasable programmable read-only memory) memory (5), and the 5V direct-current power supply (11) is also simultaneously connected with a data acquisition module, a man-machine interaction module and a 24V direct-current power supply (12).

3. The tower crane area protection control device based on field operation setting as claimed in claim 1, wherein the specific structure of the data acquisition module is as follows: including amplitude sensor (1), amplitude sensor (1) is connected to after being connected with hardware filter circuit (2) data processing center (3), data processing center (3) still are connected with gyroscopic sensor (5), amplitude sensor (1), gyroscopic sensor (5) all with power module connects again.

4. The tower crane area protection control device based on field operation setting as claimed in claim 1, wherein the specific structure of the remote control module is as follows: the system comprises a GPRS module (8) connected with a data processing center (3), wherein the GPRS module (8) is sequentially connected with a cloud server (9) and a WEB interface (6), and the GPRS module (8) is also connected with a power supply module.

5. A control method of a tower crane area protection control device based on field operation setting is characterized in that based on the device of claim 1, the method specifically comprises the following steps:

step 2, after the device is started, firstly reading the angle limiting parameters and the area limiting parameters and types set in the step 1 from an EEPROM (5);

step 3, the data processing center (3) obtains and calculates the current hook position through the amplitude sensor (1) and the revolution sensor (5);

step 4, the data processing center (3) judges whether the current lifting hook position reaches an early warning value of any angle limit, and if the current lifting hook position reaches the early warning value of any angle limit, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limit area at a high speed;

step 5, the data processing center (3) judges whether the current hook position reaches an alarm value limited by any angle, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, the high-speed power supply and the low-speed power supply are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous area;

step 6, the data processing center (3) judges whether the current lifting hook position reaches an early warning value limited by any area, and if the current lifting hook position reaches the early warning value limited by any area, an early warning prompt is output and high-speed power is cut off so as to prevent the lifting hook from continuously approaching a dangerous area due to large inertia of an angle limited area at a high speed;

step 7, the data processing center (3) judges whether the current hook position reaches an alarm value limited by any area, if so, an alarm prompt is output and low-speed power is cut off, and at the moment, high-speed and low-speed power supplies are all cut off, and the inertia is small so as to prevent the hook from continuing to move forward to enter a dangerous area;

step 8, the data processing center (3) sends the current hook position data and the alarm state to a local man-machine interaction module for display;

and 9, the data processing center (3) sends the current hook position data and the alarm state to the remote control module, and the step 3 is carried out.

6. The control method of the area protection control device of the tower crane based on the field operation setting as claimed in claim 5, wherein the angle limitation parameter and the type setting of the tower crane in the step 1 include two scenes of clockwise and counterclockwise, and for the clockwise scene: setting a 1 st point position and then setting a 2 nd point position, wherein a fan-shaped angle from the 1 st point to the 2 nd point in a clockwise direction is used as an angle limiting area; for a counterclockwise scene: and setting the number of the angle limiting areas of at most 10 angles of one tower crane according to the fan-shaped angle between the 1 st point and the 2 nd point in the anticlockwise direction as the angle limiting area.

7. The control method of the area protection control device of the tower crane based on the field operation setting as claimed in claim 6, wherein the angle limiting parameters and the type setting of the tower crane in the step 1 are specifically as follows:

step 1.3, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center (3) through a rotation sensor (5), and setting the current rotation angle value as a value of the angle limit 1 st point;

step 1.5, manually confirming the position of the 2 nd point through a touch screen of a human-computer interaction interface, automatically acquiring a current rotation angle value by a data processing center (3) through a rotation sensor (5), and setting the current rotation angle value as a value of the 2 nd point limited by an angle;

step 1.6, the data processing center (3) sets a final angle limiting area according to the position data of the 1 st point obtained in the step 1.3, the position data of the 2 nd point obtained in the step 1.5 and the clockwise or anticlockwise type selection;

step 1.7, setting high-speed early warning angle parameters through a touch screen of a human-computer interaction interface (4) so as to cut off high-speed power when the distance between the lifting hook and an angle limiting area is set to be a certain degree, and preventing the lifting hook from rushing into a dangerous area due to large inertia when the lifting hook approaches the angle limiting area at a high speed;

step 1.8, setting a low-speed alarm angle parameter through a touch screen of a human-computer interaction interface (4), and aiming at cutting off low-speed power when the distance between the lifting hook and an angle limiting area is set to be a certain degree;

and step 1.9, the data processing center (3) stores the value of the angle limiting position point 1 obtained in the step 1.3, the value of the angle limiting position point 2 obtained in the step 1.5, the high-speed early warning angle parameter, the low-speed warning angle parameter and the angle limiting type determined in the step 1.1 into the EEPROM memory (5).

8. The control method of the area protection control device of the tower crane based on the field operation setting is characterized in that in the step 1, one tower crane can realize the number setting of 10 area limiting areas at most, each area forms a regular or irregular shape which covers 10 points at most, when the area setting is carried out, the lifting hook of the tower crane is moved to the key position point needing the area limiting one by one at a low speed, the limiting area of the field is virtually set in a polygonal mode, the area type comprises two scenes of inner area limiting and outer area limiting, the inner area limiting refers to an area within the surrounding range of a multi-line segment, and the outer area limiting refers to an area outside the surrounding range of the multi-line segment as a limiting area.

9. The control method of the tower crane area protection control device based on the field operation setting as claimed in claim 8, wherein the area limitation parameters and the type setting in step 1 are as follows:

step a, determining whether the type of the area limitation is an inner area limitation or an outer area limitation through a touch screen of a human-computer interaction interface (4);

step c, manually confirming the position of the 1 st point through a touch screen of a human-computer interaction interface (4), automatically acquiring a current rotation angle value and a hook amplitude value by a data processing center (3) through an amplitude sensor (1) and a rotation sensor (5), determining the position of a hook of the tower crane and setting the position as a parameter of an area limiting position point 1;

step e, manually confirming the position of the next point through a touch screen of a human-computer interaction interface, automatically acquiring the current rotation angle and the trolley amplitude value through an amplitude sensor (1) and a rotation sensor (5) by a data processing center (3), determining the position of a lifting hook of the tower crane and setting the position as a parameter for limiting the position of the next point in an area;

f, manually judging whether all the area limiting position points are set and confirmed through a touch screen of a human-computer interaction interface, if the set point number is already finished, judging whether the set point number is less than three points by a data processing center (3), if the set point number is less than three points, continuing to increase the third point in the step d, if the set point number is not finished, entering the step g, if the set point number is not finished, firstly judging whether the set point number is more than or equal to 10 points, if the set point number is more than or equal to 10 points, directly entering the step g, and if the set point number is less than 10 points, entering the step d;

h, setting a high-speed early warning distance parameter through a touch screen of a human-computer interaction interface (4) to cut off high-speed power when the distance between the lifting hook and the limited area is set, and preventing the lifting hook from rushing into a dangerous area due to large inertia when the lifting hook approaches the limited area at a high speed;

i, setting a low-speed alarm distance parameter through a touch screen of a human-computer interaction interface (4) to cut off low-speed power when the distance between the lifting hook and a region limiting area is set, wherein the cut-off low-speed power is equivalent to completely cut off the forward power of the lifting hook because the high-speed power is cut off during early warning, so that the lifting hook is prevented from rushing into a dangerous area;

and j, the data processing center (3) stores all the area limit position point parameters, the high-speed early warning distance parameters and the low-speed warning distance parameters obtained in the steps b to f and the area limit types determined in the step a in the EEPROM (5).