CN111847287A

CN111847287A - Tower crane distance measuring method based on UWB equipment, and dynamic positioning method and equipment for damage position of tower crane steel wire rope

Info

Publication number: CN111847287A
Application number: CN202010485053.2A
Authority: CN
Inventors: 刘智川; 朴永焕
Original assignee: Daqi Iot Technology Guangzhou Co ltd
Current assignee: Daqi Iot Technology Guangzhou Co ltd
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2020-10-30
Anticipated expiration: 2040-06-01
Also published as: CN111847287B

Abstract

The invention relates to the technical field of tower crane safety detection, in particular to a tower crane distance measuring method based on UWB equipment, a dynamic positioning method of a tower crane steel wire rope damage position and equipment, wherein the real-time position of damage is determined by a damage position parameter D, and the damage position parameter D refers to the distance between the damage position and the original point of the steel wire rope along the steel wire rope. According to the tower crane distance measurement method, through reasonable layout of measurement points and a base station, the complexity of data extraction and summarization is simplified, and the stability and the anti-interference performance of the whole system are improved.

Description

Tower crane distance measuring method based on UWB equipment, and dynamic positioning method and equipment for damage position of tower crane steel wire rope

Technical Field

The invention relates to the technical field of tower crane safety detection, in particular to a tower crane distance measuring method based on UWB equipment, and a dynamic positioning method and equipment for a tower crane steel wire rope damage position.

Background

The steel wire rope is used as one of key components for hoisting, lifting, traction and bearing, and is widely applied to the tower crane, when the steel wire rope is in a damaged state in actual use, the steel wire rope is easy to break, so that industrial production is seriously threatened, and even serious safety production accidents are brought about, therefore, the nondestructive testing of the steel wire rope is of great importance.

The magnetic detection equipment is a commonly used effective method for detecting the steel wire rope, generally, the steel wire rope is excited to saturation, then a magnetic signal on the surface of the steel wire rope is detected through a magnetic sensor, and the damage of the steel wire rope is detected and analyzed through the abnormity of the magnetic signal and the corresponding data processing.

For example, chinese patent CN210199020U discloses a lifting rope inspection device for a hoisting apparatus, which uses a VTS-D wire rope flaw detector to detect a lifting rope, but the lifting rope needs to be detached from the hoisting apparatus and then damage inspection is performed, and damage detection cannot be realized while a tower crane (tower crane) is operating normally.

In addition, the chinese patent application CN104876137A discloses a tower crane, which detects whether a steel wire rope has potential damage by arranging sensors at the two ends and the middle of the steel wire rope, but it cannot determine the specific position of the steel wire rope damage.

Chinese patent CN106018544B discloses a holographic detection system for a steel wire rope, wherein a detection device is used for detecting the damage position of the steel wire rope, and a damage position marking device is used for spraying and marking the damage position of the steel wire rope, but the system cannot be used for positioning in electronic equipment and displaying the damage position of the steel wire rope; and it can not carry out damage detection to the wire rope of just working in real time of erectting on the tower machine, need stop the operation and detect and the spraying after dismantling the wire rope, and use in normal times and dismantle the wire rope promptly directly to change new wire rope, and the practical meaning of detecting and reusing after dismantling is not big.

The Chinese patent application CN107175665A discloses a robot for inspecting the damage of a steel wire rope of a suspension bridge, which can move along the steel wire rope of the suspension bridge and inspect the steel wire rope so as to detect the damage of the steel wire rope of the suspension bridge. The inspection robot can also be applied to the field of tower cranes to detect damage of steel wire ropes of the tower cranes, but the steel wire ropes of the tower cranes can change positions along with the running of the tower cranes, so that dynamic real-time detection cannot be realized by only using the inspection robot.

Disclosure of Invention

The invention aims to solve the defects of the prior art, provides a tower crane distance measurement method based on UWB equipment, realizes distance measurement among a cockpit, a trolley and a lifting hook of a tower crane, and provides a dynamic positioning method and equipment for the damage position of a steel wire rope of the tower crane on the basis of the tower crane distance measurement method based on the UWB equipment so as to dynamically position the damage of the steel wire rope of the tower crane in use in real time.

