CN113233333B - Tower crane, working parameter detection method thereof and storage medium - Google Patents
Tower crane, working parameter detection method thereof and storage medium Download PDFInfo
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- CN113233333B CN113233333B CN202110575239.1A CN202110575239A CN113233333B CN 113233333 B CN113233333 B CN 113233333B CN 202110575239 A CN202110575239 A CN 202110575239A CN 113233333 B CN113233333 B CN 113233333B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
Abstract
The application discloses a tower crane, a working parameter detection method thereof and a storage medium. The upper rotary part of the tower crane is fixedly provided with a first positioning receiving unit and a second positioning receiving unit which are used for positioning, and the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the suspension arm of the tower crane or form an included angle with the axis direction of the suspension arm of the tower crane. Acquiring first longitude and latitude data determined by a first positioning receiving unit and second longitude and latitude data determined by a second positioning receiving unit; and the rotation angle of the suspension arm of the tower crane is determined based on the first longitude and latitude data and the second longitude and latitude data, and the rotation angle in the operation process of the tower crane can be accurately determined based on the first positioning receiving unit and the second positioning receiving unit, so that the operation safety of the tower crane is improved.
Description
Technical Field
The application relates to the field of cranes, in particular to a tower crane, a working parameter detection method thereof and a storage medium.
Background
The tower crane (tower crane for short) is large-scale operation equipment, and is mainly used for vertical material conveying in industrial and agricultural construction, and along with the continuous development of modern construction level, the application requirements of the tower crane are more and more, but the accompanying safety accidents also occur sometimes, and a plurality of tower crane heavy and huge accidents with personal casualties occur each year. From all accident cause analysis results, the structural safety of the tower crane is a non-negligible cause.
The tower crane is divided into an upper rotating part and a lower rotating part by taking a rotating mechanism as a boundary, wherein the upper rotating part is a part which can rotate relative to the tower body, and for a flat-head tower, the upper rotating part comprises a suspension arm and a balance arm; the tip tower also comprises a tower cap; the movable arm crane consists of a suspension arm, a rotary counterweight platform and an A-shaped frame. All lower rotary parts of the tower crane mainly refer to tower bodies, the tower bodies are formed by connecting a plurality of standard sections with the same size through pin shafts or bolts, and the number of the standard sections of the tower bodies determines the height of the tower crane. Besides a small amount of tower cranes fixedly installed on a building, the fixed points can be changed along with heightening of the building to maintain the tower body unchanged, most of tower cranes fixed on the ground can meet the operation requirement along with heightening of the building through heightening the height of the tower body, and if the height exceeds the independent height of the tower cranes, the tower body of the tower cranes also needs to be fixed on the building through an attaching structure to ensure the stability of the tower body of the tower cranes. That is, the tower crane is shipped from the factory and is assembled during actual use.
A complete tower crane consists of a plurality of large structural members, deformation of the members is more or less generated in the manufacturing process, in order to ensure that the installation and connection dimensional tolerance among the members are reserved relatively large on site, the fine position adjustment process is required in the site installation links, and the links such as foundation making, joint adding, adhesion making and balance weight on site matching are carried out on the tower crane, so that the dimensional deviation of the whole structure of the tower crane is slightly unnoticed, the structural stability of the tower crane is damaged, serious potential safety hazards are brought to the operation of the tower crane, meanwhile, the connection of the standard joints of the existing tower crane mostly adopts a high-strength bolt mode, the number is huge, the number of the tower bodies of each tower crane is dozens of, more than hundreds of tower bodies are connected loose only by one bolt, and the safe operation of the tower crane is influenced. Meanwhile, the field installation condition of the tower crane is complex, the level of the installer is uneven, and the technical problem that needs to be solved is how to scientifically and effectively solve the structural problem in the installation process and reduce the occurrence of the casualties of the tower crane.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a tower crane, and an operating parameter detection method and a storage medium thereof, which aim to improve safety during installation and/or operation of the tower crane.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for detecting an operating parameter of a tower crane, where an upper turning portion of the tower crane is fixedly installed with a first positioning receiving unit and a second positioning receiving unit that are used for positioning, and the first positioning receiving unit and the second positioning receiving unit are arranged along an axis direction of a boom of the tower crane or form an included angle with the axis direction of the boom of the tower crane, and the method includes:
acquiring first longitude and latitude data determined by the first positioning receiving unit and second longitude and latitude data determined by the second positioning receiving unit;
and determining the turning angle of the suspension arm of the tower crane based on the first longitude and latitude data and the second longitude and latitude data.
In some embodiments, if the first positioning receiving unit and the second positioning receiving unit are arranged along an axis direction of a boom of the tower crane, the determining a turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
Determining an absolute position of the boom in a geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
determining the swivel angle based on the absolute orientation and an initial orientation of the boom;
if the first positioning receiving unit and the second positioning receiving unit are arranged at an included angle with the axial direction of the boom of the tower crane, determining the turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
acquiring an angle value of the included angle;
determining an absolute position of the boom in a geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
the swivel angle is determined based on the absolute orientation, the angle value, and an initial orientation of the boom.
