CN112777501A - Tower crane safety operation auxiliary monitoring method and system - Google Patents
Tower crane safety operation auxiliary monitoring method and system Download PDFInfo
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- CN112777501A CN112777501A CN202110165835.2A CN202110165835A CN112777501A CN 112777501 A CN112777501 A CN 112777501A CN 202110165835 A CN202110165835 A CN 202110165835A CN 112777501 A CN112777501 A CN 112777501A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000000725 suspension Substances 0.000 claims abstract description 61
- 238000010276 construction Methods 0.000 claims abstract description 38
- 238000004806 packaging method and process Methods 0.000 claims description 25
- 238000004140 cleaning Methods 0.000 claims description 18
- 238000005192 partition Methods 0.000 claims description 10
- 239000004744 fabric Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 239000000700 radioactive tracer Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 3
- 239000005304 optical glass Substances 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- B08B1/143—
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- B08B1/30—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses an auxiliary monitoring method and system for safety operation of a tower crane, which are used for monitoring work interference when more than two tower cranes are arranged on a construction site, and the auxiliary monitoring method comprises the following steps: s01, constructing a three-dimensional space coordinate system associated with the construction site range; s02 responding to the work starting signal of the tower crane; s03, acquiring the positions of a tower body, a balance arm, a suspension arm, a variable amplitude trolley, a lifting hook and a control room of the tower crane in real time; s04, associating the positions of a tower body, a balance arm, a suspension arm, a luffing trolley, a hook and a control room of the tower crane with a three-dimensional space coordinate system in a coordinate point form to obtain a tracing outline corresponding to the outline of the tower crane; s05, when the tracing outline and/or the working state between the tower cranes meet the preset conditions, monitoring and early warning information is output.
Description
Technical Field
The invention relates to the technical field of crane safety work monitoring, in particular to a method and a system for auxiliary monitoring of safety operation of a tower crane.
Background
The tower crane is used as an important auxiliary tool for building and road and bridge construction, along with the increasing difficulty of current engineering, the increasingly popularization of prefabricated parts and the increasingly wide application of the tower crane are achieved, even more than two tower cranes can be erected on some construction sites for auxiliary work, however, because the suspension arm of the tower crane is longer, under the condition that the space of the use site is limited, how to avoid work interference and collision among the tower cranes is a very important safety operation concern, and at present, a simpler and direct safety operation auxiliary monitoring method is not available temporarily, so that how to improve the safety operation of the tower crane is a research subject with practical significance.
Disclosure of Invention
In view of the above, the present invention provides an auxiliary monitoring method and system for tower crane safety operation, which is reliable, fast and convenient to implement, and low in cost.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a tower crane safety operation auxiliary monitoring method is used for work interference monitoring when a construction site is provided with more than two tower cranes, and each tower crane comprises: the auxiliary monitoring method comprises the following steps of:
s01, constructing a three-dimensional space coordinate system associated with the construction site range;
s02, responding to a working starting signal of the tower crane;
s03, acquiring the positions of a tower body, a balance arm, a suspension arm, an amplitude variation trolley, a lifting hook and a control room of the tower crane in real time;
s04, associating the positions of a tower body, a balance arm, a suspension arm, a luffing trolley, a hook and a control room of the tower crane with a three-dimensional space coordinate system in a coordinate point form to obtain a tracing outline corresponding to the outline of the tower crane;
and S05, outputting monitoring early warning information when the tracing contour and/or the working state between the tower cranes meet the preset conditions.
As a possible implementation manner, further, tracing units are disposed on the tower body, the balance arm, the boom, the luffing trolley, the hook, and the control room, the tracing units are configured to actively output tracing positioning signals, and the tracing positioning signals output by different tracing units include information indicating identities thereof, where the auxiliary monitoring method specifically includes:
s01, constructing a three-dimensional space coordinate system associated with the construction site range;
s02, responding to a working starting signal of the tower crane;
s03, acquiring tracing and positioning signals output by tracing units on a tower body, a balance arm, a suspension arm, a variable amplitude trolley, a lifting hook and a control room of the tower crane in real time, and then analyzing the tracing and positioning signals to obtain three-dimensional coordinates of each tracing unit in the range of a construction site;
s04, associating the three-dimensional coordinates of each tracing unit with a three-dimensional space coordinate system in the form of coordinate points to obtain a tracing outline corresponding to the outline of the tower crane;
and S05, outputting monitoring early warning information when the tracing contour and/or the working state between the tower cranes meet the preset conditions.
As a preferred alternative, the tracer units are preferably arranged at the top of the tower body, the end of the balance arm far away from the tower body, the end of the suspension arm far away from the tower body, on the vehicle body of the luffing jib, on the lifting hook and in the control room.