In order to achieve the purpose, a tower crane ranging method based on UWB equipment is designed, wherein a first distribution point, a second distribution point and a third distribution point are respectively arranged at a cockpit, a trolley and a hook, the UWB equipment is respectively arranged at the first distribution point, the second distribution point and the third distribution point, the UWB equipment at the second distribution point is used as a label, the UWB equipment at the first distribution point and the third distribution point is used as a base station, and the ranging method comprises the following steps: s1, a tag sends a ranging start instruction to any base station, and after the base station receives the ranging start instruction, ranging is carried out and a ranging result is stored by the tag; and S2, the tag sends a ranging starting instruction to the other base station, and the other base station carries out ranging and stores a ranging result after receiving the ranging starting instruction.

Preferably, the distance measurement is realized between the tag and the base station by a bilateral two-way distance measurement method.

The invention also relates to a dynamic positioning method for the damage position of the tower crane steel wire rope, the method determines the real-time position of the damage through a damage position parameter D, the damage position parameter D refers to the distance between the damage position and the original point of the steel wire rope along the steel wire rope, the original point of the steel wire rope refers to the fixed point of the tower crane steel wire rope at the front end of the large arm, and the method for determining the real-time position of the damage through the damage position parameter D specifically comprises the following steps:

when the value of the damage position parameter D of the detected damage position is m, a) if m is less than or equal to L1, the real-time position of the damage is located at 100% m/L1 from the original point of the steel wire rope to the outer end point of the current amplitude; b) if L1+ k × L2< m is not more than L1+ k × L2+ L3, the real-time position of the damage is located at 100% ((m-L1-k × L2)/L3) between the outer end point of the current amplitude and the tower body of the tower crane; c) if L1< m ≦ L1+ k ≦ L2, reference data p is introduced, defining p ═ L (m-L1)/L2| +1, where | | means that the numerical value is rounded; c.1) if p is odd, the real-time location of the damage is located at 100% > (m-L1- (p-1) × L2)/L2 of the vertical section from the location of the hook to the outer end point of the current amplitude; c.2) if p is even, the real-time position of the damage is located at 100% -100% > (m-L1- (p-1) × L2)/L2 of the vertical section from the location of the hook to the outer end point of the current amplitude; wherein, L1 is the distance from the original point of the steel wire rope to the outer end point of the current amplitude, L2 is the release height of the lifting hook, L3 is the current amplitude, k is the number of strands of the steel wire rope, and the lengths of L2 and L3 are obtained by the tower crane distance measurement method based on the UWB equipment.

Preferably, the method detects whether the steel wire rope is damaged through damage detection equipment, and obtains a damage position parameter D; detecting the release height of the lifting hook and the amplitude of the tower crane in real time through position detection equipment; and obtaining the real-time damage position of the steel wire rope through the processor according to the damage position parameter D, the release height of the lifting hook detected in real time and the amplitude of the tower crane.

Preferably, the method displays the structural view of the tower crane through a display, and displays the real-time position of the damage of the steel wire rope in real time in the structural view of the tower crane.

Preferably, the method stores the structural view of the tower crane and the damage position parameters D of all damages through a memory.

The invention further relates to equipment for the dynamic positioning method of the damage position of the tower crane steel wire rope, which comprises the following steps: the damage detection equipment is used for detecting whether the steel wire rope is damaged or not and obtaining a damage position parameter D; the position detection equipment is used for detecting the release height of the lifting hook and the amplitude of the tower crane in real time; and the processor is used for obtaining the real-time position of the damage of the steel wire rope according to the damage position parameter D, the release height of the lifting hook detected in real time and the amplitude of the tower crane.

Preferably, the damage detection device is an inspection robot, and the inspection robot is provided with a distance detection device to detect the movement distance along the steel wire rope.

Preferably, the device further comprises a display for displaying the structural view of the tower crane and displaying the real-time position of the damage of the steel wire rope in real time in the structural view of the tower crane.

Preferably, the device further comprises a memory for storing a structural view of the tower crane and the damage location parameters D of all the damages.

Compared with the prior art, the invention has the advantages that: according to the tower crane ranging method, the complexity of data extraction and summarization is simplified through reasonable layout of the measuring points and the base stations, the ranging process is actively controlled by the tags, the ranging requests among the base stations cannot conflict, all results are uniformly stored by the tags and finally sent to the processing terminal, the transmission frequency is reduced to the minimum, and the stability and the anti-interference performance of the whole system are improved.