In some embodiments, the method further comprises:
determining the rotation speed of the tower crane based on one derivation of the rotation angle determined in the operation process of the tower crane with respect to time; and/or the number of the groups of groups,
and determining the rotation acceleration of the tower crane based on the quadratic derivative of the rotation angle determined in the operation process of the tower crane with respect to time.
In some embodiments, the method further comprises:
Acquiring horizontal positions of the first positioning receiving unit and the second positioning receiving unit with different rotation angles in an initial installation state of the tower crane;
acquiring first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit with different rotation angles under the current actual state of the tower crane;
determining a first horizontal displacement value of the tower crane at each rotation angle based on the first longitude and latitude data, the second longitude and latitude data and the horizontal positions of the first positioning receiving unit and the second receiving unit in the initial installation state of each rotation angle in the current actual state; the first horizontal displacement value characterizes a horizontal displacement of an upper turning portion of the tower crane in a horizontal plane along a length direction of the boom.
In some embodiments, the method further comprises:
and determining the working cycle times of the tower crane based on the first horizontal displacement value.
In some embodiments, the method further comprises:
acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which are different in rotation angle under an empty state after a plurality of standard knots are additionally arranged on a tower body of the tower crane, and determining initial distances between the corresponding first positioning receiving unit and a rotation center of the tower crane and/or between the corresponding second positioning receiving unit and the rotation center of the tower crane;
Acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which correspond to different rotation angles in actual work after the set number standard is additionally installed, of the tower crane, and determining the corresponding current distance between the first positioning receiving unit and the rotation center of the tower crane and/or between the second positioning receiving unit and the rotation center of the tower crane;
and determining whether the structure of the tower crane is loose in the running process or not based on the current distance and the initial distance.
In some embodiments, the method further comprises:
acquiring at least one of first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit, wherein the first longitude and latitude data of the first positioning receiving unit and the second longitude and latitude data of the second positioning receiving unit are installed initially and have different rotation angles under an empty state;
acquiring at least one of first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit with different rotation angles under the current actual state of the tower crane;
determining a second horizontal displacement value of the tower crane at each rotation angle based on the difference of the first longitude and latitude data and/or the second longitude and latitude data of each rotation angle corresponding to the initial installation and no-load state and the current actual state; the second horizontal displacement value characterizes a horizontal displacement of an upper turning portion of the tower crane in a horizontal plane in a direction perpendicular to the boom length.
In some embodiments, the method further comprises:
acquiring an initial installation height difference between the first positioning receiving unit and the second positioning receiving unit;
acquiring the installation height of a main receiving unit and the horizontal distance between the main receiving unit and the central line of a tower body in an initial installation state, wherein the main receiving unit is a receiving unit which is close to the rotation center of the tower crane in the first positioning receiving unit and the second positioning receiving unit;
acquiring first altitude data determined by the first positioning receiving unit and second altitude data determined by the second positioning receiving unit;
and determining the current tower height of the tower crane based on the installation height, the horizontal distance, the initial installation height difference, the first poster height data and the second altitude data.
In some implementations, the determining the current tower height of the tower crane based on the installation height, the horizontal distance, the initial installation height difference, the first poster height data, and the second altitude data includes:
determining a pitch angle of a boom of the tower crane based on the first altitude data and the second altitude data;
Determining a height difference between the main receiving unit and the tower top of the tower crane based on the installation height, the horizontal distance, the initial installation height difference and the pitch angle;
and determining the current tower height of the tower crane based on the altitude difference and the altitude data of the main receiving unit.
In some embodiments, the method further comprises:
and determining the working cycle times of the tower crane based on pitch angles of the suspension arms of the tower crane corresponding to different turning angles.
In some embodiments, the tower crane is a luffing tower crane, the method further comprising:
and determining the working radius of the lifting hook of the lifting arm under different turning angles based on the length of the lifting arm of the tower crane and the pitch angles corresponding to the different turning angles.
In a second aspect, embodiments of the present application further provide a tower crane, including: the upper rotary part of the tower crane is fixedly provided with a first positioning receiving unit and a second positioning receiving unit which are used for positioning, the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the suspension arm of the tower crane or are arranged at an included angle with the axis direction of the suspension arm of the tower crane, and the tower crane further comprises: a processor and a memory for storing a computer program capable of running on the processor, wherein the processor is adapted to perform the steps of the method according to the embodiments of the present application when the computer program is run.
In a third aspect, embodiments of the present application further provide a storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of the methods described in the embodiments of the present application.
According to the technical scheme, the upper rotary part of the tower crane is fixedly provided with a first positioning receiving unit and a second positioning receiving unit which are used for positioning, and the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the suspension arm of the tower crane or are arranged at an included angle with the axis direction of the suspension arm of the tower crane. Acquiring first longitude and latitude data determined by a first positioning receiving unit and second longitude and latitude data determined by a second positioning receiving unit; and the rotation angle of the suspension arm of the tower crane is determined based on the first longitude and latitude data and the second longitude and latitude data, and the rotation angle in the operation process of the tower crane can be accurately determined based on the first positioning receiving unit and the second positioning receiving unit, so that the operation safety of the tower crane is improved.