As a preferred alternative, it is preferred that the tracing profile comprises a tower profile, a balance arm profile, a boom profile and a hook profile; wherein the content of the first and second substances,
the construction method of the tower body profile comprises the following steps: taking a coordinate point formed by a tracer label at the top of the tower body as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, then setting the line segment as a tower body outline reference line, and setting an area in a preset range of the tower body outline reference line as a tower body outline;
the construction method of the balance arm profile comprises the following steps: taking a coordinate point formed by a tracing label on a balance arm as a starting point, then constructing a line segment which is vertically intersected with a tower body profile reference line, setting the line segment as a balance arm profile reference line, and setting a region in a preset range of the balance arm profile reference line as a balance arm profile;
the construction method of the suspension arm profile comprises the following steps: taking a coordinate point formed by a tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with the tower body outline reference line, then setting the line segment as the suspension arm outline reference line, and setting an area in a preset range of the suspension arm outline reference line as the suspension arm outline;
the hook profile comprises a load-carrying hook profile and an empty hook profile,
the construction method of the no-load hook profile comprises the following steps: connecting a coordinate point formed by a tracing label on the suspension arm with a coordinate point formed by a tracing label on the body of the amplitude-variable trolley to form a line segment, setting the line segment as a no-load hook profile reference line, and setting a region in a preset range of the no-load hook profile reference line as a no-load hook profile;
the construction method of the carrying hook contour comprises the following steps: the method comprises the steps of connecting a coordinate point formed by a tracing label on a suspension arm with a coordinate point formed by a tracing label on a vehicle body of a variable amplitude trolley to form a first line segment, taking the coordinate point formed by the tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, meanwhile setting the line segment as a second line segment, then setting a virtual line formed by combining the first line segment and the second line segment as a loading hook contour reference line, and then setting an area in a preset range of the loading hook contour reference line as a loading hook contour.
As a preferred selection implementation manner, preferably, when the minimum distance between the tracking profiles of different tower cranes is smaller than the preset safety distance, monitoring and early warning information is output.
As a preferred alternative, the scheme further includes:
acquiring working parameters of the tower crane in real time, wherein the working parameters at least comprise real-time rotation speed of a balance arm, real-time rotation speed of a suspension arm, moving speed of an amplitude variation trolley on the suspension arm, rotation braking rotation amplitude of a rotation mechanism at different rotation speeds and braking stroke of the amplitude variation trolley at different moving speeds;
when the minimum distance of the tracing outlines among different tower cranes is larger than the preset safety distance,
if the balance arm and the suspension arm are in a rotating state, simulating a second position state which is reached when the balance arm and the suspension arm carry out rotation braking within an expected braking duration by taking the current rotation speed of the balance arm and the suspension arm as an initial speed and the current position state of the balance arm and the suspension arm as a first position state, and outputting monitoring early warning information when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance;
and if the amplitude variation trolley is in a motion state, simulating a second position state reached when the amplitude variation trolley is braked within an expected braking duration by taking the current speed of the amplitude variation trolley as an initial speed and the current position state as a first position state, and outputting monitoring early warning information when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance.
As a preferred optional embodiment, preferably, the luffing carriage is further provided with a stroke calibration sensor, the stroke calibration sensor is configured to detect a horizontal distance from the luffing carriage to the control room on the boom, and the stroke calibration sensor includes:
the device comprises a device main body, a first partition plate and a second partition plate, wherein one end of the device main body is of an open rectangular shell structure, the middle part of the device main body is provided with the first partition plate extending to two ends of the device main body, and the first partition plate divides the interior of the device main body into a first installation cavity and a second installation cavity which are opposite up and down;
the infrared distance measuring sensor is provided with an infrared transmitting end and a reflected light receiving end which are positioned on the same side, the infrared distance measuring sensor is fixed in the first mounting cavity, and the infrared transmitting end and the reflected light receiving end of the infrared distance measuring sensor face the open end of the first mounting cavity;
the packaging lens is made of optical glass and fixed at the open end of the first mounting cavity, and the infrared distance measuring sensor is packaged in the first mounting cavity;
the lens cleaning mechanism is attached to the end face, far away from the first mounting cavity, of the packaging lens and is used for wiping the packaging lens;
and the cleaning driving mechanism is arranged in the second mounting cavity, is connected with the lens cleaning mechanism and drives the lens cleaning mechanism to wipe the packaged lens.