According to the dynamic positioning method and the dynamic positioning equipment, the real-time position of the damage of the steel wire rope is represented through the damage position parameter D, and the real-time positions of the damage of all the steel wire ropes are preferably displayed on a structural drawing of the tower crane through a display, so that operators and maintainers can visually and conveniently confirm the damage position of the steel wire rope and maintain the steel wire rope in a construction gap without detecting and maintaining the steel wire rope after the steel wire rope is disassembled.

Drawings

FIG. 1 is a parameter definition diagram 1 of the present invention.

FIG. 2 is a parameter definition diagram 2 of the present invention.

Fig. 3 is a schematic diagram of the operation position of the tower crane in the embodiment.

Fig. 4 is a schematic diagram of the tower crane in the embodiment after the operation position of the tower crane is changed.

Fig. 5 is a schematic diagram of the tower crane in the embodiment after the operation position of the tower crane is changed again.

Fig. 6 is a schematic position diagram of the arrangement of the UWB device of the present invention.

Detailed Description

The structure and principles of such apparatus and method will be apparent to those skilled in the art from the following further description of the invention, taken in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiment provides a dynamic positioning method for a damaged position of a steel wire rope of a tower crane and equipment used for the method, the damaged position on the steel wire rope of the tower crane can be dynamically marked on a structural view of the tower crane to be accurately corresponding to an actual damaged position, and the damaged position can be displayed through display equipment at a movable end or a fixed end, so that an operator can know the damaged position conveniently.

The device comprises: the damage detection device is used for detecting whether the steel wire rope is damaged or not and obtaining a damage position parameter D; the position detection equipment is used for detecting the release height of the lifting hook and the amplitude of the tower crane in real time; the storage is used for storing a structural view of the tower crane and all damaged damage position parameters D; the processor is used for processing data, acquiring the real-time position of the damage of the steel wire rope according to the damage position parameter D, the release height of the lifting hook detected in real time and the amplitude of the tower crane, and marking the real-time position of the damage of the steel wire rope on a structure diagram of the tower crane according to a processing result; and the display is used for displaying the structural view of the tower crane and displaying the real-time position of the damage of the steel wire rope in real time in the structural view of the tower crane.

Wherein, damage check out test set can adopt and patrol and examine the robot, patrol and examine the robot have the movement distance of distance test set in order to detect along wire rope, confirm its movement distance along wire rope through the removal step number of patrolling and examining the robot or driving motor's the number of turns, and position test set can adopt UWB equipment in order to realize the location, the display can be a plurality of, can be stiff end or removal end, for example fixed the installation in tower machine cockpit, total control room etc. or for cell-phone, flat board or special mobile device's display screen to show the real-time position of wire rope's damage to relevant staff.

As shown in fig. 1, in the present embodiment, the damage position of the wire rope is defined by a single datum, which means: a distance D along the wire rope between the damage location and a wire rope origin, wherein the wire rope origin is defined in the following manner: the tower crane steel wire rope is used as the original point of the steel wire rope at the front end of the large arm, and in addition, the following data are used in the embodiment, and the definition and the symbols are as follows:

the maximum amplitude of the tower crane, namely the horizontal distance from the outer end of the large arm to the tower body of the tower crane, is marked as Lmax;

The current amplitude of the tower crane, namely the horizontal distance from the lifting hook to the tower body of the tower crane, is recorded as Lt;

the current hook release distance of the tower crane, namely the distance from the hook to the vertical section of the outer end point of the current amplitude variation, is recorded as Ht;

and the number of the tower crane hook steel wire rope strands is recorded as k (k is an even number necessarily).