Drawings
FIG. 1 is a schematic view of a flat arm tower crane according to an embodiment of the present disclosure;
FIG. 2 is a schematic top view of FIG. 1;
FIG. 3 is a schematic view of a swing tower machine according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural view of a tower crane according to an embodiment of the present disclosure;
FIG. 5 is a schematic top view of a tower crane with a first positioning receiver unit and a second positioning receiver unit according to an embodiment of the present disclosure;
FIG. 6 is a schematic top view of a tower crane with a first positioning receiver unit and a second positioning receiver unit according to another embodiment of the present application;
fig. 7 is a flow chart of a method for detecting an operating parameter of a tower crane according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of determining a cornering angle according to an embodiment of the present application;
FIG. 9 is a schematic diagram of determining a cornering angle according to another embodiment of the present application;
fig. 10 is a schematic circuit diagram of a tower crane according to an embodiment of the present disclosure.
Detailed Description
The present application is described in further detail below with reference to the accompanying drawings and examples.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
In the related art, the rotation angle in the running process of the tower crane is often determined based on the rotation detection of the rotation motor, however, in the transmission process, the detection accuracy of the rotation angle is limited due to the inertia of the rotation mechanism or the clearance between transmission gears and the like, and the gesture of the rotation mechanism is difficult to accurately and timely reflect.
In view of this, in various embodiments of the present application, a method for detecting an operating parameter of a tower crane is provided, and before describing the detection method, a structure of the tower crane according to the embodiments of the present application will be described.
The tower crane can be a flat arm type tower crane or a movable arm type tower crane, the flat arm type tower crane is a tower crane which is luffing by a luffing trolley on a suspension arm, and the movable arm type tower crane is a tower crane which luffing by changing the pitch angle of the suspension arm. In this embodiment of the application, the upper slewing portion fixed mounting of tower machine has first location receiving element and the second location receiving element that is used for the location, and this first location receiving element and this second location receiving element can be arranged or be the contained angle setting with the axis direction of the davit of tower machine along the axis direction of the davit of tower machine.
Illustratively, the first positioning receiving unit and the second positioning receiving unit may be satellite positioning receiving units, for example, a GPS (Global Positioning System ) receiving unit, a beidou positioning receiving unit, a GALILEO (GALILEO) positioning receiving unit, or a GLONASS (GLONASS) positioning receiving unit, etc., and each of the first positioning receiving unit and the second positioning receiving unit may receive latitude and longitude data and altitude data in which it is located.
As shown in fig. 1 and 2, an exemplary flat arm tower crane includes: the device comprises a tower body 1, a slewing mechanism 2, a suspension arm 3, a balance weight 4, a first positioning receiving unit 5 and a second positioning receiving unit 6. The tower body 1 is formed by a plurality of standard joints, the slewing mechanism 2 is arranged at the top of the tower body 1, and can rotate relative to the tower body 1, and the suspension arm 3 and the balance weight 4 are fixed on the slewing mechanism 2 and rotate under the driving of the slewing mechanism 2. The first positioning receiving unit 5 and the second positioning receiving unit 6 are both arranged on the boom 3.
As shown in fig. 3, an exemplary luffing tower crane includes: the device comprises a tower body 1, a slewing mechanism 2, a suspension arm 3, a balance weight 4, a first positioning receiving unit 5 and a second positioning receiving unit 6. The swing arm type tower crane is different from the flat arm type tower crane in that the boom 3 of the swing arm type tower crane can perform pitching adjustment relative to the slewing mechanism 2, so that amplitude adjustment is realized.
Fig. 4 shows another schematic structural diagram of a tower crane according to an embodiment of the present application. It should be noted that the first positioning receiving unit 5 and the second positioning receiving unit 6 may be arranged along the axial direction of the boom 3, and the mounting positions of the first positioning receiving unit 5 and the second positioning receiving unit 6 are shown in fig. 5, for example. Wherein the first positioning receiving unit 5 is close to the rotation center of the tower crane and serves as a main receiving unit. It is understood that the first positioning receiving unit 5 may also be disposed on the swing mechanism 2 or directly disposed on the swing center of the swing mechanism 2, which is not limited in the embodiment of the present application.
In some embodiments, the first positioning receiving unit 5 and the second positioning receiving unit 6 may be disposed at an angle with respect to the axis direction of the boom 3, and illustratively, the mounting positions of the first positioning receiving unit 5 and the second positioning receiving unit 6 are shown in fig. 6, where the angle between the line connecting the first positioning receiving unit 5 and the second positioning receiving unit 6 and the axis of the boom 3 is α, and tan α=b/a, where a is the distance between the first positioning receiving unit 5 and the second positioning receiving unit 6 in the axis direction of the boom on the horizontal plane (i.e., the forward direction shown in fig. 6), and b is the distance between the first positioning receiving unit 5 and the second positioning receiving unit 6 in the direction perpendicular to the axis of the boom on the horizontal plane (i.e., the lateral direction shown in fig. 6).