As a preferred alternative, it is preferred that the lens cleaning mechanism comprises:
the wiping frames are of U-shaped structures and are oppositely arranged on one side of the end face, far away from the first mounting cavity, of the packaging lens, and the open end of the U-shaped structures faces the packaging lens;
the pair of supporting pads correspond to the pair of wiping frames one by one, one end of each supporting pad is clamped in the U-shaped structure of the wiping frame, and the other end of each supporting pad faces the packaged lens;
the pair of wiping cloths correspond to the pair of supporting pads one by one and are made of superfine fiber cloth, and the wiping cloths and the supporting pads are fixed towards the end face of the packaging lens and are used for being attached to the packaging lens;
the cleaning driving mechanism comprises:
the driving plate is of an elliptical annular structure and is arranged on one side, close to the open end, of the second mounting cavity, the upper end face and the lower end face of the second mounting cavity are respectively provided with a guide groove corresponding to the driving plate, the upper end and the lower end of the driving plate are respectively provided with a guide block matched and connected with the guide grooves correspondingly and are in horizontal sliding connection with the guide grooves through the guide blocks, the upper side of the annular structure of the driving plate is provided with a first rack structure, and the lower side of the annular structure of the driving plate is provided with a second rack structure;
one end of the first connecting rod is fixedly connected with the middle part of the upper end of the driving plate, and the other end of the first connecting rod horizontally extends out of the second mounting cavity;
two ends of the second connecting rod are respectively and fixedly connected with the lower ends of the pair of wiping frames, and the middle part of the second connecting rod is fixedly connected with the other end of the first connecting rod;
the driving motor is fixed in the second mounting cavity, and the rotating shaft end of the driving motor extends into the elliptical ring structure of the driving plate;
the driving wheel is fixed at the tail end of a rotating shaft of the driving motor, and driving teeth which are used for being meshed and connected with a first rack structure or a second rack structure of the driving plate are distributed on the outer peripheral side of the driving wheel in an arc array mode;
and the packaging cover plate is fixed at the open end of the second mounting cavity, and the upper end of the packaging cover plate is correspondingly provided with an avoidance sliding groove for the first connecting rod to penetrate out and move horizontally.
As a preferred selection implementation manner, preferably, the tracing unit is an active bluetooth positioning tag, the active bluetooth positioning tag broadcasts a tracing positioning signal, at least two bluetooth base stations are arranged in a preset area of the construction site, and each tracing unit is located in a signal receiving coverage range of at least two bluetooth base stations.
Based on the monitoring method, the invention also provides an auxiliary monitoring system for the safety operation of the tower crane, which comprises the following steps:
the working signal acquisition unit is used for acquiring a working starting signal of the tower crane;
the tracing signal acquisition unit is used for acquiring a tracing positioning signal output by the tracing unit;
the data analysis unit is used for analyzing the tracing positioning signal and outputting three-dimensional coordinate data associated with the tracing unit;
the data simulation unit is used for constructing a three-dimensional space coordinate system associated with the construction site range, acquiring three-dimensional coordinate data associated with the tracing unit and generating a tracing outline corresponding to the outline of the tower crane;
the data processing unit is used for monitoring the tracing contour interval between different tower cranes, the working state data of the tower cranes and the three-dimensional coordinate data associated with the tracing unit in real time and outputting safety monitoring data;
the judging unit is used for acquiring safety monitoring data and outputting monitoring early warning information according to preset conditions;
and the early warning unit is used for receiving the monitoring early warning information and executing early warning measures.
Based on the monitoring method, the invention further provides a computer-readable storage medium, where at least one instruction, at least one program, a code set, or an instruction set is stored in the storage medium, and the at least one instruction, at least one program, a code set, or an instruction set is loaded by a processor and executed to implement the auxiliary monitoring method for tower crane safety operation.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: the tracking contour of the tower crane is obtained by monitoring and acquiring the positions of the tower body, the balance arm, the suspension arm, the amplitude variation trolley, the lifting hook and the control room of the tower crane according to the ingeniously technical scheme, and whether the tower crane is in a safe operation state is judged according to the tracking contour and the working state of the tower crane, so that reliable and effective safe operation assistance is provided for field management personnel and constructors.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an auxiliary monitoring method according to the present invention;
FIG. 2 is a schematic flow chart of another embodiment of the auxiliary monitoring method according to the present invention;
FIG. 3 is a schematic illustration of the implementation of the present invention at a construction site;
FIG. 4 is a schematic view of a portion of the structure of FIG. 3 at A;
FIG. 5 is a schematic structural diagram of a stroke verification sensor according to the present invention;
FIG. 6 is a schematic diagram of a simplified implementation of a stroke verification sensor in accordance with the present invention, wherein the package cover is hidden;
fig. 7 is a second schematic diagram of a simplified implementation state of the stroke verification sensor according to the embodiment of the present invention, in which the package cover is hidden;
FIG. 8 is a schematic side sectional view of a schematic stroke verification sensor in accordance with aspects of the present invention;
FIG. 9 is a schematic view of the wiping frame, the support pad and the wiping cloth of the stroke verification sensor in the solution of the present invention;
FIG. 10 is a schematic diagram of a simplified distance measurement principle of a stroke verification sensor according to an embodiment of the present invention;
fig. 11 is a schematic diagram illustrating a schematic principle of the cooperative positioning between an active bluetooth positioning tag and a bluetooth base station according to the present invention;
fig. 12 is a schematic diagram of an auxiliary monitoring system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
With reference to fig. 1, 3 and 4, the method for auxiliary monitoring of safety operation of a tower crane is used for monitoring work interference when a construction site has more than two tower cranes, and each tower crane comprises: the auxiliary monitoring method comprises the following steps of (1) a tower body, a balance arm 14, a suspension arm 11, an amplitude variation trolley 12, a lifting hook 15, a control room 13 and a slewing mechanism for driving the balance arm and the suspension arm to synchronously rotate, wherein the auxiliary monitoring method comprises the following steps:
s01, constructing a three-dimensional space coordinate system associated with the construction site range;
s02, responding to a working starting signal of the tower crane;
s03, acquiring the positions of the tower body 1, the balance arm 14, the suspension arm 11, the amplitude variation trolley 12, the hook 15 and the control room 13 of the tower crane in real time;
s04, associating the positions of the tower body 1, the balance arm 14, the suspension arm 11, the amplitude variation trolley 12, the hook 15 and the control room 13 of the tower crane with a three-dimensional space coordinate system in a coordinate point form to obtain a tracing outline corresponding to the outline of the tower crane;
and S05, outputting monitoring early warning information when the tracing contour and/or the working state between the tower cranes meet the preset conditions.
