CN113911922A - Intelligent tower crane rotation overall process condition monitoring and sensing method and system - Google Patents
Intelligent tower crane rotation overall process condition monitoring and sensing method and system Download PDFInfo
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- CN113911922A CN113911922A CN202111069050.1A CN202111069050A CN113911922A CN 113911922 A CN113911922 A CN 113911922A CN 202111069050 A CN202111069050 A CN 202111069050A CN 113911922 A CN113911922 A CN 113911922A
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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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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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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- 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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Abstract
The embodiment of the application provides a method and a system for monitoring and sensing the conditions of the whole rotation process of an intelligent tower crane. The method comprises the following steps: when the obstacle sensor monitors that an obstacle exists in a preset range, a first spatial position relation between each tower crane and the lifting hook and other tower cranes and lifting hooks is judged in real time according to position sensor data; if the first spatial position relation accords with a first preset early warning condition, judging second spatial position relations between each tower crane and the lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relation and the data of the speed sensor; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the towers stop; and receiving and analyzing hoisting tasks of the multiple tower cranes, and planning hoisting paths and hoisting sequences of the multiple tower cranes according to the current spatial position relation between each tower crane and each lifting hook and between other tower cranes and lifting hooks. The method and the device can effectively avoid collision risks when a plurality of tower cranes simultaneously execute lifting tasks, improve safety, and carry out scientific planning when paths conflict.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to a method and a system for monitoring and sensing the conditions of the whole rotation process of an intelligent tower crane.
Background
At present, the tower crane is basically operated and controlled by personnel in a central control room on the tower crane. For the tower crane industry, the current development direction is unmanned tower cranes and intelligent tower cranes, so that a lot of technical problems can be encountered in the industrial upgrading process.
At present remote control tower crane, in the in-process that a plurality of tower cranes hoist simultaneously, because the hoist and mount task route can overlap, lead to two risk that the tower crane that probably more collides.
Disclosure of Invention
In view of this, the purpose of this application is to provide an intelligent tower crane gyration overall process situation monitoring sensing method and system, and this application can the problem of the current many tower cranes operation risk of pertinence solution.
Based on the above purposes, the application provides an intelligent tower crane rotation overall process condition monitoring and sensing method, which comprises the following steps:
when a plurality of tower cranes simultaneously hoist a plurality of materials to be hoisted in a material set, a speed sensor, a position sensor and an obstacle sensor are arranged at two ends of a main beam of each tower crane and on a lifting hook;
acquiring data of the two ends of the main cross beam of each tower crane and barrier sensors of the lifting hook in real time, and starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hook and acquiring real-time data when the barrier sensors monitor that barriers exist in a preset range;
judging a first spatial position relation between each tower crane and the lifting hook and between other tower cranes and the lifting hook in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the two ends of the main cross beam of each tower crane and a speed sensor of a lifting hook and acquiring real-time data;
judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the data of the speed sensors; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the tower cranes stop;
and receiving and analyzing the hoisting tasks of the plurality of tower cranes, and planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relationship between each tower crane and each lifting hook and other tower cranes and lifting hooks.
Further, the tower crane comprises a variable amplitude trolley, and the variable amplitude trolley is used for controlling the lifting height and the transverse position of the lifting hook.
Further, the method further comprises the following steps:
and when the obstacle sensor monitors that no obstacle exists in the preset range, the two ends of the main beam of each tower crane and the position sensors of the lifting hooks are not started.
Further, the first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks is judged in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, the main beam two ends of each tower crane and the speed sensor of the lifting hook are started, and real-time data are acquired, including:
calculating the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a first preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a first preset early warning distance, starting the two ends of the main cross beam of at least two tower cranes and the speed sensor of the lifting hook corresponding to the space distance smaller than the first preset early warning distance, and acquiring real-time data.
Further, second spatial position relations between each tower crane and each lifting hook and between other tower cranes and lifting hooks after a preset time period are judged according to the first spatial position relations and the data of the speed sensors; if the second spatial position relation accords with the second preset early warning condition, then control a plurality of tower crane deceleration until stopping, include:
calculating the space position coordinates of each tower crane and each lifting hook after a preset time period according to the data of the speed sensor;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a second preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a second preset early warning distance, controlling the plurality of tower cranes to reduce the speed until the towers stop.
Further, each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the number of the materials.
Further, accept and analyze the hoist and mount task of a plurality of tower cranes, according to current spatial position relation planning between each tower crane and lifting hook and other tower cranes and lifting hooks the hoist and mount route and the hoist and mount order of a plurality of tower cranes include:
receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the number of materials to be hoisted;
matching each lifting hook with a plurality of materials to be lifted in the material set according to the lifting task, and selecting at least one material to be lifted which accords with the type of the material to be lifted for each lifting hook;
when the materials to be hoisted matched with one lifting hook are multiple, acquiring the space distance from the lifting hook to each matched material to be hoisted and sequencing;
selecting a matched material closest to the space distance of the lifting hook as a final target lifting material;
planning a hoisting path from the lifting hook to the target hoisting material according to the spatial position relationship between the lifting hook and the target hoisting material;
when the hoisting paths of the plurality of lifting hooks are crossed, the hoisting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the hoisting task.