The working parameter detection method of the tower crane can detect the working parameters in the working process of the tower crane. Illustratively, the operating parameter may include at least one of: the method comprises the following steps of rotating angle, rotating speed, rotating acceleration of a suspension arm, first horizontal displacement values under different rotating angles, second horizontal displacement values under different rotating angles, working cycle times, pitch angle under different rotating angles and tower body height. Therefore, the comprehensive monitoring of various working parameters of the tower crane can be realized based on the first positioning receiving unit and the second positioning receiving unit, and the operation reliability of the tower crane is improved.
The following describes a method for detecting each working parameter according to the embodiment of the present application.
As shown in fig. 7, in an embodiment, the method for detecting an operating parameter of a tower crane includes:
step 701, acquiring first longitude and latitude data determined by a first positioning receiving unit and second longitude and latitude data determined by a second positioning receiving unit;
step 702, determining a turning angle of a boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data.
For example, if the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the boom of the tower crane, the determining the turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
determining an absolute position of the boom in the geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
the swivel angle is determined based on the absolute orientation and the initial orientation of the boom.
In an application example, as shown in fig. 5, if the initial orientation of the boom is assumed to be the north-positive orientation, the turning angle is determined based on the angle between the absolute orientation and the north-positive orientation. For example, as shown in fig. 8, when the turning angle takes a positive value in the clockwise direction, the point A1 corresponds to the latitude and longitude of the first positioning receiving unit, the point A2 corresponds to the latitude and longitude of the second positioning receiving unit, and the angle θ between the vector formed by A1A2 (i.e., the absolute orientation of the boom in the geodetic coordinate system) and the northbound direction N is the turning angle of the boom.
For example, if the first positioning receiving unit and the second positioning receiving unit are disposed at an included angle with an axial direction of a boom of the tower crane, determining a turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
acquiring an angle value of the included angle;
determining an absolute position of the boom in the geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
the swivel angle is determined based on the absolute orientation, the angle value and the initial orientation of the boom.
In an application example, as shown in fig. 6, if the initial orientation of the boom is assumed to be north-positive, and the angle α between the line connecting the first positioning receiving unit 5 and the second positioning receiving unit 6 and the axis of the boom 3 is assumed to be α, the turning angle is determined based on the angle between the absolute orientation and north-positive and the angle α. For example, as shown in fig. 9, the rotation angle takes a positive value in the clockwise direction, the point A1 corresponds to the longitude and latitude of the first positioning receiving unit, the point A2 corresponds to the longitude and latitude of the second positioning receiving unit, and the angle θ formed by the vector formed by the point A1A2 and the positive north direction N is added with the angle α, that is, the rotation angle of the boom.
For example, the position coordinates of the center of rotation of the tower crane may also be determined based on corresponding latitude and longitude data at different angles of rotation according to a fixed dimensional relationship between the first positioning unit and/or the second positioning receiving unit and the center of rotation of the tower crane.
It should be noted that, in the related art, the method for detecting and sampling the turning angle of the tower crane is generally poor in precision and low in reliability, and the turning angle of the suspension arm is a very critical parameter in the group tower anticollision, and based on the method of the embodiment of the application, the turning angle of the suspension arm with high reliability and high precision relative to the ground can be simply obtained, so that the method has a good control effect on the group tower anticollision control.
In some embodiments, the method for detecting the working parameters of the tower crane may further include:
determining the rotation speed of the tower crane based on one derivation of the rotation angle determined in the operation process of the tower crane with respect to time; and/or the number of the groups of groups,
and determining the rotation acceleration of the tower crane based on the second derivative of the rotation angle determined in the operation process of the tower crane with respect to time.
Here, the rotation speed and rotation acceleration of the tower crane are also important parameters for tower crane control, and the embodiment of the application can improve the generation precision of the rotation speed and/or rotation acceleration based on the precisely acquired rotation angle, thereby being beneficial to the reliable control of the operation of the tower crane.
In some embodiments, the method for detecting the working parameters of the tower crane may further include:
acquiring horizontal positions of a first positioning receiving unit and a second positioning receiving unit with different rotation angles in an initial installation state of the tower crane;
Acquiring first longitude and latitude data of a first positioning receiving unit and second longitude and latitude data of a second positioning receiving unit of different rotation angles of the tower crane in the current actual state;
determining a first horizontal displacement value of the tower crane at each rotation angle based on the first longitude and latitude data and the second longitude and latitude data of each rotation angle in the current actual state and the horizontal positions of the first positioning receiving unit and the second receiving unit in the initial installation state; the first horizontal displacement value characterizes the horizontal displacement of the upper turning part of the tower crane in the horizontal plane along the length direction of the suspension arm.
Illustratively, acquiring the horizontal positions of the first positioning receiving unit and the second positioning receiving unit at different turning angles in the initial installation state of the tower crane includes: and calculating the horizontal positions of the first positioning receiving unit and the second positioning receiving unit with different rotation angles based on the fixed size relation between the first positioning receiving unit and the second positioning receiving unit on the tower crane relative to the rotation center of the tower crane. In this way, the horizontal positions of the first positioning receiving unit and the second positioning receiving unit with different turning angles can be recorded without turning the boom in the initial installation state.