On the basis of the foregoing, as a possible implementation manner, further referring to fig. 2, in the present solution, the tower body 1, the balance arm 14, the boom 11, the luffing trolley 12, the hook 15, and the control room 13 are all provided with tracing units, the tracing units are used to actively output tracing positioning signals, and the tracing positioning signals output by different tracing units all include information for indicating the identity thereof, and the auxiliary monitoring method specifically includes:
s01, constructing a three-dimensional space coordinate system associated with the construction site range;
s02, responding to a working starting signal of the tower crane;
s03, acquiring tracing and positioning signals output by tracing units on a tower body 1, a balance arm 14, a suspension arm 11, an amplitude variation trolley 12, a lifting hook 15 and a control room 13 of the tower crane in real time, and then analyzing the tracing and positioning signals to obtain three-dimensional coordinates of each tracing unit in the range of a construction site;
s04, associating the three-dimensional coordinates of each tracing unit with a three-dimensional space coordinate system in the form of coordinate points to obtain a tracing outline corresponding to the outline of the tower crane;
and S05, outputting monitoring early warning information when the tracing contour and/or the working state between the tower cranes meet the preset conditions.
As a preferred alternative, the tracer units are preferably arranged at the top of the tower body 1, at the end of the balance arm 14 far away from the tower body, at the end of the suspension arm 12 far away from the tower body, on the body of the luffing jib 12, on the hook 15 and in the control room.
In addition, as a preferred alternative, it is preferable that the tracing profile includes a tower profile, a balance arm profile, a boom profile and a hook profile; wherein the content of the first and second substances,
the construction method of the tower body profile comprises the following steps: taking a coordinate point formed by a tracing label at the top of the tower body 1 as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, then setting the line segment as a tower body outline reference line, and setting an area in a preset range of the tower body outline reference line as a tower body outline;
the construction method of the balance arm profile comprises the following steps: taking a coordinate point formed by a tracing label on the balance arm 11 as a starting point, then constructing a line segment which is vertically intersected with the tower body profile reference line, then setting the line segment as the balance arm profile reference line, and setting a region in a preset range of the balance arm profile reference line as a balance arm profile;
the construction method of the suspension arm profile comprises the following steps: taking a coordinate point formed by a tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with the tower body outline reference line, then setting the line segment as the suspension arm outline reference line, and setting an area in a preset range of the suspension arm outline reference line as the suspension arm outline;
the hook profile comprises a load-carrying hook profile and an empty hook profile,
the construction method of the no-load hook profile comprises the following steps: connecting a coordinate point formed by a tracing label on the suspension arm 11 with a coordinate point formed by a tracing label on the body of the amplitude-variable trolley 12 to form a line segment, setting the line segment as a no-load hook profile reference line, and setting a region in a preset range of the no-load hook profile reference line as a no-load hook profile;
the construction method of the carrying hook contour comprises the following steps: connecting a coordinate point formed by a tracing label on the suspension arm 11 with a coordinate point formed by a tracing label on a vehicle body of the amplitude-variable trolley to form a first line segment, taking the coordinate point formed by the tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, meanwhile, setting the line segment as a second line segment, then setting a virtual line formed by combining the first line segment and the second line segment as a loading hook contour reference line, and then setting an area in a preset range of the loading hook contour reference line as a loading hook contour.
As a preferred selection implementation manner, preferably, when the minimum distance between the tracking profiles of different tower cranes is smaller than the preset safety distance, monitoring and early warning information is output.