For convenience of calculation, the parameters L1, L2 and L3 are introduced in the present embodiment, and the defined distances are as shown in fig. 2, where L1 is the distance from the origin of the steel wire rope to the outer end point of the current amplitude, L2 is Ht, and L3 is Lt, so that the following relationships can be obtained:

l3 ═ Lt … … (formula 1);

l1 ═ Lmax-L3 ═ Lmax-Lt … … (formula 2);

l2 ═ Ht … … (formula 3);

when a set of damage data x is detected by the detection device and the value of the damage position parameter D is m, the damage position can be determined by the following method:

a) if m ≦ L1, the position of the damage data x will be 100% m/L1 from the left of the L1 interval.

b) If m > L1+ k x L2+ L3, it is not shown.

c) If L1+ k × L2< m ≦ L1+ k × L2+ L3, the location of damage data x will be located 100% from the left of the L3 interval (m-L1-k × L2)/L3.

d) If L1< m ≦ L1+ k × L2, then the reference data p is calculated, defining p | (m-L1)/L2| +1, where the | | sign means that the numerical value is rounded, i.e. the decimal place is discarded. The value of p should range from 1 to k, k being a positive integer indicating that it is on the fourth strand, and then treated separately according to the following two cases:

d.1) if p is odd

The location of the damage data x will be at 100% (m-L1- (p-1) × L2)/L2 of the L2 interval, starting with the hook.

d.2) if p is even

The location of the damage data x will be at 100% -100% > (m-L1- (p-1) > -L2)/L2 of the L2 interval starting with the hook.

In actual work, the amplitude variation (namely Lt) and the hook release distance (namely Ht) are variable quantities, namely the binary value changes along with time, and the binary value is acquired in real time according to UWB detection equipment. After the amplitude is changed from Lt to Lt ', new L1', L2 'and L3' can be calculated according to the formulas 1 to 3. And the position of the same damage data x is changed due to the change of parameters L1-L3 when the position is brought into subsequent calculation, so that different calculation results can be obtained, and dynamic detection of the position of a certain specific damage data x, which is driven by amplitude variation and a lifting hook release distance, is realized. Subsequently, the operator can visually confirm the real-time position of the damage from the display and judge whether the steel wire rope needs to be repaired or replaced wholly according to the severity of the damage.

In order to realize dynamic positioning of the damage, real-time measurement of the distance between the hook and the distance between the trolley needs to be realized to obtain the aforementioned data of L1, L2, and L3, so in this embodiment, a UWB (ultra wide band communication) technology is adopted, and a two-way distance measurement method realized by using the ToF (time of flight) principle is used to realize real-time measurement of the distance between the hook and the trolley.

In the distance measuring method of the present embodiment, referring to fig. 6, first, a first distribution point, a second distribution point, and a third distribution point are respectively disposed at a cockpit, a trolley, and a hook, where UWB devices are respectively disposed at the first distribution point, the second distribution point, and the third distribution point, the UWB devices at the second distribution point are used as tags, and the UWB devices at the first distribution point and the third distribution point are used as base stations, the distance measuring method includes the following steps:

s1, a tag sends a ranging start instruction to any base station, and after the base station receives the ranging start instruction, ranging is carried out and a ranging result is stored by the tag.

And S2, the tag sends a ranging starting instruction to the other base station, and the other base station carries out ranging and stores a ranging result after receiving the ranging starting instruction.

The ToF refers to the Time of Flight, i.e. Time of Flight. In application, assuming that the device a and the device B have completely coincident device times, the time stamp t1 is recorded while the radio wave is transmitted by the device a, and the received time stamp t2 is recorded after the radio wave is received by the device B after propagating through the medium, the time taken for the radio wave to propagate between the devices a and B can be measured: t2-t1, so that the distance between devices a and B can be calculated: d-t c, c is the speed of light. This method is the basic principle of using ToF technology for ranging. However, this method has the disadvantages of large error and high precision time synchronization between the device a and the device B, and therefore the two-way ranging method is used instead in this embodiment. In the two-way ranging method, the device a and the device B do not need to perform time synchronization, and only need to perform local time counting. The distance measuring method comprises the following steps:

1. Device a sends a radio signal while recording a time stamp ta 1.

2. Device B receives the radio signal while recording timestamp tb 1.

3. Device B replies to the radio signal while recording timestamp tb 2.

4. Device a receives the replied signal while recording a timestamp ta 2.

Then, it can be known that: the local processing time tpb of the device B is tb2-tb1, and the total ranging time tpa of the device a is ta2-ta1, because the ToF time t satisfies the following formula: tpa tpb 2 t, from which the time of flight can be calculated: t ═ tpa-tpb)/2, and the distance between the two devices is obtained: d-t c, c is the speed of light.