Illustratively, acquiring the horizontal positions of the first positioning receiving unit and the second positioning receiving unit at different turning angles in the initial installation state of the tower crane includes: the suspension arm is driven to rotate at least 90 degrees from the initial installation position, first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit under all rotation angles in the rotation process are collected, the horizontal position of the first positioning receiving unit is determined based on the first longitude and latitude data under all rotation angles, and the horizontal position of the second positioning receiving unit is determined based on the second longitude and latitude data.
It can be understood that the tower crane is lower in the initial installation state, the rigidity of the tower crane is higher, bending generated by the tower crane can be ignored at the moment, longitude and latitude data obtained by each receiving unit at the moment are positioning coordinate values when the tower crane does not bend, and initial longitude and latitude coordinates of each positioning receiving unit of which the boom is in different turning angles during one circle of rotation of the tower crane can be determined based on the acquired positioning coordinate values, and the initial longitude and latitude coordinates are stored. After the tower crane is heightened, the tower body is bent, and the horizontal displacement (namely a first horizontal displacement value) of the forward tilting or backward tilting of the upper rotating part of the tower crane under different azimuth angles of the boom can be obtained by comparing the longitude and latitude data obtained by the first positioning receiving unit and the second positioning receiving unit under the same boom rotating angle with corresponding initial longitude and latitude coordinates.
Illustratively, the first horizontal displacement value determined in the embodiment of the present application includes: no-load maximum recline horizontal displacement and/or rated load maximum forward tilt horizontal displacement at different swivel angles.
The maximum backward tilting horizontal displacement of the no-load is the maximum backward tilting horizontal displacement of the tower crane in the no-load state, and whether the tower body structural member is loosened or not can be reflected when the tower crane is in no-load state.
The method for detecting the connection strength of the tower body structural member comprises the steps of obtaining the maximum idle backward tilting horizontal displacement of the tower crane based on the detection method after the standard section is additionally arranged on the tower body, comparing the maximum idle backward tilting horizontal displacement with a safety threshold, and judging whether the tower body structural member is loose or not, so that the connection strength of the tower body structural member can be detected in time in the installation process. Or after the tower crane runs for a period of time, acquiring the idle maximum backward tilting horizontal displacement of the tower crane, and judging whether the tower body structural member is loose or not based on the comparison between the idle maximum backward tilting horizontal displacement and the safety threshold value. If the difference value is too large, the connection looseness of a certain position of the tower body fixing bolt or the tower body wall attaching mechanism is judged, and then an alarm prompt is given.
The maximum forward tilting horizontal displacement of the rated load refers to the maximum forward tilting horizontal displacement of the tower crane in the loaded state, so that whether the load capacity of the tower crane is overloaded can be reflected, and the detection requirement of safe operation of the tower crane in a reasonable load state can be met.
For example, according to the international GB/T5031-2019 'tower crane', under rated load, the horizontal static displacement of the root connection of the tower crane boom is not more than 1.34H/100, and H is the vertical distance from the root connection of the tower crane boom to the reference plane of the tower crane. Based on the detection method, the maximum forward tilting horizontal displacement of the rated load and the height of the tower body are determined, the threshold value of the horizontal static displacement of the current height is converted based on the formula, and based on the comparison result of the maximum forward tilting horizontal displacement of the rated load and the threshold value of the horizontal static displacement, whether the tower crane is overloaded in the running process is judged, and further the working moment display and the alarm prompt of the structure of the tower crane are made.
In some embodiments, the method for detecting an operating parameter of a tower crane further comprises:
the number of duty cycles of the tower crane is determined based on the first horizontal displacement value.
It can be understood that when the tower crane is empty, the suspension arm presents backward tilting horizontal displacement; when the tower crane is loaded, the suspension arm presents forward tilting horizontal displacement, so that the working cycle times of the tower crane, namely the lifting times of the tower crane, can be determined based on the variation of the first horizontal displacement value. The method is beneficial to monitoring relevant parameters such as the actual service life of the tower crane.
In some embodiments, the method for detecting the working parameters of the tower crane further includes:
acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which are different in rotation angle under an empty state after a plurality of standard knots are additionally arranged on a tower body of the tower crane, and determining initial distances between the corresponding first positioning receiving unit and a rotation center of the tower crane and/or between the corresponding second positioning receiving unit and the rotation center of the tower crane;
acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which correspond to different rotation angles in actual work after the set number standard is additionally installed, of the tower crane, and determining the corresponding current distance between the first positioning receiving unit and the rotation center of the tower crane and/or between the second positioning receiving unit and the rotation center of the tower crane;
And determining whether the structure of the tower crane is loose in the running process or not based on the current distance and the initial distance.