As a preferred alternative, the scheme further includes:
acquiring working parameters of the tower crane in real time, wherein the working parameters at least comprise real-time rotation speed of a balance arm 14, real-time rotation speed of a suspension arm 11, moving speed of an amplitude variation trolley 12 on the suspension arm 11, rotation braking rotation amplitude of a rotation mechanism at different rotation speeds and braking travel of the amplitude variation trolley 12 at different moving speeds;
when the minimum distance of the tracing outlines among different tower cranes is larger than the preset safety distance,
if the balance arm and the suspension arm are in a rotating state, simulating a second position state reached when the balance arm 14 and the suspension arm 11 carry out rotation braking within expected braking duration by taking the current rotation speed of the balance arm and the suspension arm as an initial speed and the current position state of the balance arm and the suspension arm as a first position state, and outputting monitoring early warning information when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance;
if the amplitude variation trolley 12 is in a moving state, the current speed of the amplitude variation trolley 12 is used as an initial speed, the current position state of the amplitude variation trolley is used as a first position state, a second position state which is reached when the amplitude variation trolley is braked within an expected braking duration is simulated, and when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance, monitoring and early warning information is output.
In the embodiment shown in fig. 3 and 4, with reference to fig. 5 to 10, as a preferred optional embodiment, preferably, the trolley 12 is further provided with a stroke verification sensor 2, the stroke verification sensor is configured to detect a horizontal distance from the control room 13 on the boom 11 of the trolley 12, and the stroke verification sensor 2 includes:
the device main body 21 is a rectangular shell structure with one open end, the middle part of the device main body is provided with a first partition plate 213 extending to the two ends of the device main body, and the first partition plate 213 divides the inside of the device main body 21 into a first installation cavity 211 and a second installation cavity 212 which are opposite up and down;
an infrared distance measuring sensor 22 having an infrared emitting end 221 and a reflected light receiving end 222 on the same side, said infrared distance measuring sensor 22 being fixed in the first mounting cavity 211, the infrared emission end 221 and the reflected light receiving end 222 thereof face the open end of the first mounting cavity 211, which may secure infrared range sensor 22 within first mounting cavity 211 via adhesive pad 2111, meanwhile, the effect of filling the first mounting cavity 211 is achieved, and the infrared distance measuring sensor 22 is prevented from vibrating and shaking in the first mounting cavity 211, and the distance measuring principle of the infrared distance measuring sensor 22 is shown in fig. 10, wherein, the detected object 3 reflects the signal light of the infrared distance measuring sensor 22, and realizes the receiving and sending of the signal after the signal light is received by the reflected light receiving end 222 of the infrared distance measuring sensor 22, then, acquiring the distance between the infrared distance measuring sensor and the measured object 3 according to the time difference between the emission and the reception;
the packaging lens 23 is made of optical glass and is fixed at the open end of the first mounting cavity 211, antireflection films can be plated on two end faces of the packaging lens 23 for packaging the infrared distance measuring sensor 22 in the first mounting cavity 211, and the signal receiving and transmitting effects of the infrared transmitting end 221 and the reflected light receiving end 222 of the infrared distance measuring sensor 22 are improved;
the lens cleaning mechanism 24 is attached to the end face, away from the first mounting cavity 211, of the package lens 23 and is used for wiping the package lens 23;
and the cleaning driving mechanism is arranged in the second mounting cavity 212, is connected with the lens cleaning mechanism 24, and drives the lens cleaning mechanism 24 to wipe the packaged lens 23.
As a preferred alternative embodiment, it is preferred that the lens cleaning mechanism 24 includes:
the pair of wiping frames 241 are U-shaped and are oppositely arranged on the side of the end surface of the package lens 23 away from the first mounting cavity 211, and the open end of the U-shaped structure faces the package lens 23;
a pair of supporting pads 242, which correspond to the pair of wiping frames 241 one by one, and one end of each supporting pad is clamped in the U-shaped structure of the wiping frame 241, and the other end faces the package lens 23;
a pair of wiping cloths 243, which are made of ultrafine fiber cloth and correspond to the pair of supporting pads 242 one by one, wherein the wiping cloths 243 and the supporting pads 242 are fixed towards the end surface of the packaged lens 23 and are used for being attached to the packaged lens 23, in order to improve the attaching capability, an elastic cushion 2421 can be further arranged on the end part of the supporting pad 242 far away from the wiping frame 241, and under the condition that the elastic cushion 2421 is covered by the wiping cloths 243, the two sides of the wiping cloths 243 are respectively clamped and fixed between the wiping frame 241 and the supporting pads 242, so that the wiping cloths are clamped and fixed on the wiping frame 241;
the cleaning driving mechanism comprises:
the driving plate 25 is of an elliptical annular structure and is arranged on one side of the second mounting cavity 212 close to the open end of the second mounting cavity, the upper end surface and the lower end surface of the second mounting cavity 212 are respectively provided with a guide groove 2121 corresponding to the driving plate 25, the upper end and the lower end of the driving plate 25 are respectively provided with a guide block 253 correspondingly matched and connected with the guide groove 2121 and horizontally and slidably connected with the guide groove 2121 through the guide block 253, the upper side of the annular structure of the driving plate 25 is provided with a first rack structure 251, and the lower side of the annular structure of the driving plate 25 is provided with a second rack structure 252;
one end of the first connecting rod 26 is fixedly connected with the middle part of the upper end of the driving plate 25, and the other end of the first connecting rod horizontally extends out of the second mounting cavity 212;
a second connecting rod 27, both ends of which are respectively fixedly connected with the lower ends of the pair of wiping frames 241, and the middle of which is fixedly connected with the other end of the first connecting rod 26;
the driving motor 28 is fixed in the second mounting cavity 212, and the rotating shaft end of the driving motor extends into the elliptical ring structure of the driving plate 25;
the driving wheel 29 is fixed at the end of the rotating shaft of the driving motor 28, and the driving teeth which are engaged and connected with the first rack structure 251 or the second rack structure 252 of the driving plate 25 are distributed on the outer circumferential side of the driving wheel in an arc array, wherein when the driving wheel 29 drives the driving teeth to be engaged with the first rack structure 251, the driving teeth are disengaged from the second rack structure 252, and when the driving wheel 29 drives the driving teeth to be engaged with the second rack structure 252, the driving teeth are disengaged from the second rack structure 252, so that the driving plate 25 is driven by the driving wheel 29 to pull the first connecting rod 26 and the second connecting rod 27 to drive the pair of wiping frames 241 to horizontally swing back and forth, and the wiping cloth 243 is used for wiping the packaged lens 23 back and forth;
the cover 254 is fixed to the open end of the second mounting cavity 212, and has an upper end with a corresponding slide slot 2542 for the first connecting rod 26 to pass through and move horizontally.