Based on above-mentioned purpose, this application has still provided an intelligence tower crane gyration overall process situation monitoring sensing system, includes:
the sensor module is used for arranging a speed sensor, a position sensor and an obstacle sensor at both ends of a main beam of each tower crane and on a lifting hook when a plurality of tower cranes simultaneously lift a plurality of materials to be lifted in a material set;
the position acquisition module is used for acquiring data of the two ends of the main cross beam of each tower crane and obstacle sensors of the lifting hook in real time, and when the obstacle sensors monitor that obstacles exist in a preset range, starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hook and acquiring real-time data;
the first early warning module is used for judging a first spatial position relation between each tower crane and the lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the two ends of the main cross beam of each tower crane and a speed sensor of a lifting hook and acquiring real-time data;
the second early warning module is used for judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the tower cranes stop;
and the matching planning module is used for receiving and analyzing the hoisting tasks of the plurality of tower cranes, and planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks.
In general, the advantages of the present application and the experience brought to the user are:
this application can effectively avoid the collision risk between tower crane or the lifting hook through real-time barrier monitoring, position detection, speed monitoring and anticipatory calculation when a plurality of tower cranes carry out the handling task simultaneously, improves the security of tower crane crowd during operation to carry out scientific planning when there is the conflict in tower crane hoist and mount task route.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture of the present application.
FIG. 2 shows a flow chart of an intelligent tower crane rotation overall process condition monitoring and sensing method according to an embodiment of the application.
Fig. 3 shows a structural diagram of an intelligent tower crane rotation overall process condition monitoring and sensing system according to an embodiment of the application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a storage medium provided in an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows a schematic diagram of the system architecture of the present application. In the embodiment of this application, as shown in fig. 1 left part be the construction site, all set up position sensor and image sensor on every tower crane lifting hook. And data of each sensor is collected in real time and is sent to the background of the Internet of things in a wired or wireless mode. Four tower cranes are arranged around the material field, and four materials are arranged in the material field: material 1, material 2, material 3, and material 4. The four materials may be of the same material type or different material types, such as steel bars, prefabricated plates, wood plates, plastics, etc.; the four materials may be in the same amount or different amounts.
In the embodiment of the invention, the platform of the internet of things can adopt a server with communication capability, and can also be terminal equipment with computing capability and signal receiving and sending capability, such as a smart phone, a smart watch and the like.
FIG. 2 shows a flow chart of an intelligent tower crane rotation overall process condition monitoring and sensing method according to an embodiment of the application. As shown in fig. 2, the method for monitoring and sensing the conditions of the whole rotation process of the intelligent tower crane comprises the following steps:
step 101: when a plurality of tower cranes hoist materials to be hoisted in a material set at the same time, speed sensors, position sensors and obstacle sensors are arranged at two ends of a main beam of each tower crane and on a lifting hook. The tower crane comprises an amplitude variation trolley which is used for controlling the lifting height and the transverse position of the lifting hook.
In the embodiment of the present invention, the position sensor is a nano sensor, and the nano sensor is a sensor with a size of a nanometer level to a millimeter level, so that the size of the nano sensor is small enough, the nano sensor may only include a position feedback function, but not include other functions.
The nano sensor can be a prototype electronic chip with the diameter of 1 mm, the electronic chip only has a position feedback function, and after the electronic chip is started, position information begins to be fed back to the terminal equipment. And after the terminal equipment receives the position information, determining the distribution position of each sensor according to the obtained plurality of position information.
The obstacle sensor includes one or more of: visual sensors, laser sensors, infrared sensors, ultrasonic sensors.
The speed sensor adopts a laser speed measurement mode or a radar speed measurement mode, and the measured speed comprises an absolute value of speed and a space vector direction of the speed.
Step 102: and acquiring data of the two ends of the main cross beam of each tower crane and the obstacle sensors of the lifting hooks in real time, and starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hooks and acquiring real-time data when the obstacle sensors monitor that obstacles exist in a preset range. And when the obstacle sensor monitors that no obstacle exists in the preset range, the two ends of the main beam of each tower crane and the position sensors of the lifting hooks are not started.
For example, when an obstacle sensor at one end of a main cross beam of a certain tower crane monitors that an obstacle exists in a range of 20 meters, a collision risk may exist, the two ends of the main cross beam of each tower crane and a position sensor of a lifting hook are started, real-time data are acquired, and the real-time data are sent to a monitoring background to judge which tower crane or lifting hook may collide with the monitoring background.
Step 103: judging a first spatial position relation between each tower crane and the lifting hook and between other tower cranes and the lifting hook in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, the main beam two ends of each tower crane and the speed sensor of the lifting hook are started, and real-time data are acquired, including:
calculating the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a first preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a first preset early warning distance, starting the two ends of the main cross beam of at least two tower cranes and the speed sensor of the lifting hook corresponding to the space distance smaller than the first preset early warning distance, and acquiring real-time data.