It can be understood that the body of the tower machine is formed by a plurality of standard knots, the lifting height and time of the tower machine are determined according to the height of a building and the lifting rhythm of the building each time, but the tower machine can be installed and attached after being heightened to a certain height, so that the body of the tower machine is conveniently fixed with the building, the standard knots of the tower machine are more in connection points, the connection points of an attaching structure and the tower machine and the building are more, and the loosening of any one of the connection points can bring great potential hazards to the structural safety of the tower machine. According to the embodiment of the application, whether the structure of the tower body is loose after the standard section is additionally arranged each time can be determined based on the first horizontal displacement value. In addition, after the standard knot is added, under the no-load condition, the tower crane rotates and records longitude and latitude data of the first or second receiving units under each rotation angle, the initial distance between the point and the rotation center of the tower crane is calculated, the process is repeated irregularly in the actual operation process of the tower crane, the current distance between the first or second receiving units and the rotation center of the tower crane is obtained, when the distance is increased and exceeds a certain limit, the situation that the connection looseness or the quality problem of the connection point occurs in front of the suspension arm is judged, the looseness can be caused by the fact that the connection point is attached to the tower body, and therefore the structural safety of the tower body in the operation process of the tower crane can be monitored.
In some embodiments, the method for detecting an operating parameter of a tower crane further comprises:
acquiring at least one of first longitude and latitude data of a first positioning receiving unit and second longitude and latitude data of a second positioning receiving unit which are initially installed and have different rotation angles under an empty state of the tower crane;
acquiring at least one of first longitude and latitude data of a first positioning receiving unit and second longitude and latitude data of a second positioning receiving unit of different rotation angles of the tower crane in the current actual state;
determining a second horizontal displacement value of the tower crane at each rotation angle based on the difference between the initial installation and the empty load state and the current actual state of the first longitude and latitude data and/or the second longitude and latitude data of each rotation angle; the second horizontal displacement value characterizes a horizontal displacement of the upper turning part of the tower crane in a direction perpendicular to the boom length in a horizontal plane.
Here, the second horizontal displacement value characterizes the horizontal displacement of the upper turning part of the tower crane in the horizontal plane in a direction perpendicular to the boom length, i.e. in the lateral direction as shown in fig. 5 and 6. The second horizontal displacement value may be indicative of the perpendicularity of the tower body of the tower crane.
By way of example, when the tower crane is initially installed, longitude and latitude data of a main positioning receiving unit which is closer to the center of the tower body under the no-load condition of the lower tower crane under different turning angles of the suspension arm can be recorded and stored. When the tower crane is lifted by the joint, in the idle state of the tower crane, the position error value perpendicular to the axis direction of the boom can be obtained through simple calculation at the same time according to the comparison of the longitude and latitude data obtained by the main positioning receiving unit and the longitude and latitude data of the tower crane under the corresponding boom turning angle when the tower crane is initially installed, and the second horizontal displacement value of the tower crane under different boom turning angles is obtained.
In the related art, the installation site often has no simple and feasible technical means to monitor the verticality of the tower body in the installation process, most of the situations are that after the installation is carried out to the target height, the total station and the theodolite are used for detection, once the total station and the theodolite are disqualified, the reworking workload is huge, by the method of the embodiment of the application, the real-time online verticality detection can be realized when the tower crane is newly added with a section, the condition that the verticality of the tower crane does not meet the rule of mandatory regulations of the field mechanical equipment inspection technical regulations JGJ160-2008 in the industry standard can be quickly found early, and the complicated working process of the verticality detection in the existing tower crane installation process is avoided.
In some embodiments, the method for detecting the working parameters of the tower crane further includes:
acquiring an initial installation height difference between the first positioning receiving unit and the second positioning receiving unit;
acquiring the installation height of a main receiving unit in an initial installation state and the horizontal distance between the main receiving unit and the central line of the tower body, wherein the main receiving unit is a receiving unit which is close to the rotation center of the tower crane in the first positioning receiving unit and the second positioning receiving unit;
acquiring first altitude data determined by a first positioning receiving unit and second altitude data determined by a second positioning receiving unit;
The current tower height of the tower crane is determined based on the installation height, the horizontal distance, the initial installation height difference, the first poster height data and the second altitude data.
Illustratively, determining the current tower height of the tower crane based on the installation height, the horizontal distance, the initial installation height difference, the first poster height data, and the second altitude data comprises:
determining a pitch angle of a boom of the tower crane based on the first altitude data and the second altitude data;
determining the height difference between the main receiving unit and the top of the tower body of the tower crane based on the installation height, the horizontal distance, the initial installation height difference and the pitch angle;
the current tower height of the tower crane is determined based on the height difference and the altitude data of the main receiving unit.
Illustratively, as shown in fig. 4, a height f of the first positioning receiving unit 5 (as a main positioning receiving unit) with respect to the ground, a tower height g, a height h of the second positioning receiving unit 6 with respect to the ground, a horizontal distance d between the first positioning receiving unit 5 and the second positioning receiving unit 6, and a horizontal distance c between the first positioning receiving unit 5 and the center of the tower may be obtained in advance. When the tower crane works, the tower body is subjected to bending moment to enable the upper rotating part of the tower crane to incline forwards or backwards, at the moment, the upper rotating part of the tower crane can be regarded as a rigid body, meanwhile, the upper rotating part of the tower crane rotates up and down around the intersection point of the central line of the tower body and the upper rotating part of the tower crane, the distance between the central line of the tower body and the main positioning receiving unit is c, thus, the pitch angle between the central line of the tower body and the main positioning receiving unit is determined through the current height positioning values obtained by the first positioning receiving unit and the second positioning receiving unit, and the current height value of the tower body can be obtained through simple geometric calculation by combining the initial installation height difference.