The time statistics of the method is based on the time difference in the single equipment, and time synchronization among the equipment is not needed, so that the complexity of the system is greatly reduced. It can be seen that the initiator of the ranging is device a, so a can be named base station, and the device B of the receiving and returning of the ranging is named tag. In one ranging, a radio signal is sent from the base station to the tag and then from the tag back to the base station.

Further, in practical engineering applications, although the two-way ranging method avoids time reference synchronization, the local clocks of the device a and the device B have a difference in accuracy, which may result in an excessive error of a result and may not meet engineering requirements, so that an improved ranging algorithm is actually used, that is, a transmission from the base station to the tag is added after two transmissions in the ranging process. The three transmissions form incomplete two-way ranging, and in the last transmission, the roles of the base station and the label are actually reversed, so that in the final result, the clock errors of the base station and the label are offset positively and negatively by the method, the ranging precision is greatly improved, and the method is a two-way ranging method.

As can be seen from the above method, the arrangement of the present embodiment, that is, the UWB device at the second point of distribution is used as a tag, and the UWB devices at the first point of distribution and the second point of distribution are used as base stations, so that the ranging result is a direct distance by adopting a system design of 1 tag and 2 base stations. And if the combination of the base station 1 and the label 2 is adopted, two groups of ranging results are respectively stored in the two labels, and finally, data extraction and summarization are carried out, which brings high complexity.

Moreover, in the general method, ranging is initiated by a base station, and two groups of base stations exist in the system, which may cause a ranging request conflict, so a set of mechanism needs to be designed for synchronizing the initiation of ranging requests of the two groups of base stations. Therefore, in the system, an additional ranging start signal is introduced before the initiation of the bilateral bidirectional ranging, so that the work flow of the whole system is as follows:

1. the base station listens to the radio antenna and does not perform any transmission operation until the start command is not received.

2. The tag transmits a ranging start command to one base station.

3. And after receiving the instruction, the base station starts bilateral two-way ranging immediately, and the ranging result is stored by the label.

4. After ranging is completed, the tag sends a ranging start instruction to another base station.

Therefore, the whole ranging system realizes active control by the label, the ranging requests between the base stations cannot generate conflict, all results are uniformly stored by the label and finally sent to the processing terminal, the transmission times are reduced to the minimum, and the stability and the anti-interference performance of the whole system are improved.

Examples

In this embodiment, the UWB device is used to acquire data of relevant tower crane parameters, and initial parameters are obtained as follows: 20, 10, 30, 8, then: l3-20, L1-10 and L2-10.

According to the dynamic positioning method of the present invention, m is 8, which satisfies the condition a), and therefore the position of the damage x should be located at 100% × 8/10 ═ 80% of the L1 interval, as shown in fig. 3.

After a certain time, with the operation of the tower crane, the relevant parameters change as follows: when Lt is 10, Ht is 10, Lmax is 30, and m is 8, then: l3-10, L1-20, and L2-10.

m-8 satisfies the condition a), and therefore the position of the damage x should be located at 100% 8/20-40% of the L1 interval, as shown in fig. 4. It can be seen that although L1 has changed, the absolute position of lesion x has not changed after calculation.

After a certain time, with the operation of the tower crane, the relevant parameters change again as follows: 25, 10, 30, 8, 4, then: l1-5, L2-10, L3-25.

m-8 satisfies the condition d), i.e. 5<8< (5+4 x 10). According to the above formula p | (m-L1)/L2| +1, p | (8-5)/10| +1 ═ 1 is calculated, which satisfies the condition d.1), and thus the damage x should be located at 100% ((m-L1- (p-1) × L2)/L2 ═ 100% ((8-5) - (1-0) × 10)/10 ═ 30% of the L2 interval, as shown in fig. 5. It can be seen that as Lt changes, the location of lesion x changes in real time.