And in order to avoid when using in the open air, moisture such as rainwater, dew appear instiling into second installation cavity 212, can further set up slope structure 2541 and carry out the water conservancy diversion dodging the spout 2542 downside, avoid liquid such as dew, rainwater to flow into in the second installation cavity 212.
By the scheme, when the infrared distance measuring sensor 22 of the stroke verification sensor 2 is used, the driving motor 28 can be started, so that the driving plate 25 is driven by the driving wheel 29 to pull the first connecting rod 26 and the second connecting rod 27 to drive the pair of wiping brackets 241 to horizontally swing back and forth, and the wiping cloth 243 wipes the packaging lens 23 back and forth; the wiping of the packaging lens 23 is achieved, the packaging lens 23 is cleaned when dew and dust are covered on the packaging lens 23, and the sensitivity of the stroke checking sensor 2 is improved.
As shown in fig. 11, as a preferred implementation mode, preferably, the tracing unit is an active bluetooth positioning tag, the active bluetooth positioning tag broadcasts a tracing positioning signal, at least two bluetooth base stations are arranged in a preset area of the construction site, each tracing unit is located in a signal receiving coverage range of the at least two bluetooth base stations, the bluetooth base stations realize the positioning of the tracing unit through an AOA positioning algorithm specified by bluetooth 5.1, and a specific mechanism of the AOA positioning is the prior art and is not described again.
As shown in fig. 12, based on the monitoring method, the present invention further provides an auxiliary monitoring system for safety operation of a tower crane, which includes:
the working signal acquisition unit 1 is used for acquiring a working starting signal of the tower crane;
a tracing signal obtaining unit 2, configured to obtain a tracing positioning signal output by the tracing unit;
the data analysis unit 3 is used for analyzing the tracing and positioning signals and outputting three-dimensional coordinate data associated with the tracing unit;
the data simulation unit 4 is used for constructing a three-dimensional space coordinate system associated with the construction site range, acquiring three-dimensional coordinate data associated with the tracing unit and generating a tracing outline corresponding to the outline of the tower crane;
the data processing unit 5 is used for monitoring the tracing contour interval between different tower cranes, the working state data of the tower cranes and the three-dimensional coordinate data associated with the tracing units in real time and outputting safety monitoring data;
the judging unit 6 is used for acquiring safety monitoring data and outputting monitoring early warning information according to preset conditions;
and the early warning unit 7 is used for receiving the monitoring early warning information and executing early warning measures.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A tower crane safety operation auxiliary monitoring method is used for work interference monitoring when a construction site is provided with more than two tower cranes, and each tower crane comprises: the tower body, the balance arm, the davit, become width of cloth dolly, lifting hook, control room and be used for driving the rotation mechanism of balance arm, davit synchronous revolution, its characterized in that, supplementary monitoring method include:
constructing a three-dimensional space coordinate system associated with the construction site range;
responding to a work starting signal of the tower crane;
acquiring the positions of a tower body, a balance arm, a suspension arm, an amplitude variation trolley, a lifting hook and a control room of the tower crane in real time;
associating the positions of a tower body, a balance arm, a suspension arm, an amplitude variation trolley, a lifting hook and a control room of the tower crane with a three-dimensional space coordinate system in a form of coordinate points to obtain a tracing outline corresponding to the outline of the tower crane;
and when the tracing contour and/or the working state between the tower cranes meet the preset conditions, outputting monitoring and early warning information.