In some embodiments, the method for detecting the working parameters of the tower crane further includes:
and determining the working cycle times of the tower crane based on pitch angles of the suspension arms of the tower crane corresponding to different turning angles.
It can be appreciated that when the tower crane is empty, the boom assumes a recline (pitch angle increases); when the tower crane is loaded, the suspension arm is tilted forwards (the pitch angle is reduced), so that the working cycle number of the tower crane, namely the lifting frequency of the tower crane, can be determined based on the change trend of the pitch angle. The method is beneficial to monitoring relevant parameters such as the actual service life of the tower crane.
In some embodiments, the tower crane is a luffing tower crane, the method further comprising:
and determining the working radius of the lifting hook of the lifting arm under different turning angles based on the length of the lifting arm of the tower crane and the pitch angles corresponding to the different turning angles.
It can be understood that the arm length of the suspension arm of the tower crane is fixed, the pitch angle of the suspension arm is determined based on the scheme, an angle sensor for monitoring the pitch angle of the suspension arm based on the prior art can be omitted, the working radius of the lifting hook of the movable arm type tower crane is determined according to the pitch angle, and the detection precision is high.
In order to realize the method of the embodiment of the application, the embodiment of the application also provides a tower crane. Fig. 10 shows only an exemplary structure of the apparatus, not all the structure, and some or all of the structures shown in fig. 10 may be implemented as needed.
It can be understood that the tower crane includes the tower body 1, the swing mechanism 2, the boom 3, the counterweight 4, the first positioning receiving unit 5 and the second positioning receiving unit 6, and the detailed description thereof will be omitted herein with reference to fig. 1 to 6.
As shown in fig. 10, an apparatus 1000 provided in an embodiment of the present application includes: at least one processor 1001, a memory 1002, a user interface 1003, and at least one network interface 1004. The various components in the tower 1000 are coupled together by a bus system 1005. It is understood that the bus system 1005 is used to enable connected communications between these components. The bus system 1005 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 1005 in fig. 10.
The user interface 1003 may include, among other things, a display, keyboard, mouse, trackball, click wheel, keys, buttons, touch pad, or touch screen, etc.
The memory 1002 in the embodiments of the present application is used to store various types of data to support the operation of the tower crane. Examples of such data include: any computer program for operating on the tower crane.
The method for detecting the working parameters disclosed in the embodiments of the present application may be applied to the processor 1001 or implemented by the processor 1001. The processor 1001 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the operating parameter detection method may be performed by integrated logic circuitry of hardware in the processor 1001 or by instructions in the form of software. The processor 1001 may be a general purpose processor, a digital signal processor (DSP, digital Signal Processor), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The processor 1001 may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly embodied in a hardware decoding processor or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, where the storage medium is located in the memory 1002, and the processor 1001 reads information in the memory 1002, and combines with hardware to implement the steps of the method for detecting an operating parameter provided in the embodiments of the present application.
In an exemplary embodiment, the tower crane may be implemented by one or more application specific integrated circuits (ASIC, application Specific Integrated Circuit), DSPs, programmable logic devices (PLD, programmable Logic Device), complex programmable logic devices (CPLD, complex Programmable Logic Device), FPGAs, general purpose processors, controllers, microcontrollers (MCU, micro Controller Unit), microprocessors (Microprocessor), or other electronic components for performing the aforementioned methods.
It is to be appreciated that memory 1002 can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The memory described in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
In an exemplary embodiment, the present application further provides a storage medium, i.e. a computer storage medium, which may be specifically a computer readable storage medium, for example, including a memory 1002 storing a computer program, where the computer program may be executed by the processor 1001 of the tower crane, to complete the steps of the method of the embodiment of the present application. The computer readable storage medium may be ROM, PROM, EPROM, EEPROM, flash Memory, magnetic surface Memory, optical disk, or CD-ROM.
It should be noted that: "first," "second," etc. are used to distinguish similar objects and not necessarily to describe a particular order or sequence.
In addition, the embodiments described in the present application may be arbitrarily combined without any collision.