Claims

1. A tower crane distance measurement method based on UWB equipment is characterized in that a first distribution point, a second distribution point and a third distribution point are respectively arranged at a cockpit, a trolley and a hook, the first distribution point, the second distribution point and the third distribution point are respectively provided with the UWB equipment, the UWB equipment at the second distribution point is used as a label, the UWB equipment at the first distribution point and the third distribution point is used as a base station, and the distance measurement method comprises the following steps:

s1, a tag sends a ranging start instruction to any base station, and after the base station receives the ranging start instruction, ranging is carried out and a ranging result is stored by the tag;

2. The tower crane ranging method based on the UWB equipment as claimed in claim 1, wherein the ranging is realized between the tag and the base station through a bilateral two-way ranging method.

3. A dynamic positioning method for a tower crane steel wire rope damage position by adopting the UWB equipment-based tower crane ranging method as claimed in any one of claims 1-2, characterized in that the method determines the real-time position of the damage through a damage position parameter D, wherein the damage position parameter D refers to the distance between the damage position and the steel wire rope origin along the steel wire rope, the steel wire rope origin refers to a fixed point of the tower crane steel wire rope at the front end of a boom, and the method for determining the real-time position of the damage through the damage position parameter D specifically comprises the following steps:

when the value of the lesion location parameter D of the detected lesion location is m,

a) if m is less than or equal to L1, the real-time position of the damage is located at a position from the original point of the steel wire rope to the outer end point of the current amplitude of variation, namely 100% m/L1;

b) if L1+ k × L2< m is not more than L1+ k × L2+ L3, the real-time position of the damage is located at 100% ((m-L1-k × L2)/L3) between the outer end point of the current amplitude and the tower body of the tower crane;

c) If L1< m ≦ L1+ k ≦ L2, reference data p is introduced, defining p ═ L (m-L1)/L2| +1, where | | means that the numerical value is rounded;

c.1) if p is odd, the real-time location of the damage is located at 100% > (m-L1- (p-1) × L2)/L2 of the vertical section from the location of the hook to the outer end point of the current amplitude;

c.2) if p is even, the real-time position of the damage is located at 100% -100% > (m-L1- (p-1) × L2)/L2 of the vertical section from the location of the hook to the outer end point of the current amplitude;

wherein, L1 is the distance from the original point of the steel wire rope to the outer end point of the current amplitude, L2 is the release height of the lifting hook, L3 is the current amplitude, k is the number of strands of the steel wire rope, and the lengths of L2 and L3 are obtained by the tower crane distance measurement method based on the UWB equipment.

4. The dynamic positioning method for the damage position of the steel wire rope of the tower crane according to claim 3, characterized in that the method comprises the following steps:

detecting whether the steel wire rope is damaged or not through damage detection equipment, and obtaining a damage position parameter D;

detecting the release height of the lifting hook and the amplitude of the tower crane in real time through position detection equipment;

and obtaining the real-time damage position of the steel wire rope through the processor according to the damage position parameter D, the release height of the lifting hook detected in real time and the amplitude of the tower crane.

5. The dynamic positioning method for the damage position of the steel wire rope of the tower crane according to claim 4, characterized in that the method comprises the following steps:

and displaying the structural view of the tower crane through a display, and displaying the real-time position of the damage of the steel wire rope in real time in the structural view of the tower crane.

6. The dynamic positioning method for the damage position of the steel wire rope of the tower crane according to claim 5, characterized in that the method comprises the following steps:

and storing the structural view of the tower crane and all damaged damage position parameters D through a memory.

7. The equipment for the dynamic positioning method of the damage position of the tower crane steel wire rope according to claim 3 is characterized by comprising the following steps:

the damage detection equipment is used for detecting whether the steel wire rope is damaged or not and obtaining a damage position parameter D;

the position detection equipment is used for detecting the release height of the lifting hook and the amplitude of the tower crane in real time;

and the processor is used for obtaining the real-time position of the damage of the steel wire rope according to the damage position parameter D, the release height of the lifting hook detected in real time and the amplitude of the tower crane.

8. The apparatus of claim 7, wherein the damage detection device is an inspection robot having a distance detection device to detect a distance of movement along the wire rope.

9. The device as claimed in claim 7, further comprising a display for displaying the structural view of the tower crane and displaying the real-time position of the damage of the wire rope in real time in the structural view of the tower crane.

10. The apparatus of claim 7, further comprising a memory for storing a view of the structure of the tower crane and the damage location parameter D for all the damages.