2. The auxiliary monitoring method for the safety operation of the tower crane according to claim 1, wherein the tower body, the balance arm, the suspension arm, the luffing trolley, the hook and the control room are all provided with a tracing unit, the tracing unit is used for actively outputting tracing positioning signals, and the tracing positioning signals output by different tracing units all include information for indicating the identity of the tracing positioning signals, and the auxiliary monitoring method specifically comprises the following steps:
constructing a three-dimensional space coordinate system associated with the construction site range;
responding to a work starting signal of the tower crane;
acquiring tracing and positioning signals output by tracing units on a tower body, a balance arm, a suspension arm, an amplitude-variable trolley, a lifting hook and a control room of the tower crane in real time, and then analyzing the tracing and positioning signals to obtain three-dimensional coordinates of each tracing unit in the range of a construction site;
associating the three-dimensional coordinates of each tracing unit with a three-dimensional space coordinate system in a form of coordinate points to obtain a tracing outline corresponding to the outline of the tower crane;
and when the tracing contour and/or the working state between the tower cranes meet the preset conditions, outputting monitoring and early warning information.
3. The auxiliary monitoring method for the safety operation of the tower crane as claimed in claim 2, wherein the tracing unit is arranged at the top of the tower body, the end of the balance arm far away from the tower body, the end of the suspension arm far away from the tower body, the vehicle body of the luffing jib, the lifting hook and the control room.
4. A method for assisting in monitoring safety operations of a tower crane according to claim 3, wherein the tracing profile includes a tower profile, a balance arm profile, a boom profile and a hook profile; wherein the content of the first and second substances,
the construction method of the tower body profile comprises the following steps: taking a coordinate point formed by a tracer label at the top of the tower body as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, then setting the line segment as a tower body outline reference line, and setting an area in a preset range of the tower body outline reference line as a tower body outline;
the construction method of the balance arm profile comprises the following steps: taking a coordinate point formed by a tracing label on a balance arm as a starting point, then constructing a line segment which is vertically intersected with a tower body profile reference line, setting the line segment as a balance arm profile reference line, and setting a region in a preset range of the balance arm profile reference line as a balance arm profile;
the construction method of the suspension arm profile comprises the following steps: taking a coordinate point formed by a tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with the tower body outline reference line, then setting the line segment as the suspension arm outline reference line, and setting an area in a preset range of the suspension arm outline reference line as the suspension arm outline;
the hook profile comprises a load-carrying hook profile and an empty hook profile,
the construction method of the no-load hook profile comprises the following steps: connecting a coordinate point formed by a tracing label on the suspension arm with a coordinate point formed by a tracing label on the body of the amplitude-variable trolley to form a line segment, setting the line segment as a no-load hook profile reference line, and setting a region in a preset range of the no-load hook profile reference line as a no-load hook profile;
the construction method of the carrying hook contour comprises the following steps: the method comprises the steps of connecting a coordinate point formed by a tracing label on a suspension arm with a coordinate point formed by a tracing label on a vehicle body of a variable amplitude trolley to form a first line segment, taking the coordinate point formed by the tracing label on the suspension arm as a starting point, then constructing a line segment which is vertically intersected with a plane representing a ground area in a three-dimensional space coordinate system, meanwhile setting the line segment as a second line segment, then setting a virtual line formed by combining the first line segment and the second line segment as a loading hook contour reference line, and then setting an area in a preset range of the loading hook contour reference line as a loading hook contour.
5. An auxiliary monitoring method for safety operation of a tower crane according to claim 2, wherein when the minimum distance of the tracing profiles between different tower cranes is smaller than the preset safety distance, monitoring and early warning information is output.
6. The auxiliary monitoring method for the safety operation of the tower crane according to claim 5, further comprising:
acquiring working parameters of the tower crane in real time, wherein the working parameters at least comprise real-time rotation speed of a balance arm, real-time rotation speed of a suspension arm, moving speed of an amplitude variation trolley on the suspension arm, rotation braking rotation amplitude of a rotation mechanism at different rotation speeds and braking stroke of the amplitude variation trolley at different moving speeds;
when the minimum distance of the tracing outlines among different tower cranes is larger than the preset safety distance,
if the balance arm and the suspension arm are in a rotating state, simulating a second position state which is reached when the balance arm and the suspension arm carry out rotation braking within an expected braking duration by taking the current rotation speed of the balance arm and the suspension arm as an initial speed and the current position state of the balance arm and the suspension arm as a first position state, and outputting monitoring early warning information when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance;
and if the amplitude variation trolley is in a motion state, simulating a second position state reached when the amplitude variation trolley is braked within an expected braking duration by taking the current speed of the amplitude variation trolley as an initial speed and the current position state as a first position state, and outputting monitoring early warning information when the minimum distance between the tracing outline of the second position state and the tracing outlines of other tower cranes is smaller than a preset safety distance.