The foregoing description is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and it should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (12)
1. The working parameter detection method of the tower crane is characterized in that a first positioning receiving unit and a second positioning receiving unit for positioning are fixedly arranged on an upper rotating part of the tower crane, and the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of a suspension arm of the tower crane or form an included angle with the axis direction of the suspension arm of the tower crane, and the method comprises the following steps:
acquiring first longitude and latitude data determined by the first positioning receiving unit and second longitude and latitude data determined by the second positioning receiving unit;
determining a turning angle of a boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data;
the method further comprises the steps of:
acquiring horizontal positions of the first positioning receiving unit and the second positioning receiving unit with different rotation angles in an initial installation state of the tower crane;
acquiring first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit with different rotation angles under the current actual state of the tower crane;
determining a first horizontal displacement value of the tower crane at each rotation angle based on the first longitude and latitude data, the second longitude and latitude data and the horizontal positions of the first positioning receiving unit and the second positioning receiving unit in the initial installation state of each rotation angle in the current actual state; the first horizontal displacement value characterizes a horizontal displacement of an upper turning portion of the tower crane in a horizontal plane along a length direction of the boom.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
if the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the boom of the tower crane, determining the turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
determining an absolute position of the boom in a geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
determining the swivel angle based on the absolute orientation and an initial orientation of the boom;
if the first positioning receiving unit and the second positioning receiving unit are arranged at an included angle with the axial direction of the boom of the tower crane, determining the turning angle of the boom of the tower crane based on the first longitude and latitude data and the second longitude and latitude data includes:
acquiring an angle value of the included angle;
determining an absolute position of the boom in a geodetic coordinate system based on the first latitude and longitude data and the second latitude and longitude data;
the swivel angle is determined based on the absolute orientation, the angle value, and an initial orientation of the boom.
3. The method according to claim 2, wherein the method further comprises:
Determining the rotation speed of the tower crane based on one derivation of the rotation angle determined in the operation process of the tower crane with respect to time; and/or the number of the groups of groups,
and determining the rotation acceleration of the tower crane based on the quadratic derivative of the rotation angle determined in the operation process of the tower crane with respect to time.
4. The method according to claim 1, wherein the method further comprises:
and determining the working cycle times of the tower crane based on the first horizontal displacement value.
5. The method according to claim 1, wherein the method further comprises:
acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which are different in rotation angle under an empty state after a plurality of standard knots are additionally arranged on a tower body of the tower crane, and determining initial distances between the corresponding first positioning receiving unit and a rotation center of the tower crane and/or between the corresponding second positioning receiving unit and the rotation center of the tower crane;
acquiring first longitude and latitude data of the first positioning receiving unit and/or second longitude and latitude data of the second positioning receiving unit, which correspond to different rotation angles in actual work after the set number standard is additionally installed, of the tower crane, and determining the corresponding current distance between the first positioning receiving unit and the rotation center of the tower crane and/or between the second positioning receiving unit and the rotation center of the tower crane;
And determining whether the structure of the tower crane is loose in the running process or not based on the current distance and the initial distance.
6. The method according to claim 1, wherein the method further comprises:
acquiring at least one of first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit, wherein the first longitude and latitude data of the first positioning receiving unit and the second longitude and latitude data of the second positioning receiving unit are installed initially and have different rotation angles under an empty state;
acquiring at least one of first longitude and latitude data of the first positioning receiving unit and second longitude and latitude data of the second positioning receiving unit with different rotation angles under the current actual state of the tower crane;
determining a second horizontal displacement value of the tower crane at each rotation angle based on the difference of the first longitude and latitude data and/or the second longitude and latitude data of each rotation angle corresponding to the initial installation and no-load state and the current actual state; the second horizontal displacement value characterizes a horizontal displacement of an upper turning portion of the tower crane in a horizontal plane in a direction perpendicular to the boom length.
7. The method according to claim 1, wherein the method further comprises:
Acquiring an initial installation height difference between the first positioning receiving unit and the second positioning receiving unit;
acquiring the installation height of a main receiving unit and the horizontal distance between the main receiving unit and the central line of a tower body in an initial installation state, wherein the main receiving unit is a receiving unit which is close to the rotation center of the tower crane in the first positioning receiving unit and the second positioning receiving unit;
acquiring first altitude data determined by the first positioning receiving unit and second altitude data determined by the second positioning receiving unit;
and determining the current tower height of the tower crane based on the installation height, the horizontal distance, the initial installation height difference, the first altitude data and the second altitude data.
8. The method of claim 7, wherein the determining the current tower height of the tower crane based on the installation height, the horizontal distance, the initial installation height difference, the first poster height data, and the second altitude data comprises:
determining a pitch angle of a boom of the tower crane based on the first altitude data and the second altitude data;
Determining a height difference between the main receiving unit and the tower top of the tower crane based on the installation height, the horizontal distance, the initial installation height difference and the pitch angle;
and determining the current tower height of the tower crane based on the altitude difference and the altitude data of the main receiving unit.
9. The method of claim 8, wherein the method further comprises:
and determining the working cycle times of the tower crane based on pitch angles of the suspension arms of the tower crane corresponding to different turning angles.
10. The method of claim 8, wherein the tower crane is a luffing tower crane, the method further comprising:
and determining the working radius of the lifting hook of the lifting arm under different turning angles based on the length of the lifting arm of the tower crane and the pitch angles corresponding to the different turning angles.
11. A tower crane, comprising: the upper rotary part of the tower crane is fixedly provided with a first positioning receiving unit and a second positioning receiving unit which are used for positioning, the first positioning receiving unit and the second positioning receiving unit are arranged along the axis direction of the suspension arm of the tower crane or are arranged at an included angle with the axis direction of the suspension arm of the tower crane, and the tower crane further comprises: a processor and a memory for storing a computer program capable of running on the processor, wherein,
The processor being adapted to perform the steps of the method of any of claims 1 to 10 when the computer program is run.
12. A storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method of any of claims 1 to 10.
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