7. The auxiliary monitoring method for the safety operation of the tower crane according to claim 6,
still be equipped with stroke check-up sensor on the dolly of becoming width of cloth, this stroke check-up sensor is used for detecting the horizontal distance of the dolly of becoming width of cloth on the davit apart from the control room, stroke check-up sensor include:
the device comprises a device main body, a first partition plate and a second partition plate, wherein one end of the device main body is of an open rectangular shell structure, the middle part of the device main body is provided with the first partition plate extending to two ends of the device main body, and the first partition plate divides the interior of the device main body into a first installation cavity and a second installation cavity which are opposite up and down;
the infrared distance measuring sensor is provided with an infrared transmitting end and a reflected light receiving end which are positioned on the same side, the infrared distance measuring sensor is fixed in the first mounting cavity, and the infrared transmitting end and the reflected light receiving end of the infrared distance measuring sensor face the open end of the first mounting cavity;
the packaging lens is made of optical glass and fixed at the open end of the first mounting cavity, and the infrared distance measuring sensor is packaged in the first mounting cavity;
the lens cleaning mechanism is attached to the end face, far away from the first mounting cavity, of the packaging lens and is used for wiping the packaging lens;
and the cleaning driving mechanism is arranged in the second mounting cavity, is connected with the lens cleaning mechanism and drives the lens cleaning mechanism to wipe the packaged lens.
8. An auxiliary monitoring method for safety operation of tower crane according to claim 7, wherein said lens cleaning mechanism comprises:
the wiping frames are of U-shaped structures and are oppositely arranged on one side of the end face, far away from the first mounting cavity, of the packaging lens, and the open end of the U-shaped structures faces the packaging lens;
the pair of supporting pads correspond to the pair of wiping frames one by one, one end of each supporting pad is clamped in the U-shaped structure of the wiping frame, and the other end of each supporting pad faces the packaged lens;
the pair of wiping cloths correspond to the pair of supporting pads one by one and are made of superfine fiber cloth, and the wiping cloths and the supporting pads are fixed towards the end face of the packaging lens and are used for being attached to the packaging lens;
the cleaning driving mechanism comprises:
the driving plate is of an elliptical annular structure and is arranged on one side, close to the open end, of the second mounting cavity, the upper end face and the lower end face of the second mounting cavity are respectively provided with a guide groove corresponding to the driving plate, the upper end and the lower end of the driving plate are respectively provided with a guide block matched and connected with the guide grooves correspondingly and are in horizontal sliding connection with the guide grooves through the guide blocks, the upper side of the annular structure of the driving plate is provided with a first rack structure, and the lower side of the annular structure of the driving plate is provided with a second rack structure;
one end of the first connecting rod is fixedly connected with the middle part of the upper end of the driving plate, and the other end of the first connecting rod horizontally extends out of the second mounting cavity;
two ends of the second connecting rod are respectively and fixedly connected with the lower ends of the pair of wiping frames, and the middle part of the second connecting rod is fixedly connected with the other end of the first connecting rod;
the driving motor is fixed in the second mounting cavity, and the rotating shaft end of the driving motor extends into the elliptical ring structure of the driving plate;
the driving wheel is fixed at the tail end of a rotating shaft of the driving motor, and driving teeth which are used for being meshed and connected with a first rack structure or a second rack structure of the driving plate are distributed on the outer peripheral side of the driving wheel in an arc array mode;
and the packaging cover plate is fixed at the open end of the second mounting cavity, and the upper end of the packaging cover plate is correspondingly provided with an avoidance sliding groove for the first connecting rod to penetrate out and move horizontally.
9. An auxiliary monitoring method for the safety operation of a tower crane according to any one of claims 2 to 8, characterized in that: the tracer unit be active bluetooth location label, carry out the broadcast tracer positioning signal by active bluetooth location label, be provided with two at least bluetooth basic stations in the predetermined region in construction site, and every tracer unit all is arranged in two at least bluetooth basic stations's signal reception coverage.
10. A tower crane safety work assists monitored control system which characterized in that includes:
the working signal acquisition unit is used for acquiring a working starting signal of the tower crane;
the tracing signal acquisition unit is used for acquiring a tracing positioning signal output by the tracing unit;
the data analysis unit is used for analyzing the tracing positioning signal and outputting three-dimensional coordinate data associated with the tracing unit;
the data simulation unit is used for constructing a three-dimensional space coordinate system associated with the construction site range, acquiring three-dimensional coordinate data associated with the tracing unit and generating a tracing outline corresponding to the outline of the tower crane;
the data processing unit is used for monitoring the tracing contour interval between different tower cranes, the working state data of the tower cranes and the three-dimensional coordinate data associated with the tracing unit in real time and outputting safety monitoring data;
the judging unit is used for acquiring safety monitoring data and outputting monitoring early warning information according to preset conditions;
and the early warning unit is used for receiving the monitoring early warning information and executing early warning measures.
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| CN113642859A (en) * | 2021-07-28 | 2021-11-12 | 厦门市政智慧城市科技有限公司 | Detection management system and management method for intelligent construction site |
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