For example, assuming that an obstacle sensor S at one end of a main beam of a first tower crane a monitors that an obstacle enters a range of 20 meters of the first tower crane, after the position sensors of all tower cranes are started, a monitoring background constructs a spatial coordinate system according to the position sensor data of all tower cranes, and calculates spatial position coordinates of two ends of the main beam of each tower crane and a hook in the spatial coordinate system in real time, for example, the position coordinates (X0, Y0, Z0) of the obstacle sensor S, and the coordinate positions (X10, Y10, Z10), (X11, Y11, Z11) of the other two position sensors; position coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of three position sensors of another tower crane B; position coordinates (X4, Y4, Z4), (X5, Y5, Z5), (X6, Y6, Z6) of three position sensors of the third tower crane C; position coordinates (X7, Y7, Z7), (X8, Y8, Z8), (X9, Y9, Z9) of three position sensors of the fourth tower crane D.
According to the solid space geometric relationship and the basic mathematical physical relationship, the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main beam of other tower cranes and the lifting hook can be calculated; for example, first, spatial distances L1 … … L9 between the position coordinates (X0, Y0, Z0) where the obstacle sensor S is located and (X1, Y1, Z1), … …, (X9, Y9, Z9) are calculated.
If the spatial distances L1 … … L9 are all larger than a first preset early warning distance, for example 15 m, the tower crane A is considered not to collide with other tower cranes temporarily, and in order to save resources, the two ends of the main beam of each tower crane and the speed sensor of the lifting hook are not started; however, if one of the spatial distances L1 … … L9 is less than 15 meters, for example, L1, the tower crane A is considered to be likely to collide with the tower crane B, speed sensors of the main cross beam of the tower crane A and the main cross beam of the tower crane B and a lifting hook are started, and real-time data are acquired, so that whether two tower cranes collide in the future is judged according to the speed.
Step 104: judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the data of the speed sensors; if the second spatial position relation accords with the second preset early warning condition, then control a plurality of tower crane deceleration until stopping, include:
calculating the space position coordinates of each tower crane and each lifting hook after a preset time period according to the data of the speed sensor;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a second preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a second preset early warning distance, controlling the plurality of tower cranes to reduce the speed until the towers stop.
For example, according to the speed sensors of the first tower crane a and the second tower crane B being 1 m/s, three space position coordinates (X0 ', Y0', Z0 '), (X10', Y10 ', Z10'), (X11 ', Y11', Z11 ') of the tower crane a after 2 s are calculated, three space position coordinates (X1', Y1 ', Z1'), (X2 ', Y2', Z10 '), (X2', Y2 ', Z2') of the tower crane B, although the present application is not limited to calculating the position coordinates of a time point, and may also calculate 1 s, 3 s, etc., and thereby drawing the future space motion trail of each position.
According to the solid space geometric relationship and the basic mathematical physical relationship, the space distance between the time-updated space position coordinates of the two ends of the main cross beam and the lifting hook of each tower crane and the space position coordinates of the two ends of the main cross beams and the lifting hook of other tower cranes can be calculated; for example, first, the spatial distances L1 ', L2 ', L3 ' of the position coordinates (X0 ', Y0 ', Z0 ') of the obstacle sensor S of the tower crane a and the updated three spatial position coordinates (X1 ', Y1 ', Z1 '), (X2 ', Y2 ', Z10 '), (X2 ', Y2 ', Z2 ') of the tower crane B are calculated.
If the space distances L1 ', L2 ' and L3 ' are greater than the second preset early warning distance, for example, 10 m, it can be determined that the distance between the two is still far, and the tower crane A, B does not need to be controlled to slow down; however, if one of the spatial distances L1 ', L2 ', and L3 ' is less than 10 m, then the tower crane A, B is controlled to decelerate immediately until it stops, assuming that there is a significant risk of collision with the tower crane A, B. Therefore, collision risks between tower cranes or lifting hooks can be effectively avoided, and the safety of the tower crane group during working is improved.
Step 105: and each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the number of the materials. Receiving and analyzing the hoisting tasks of the plurality of tower cranes, planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relationship between each tower crane and each lifting hook and other tower cranes and lifting hooks, and comprising the following steps:
receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the number of materials to be hoisted;
matching each lifting hook with a plurality of materials to be lifted in the material set according to the lifting task, and selecting at least one material to be lifted which accords with the type of the material to be lifted for each lifting hook;
when the materials to be hoisted matched with one lifting hook are multiple, acquiring the space distance from the lifting hook to each matched material to be hoisted and sequencing;
selecting a matched material closest to the space distance of the lifting hook as a final target lifting material;
planning a hoisting path from the lifting hook to the target hoisting material according to the spatial position relationship between the lifting hook and the target hoisting material;
when the hoisting paths of the plurality of lifting hooks are crossed, the hoisting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the hoisting task.
For example, after analyzing the hoisting task, the prefabricated slab is hoisted by the lifting hook 1, and then the prefabricated slab can be known only in the material 2 by monitoring the types and the quantities of various materials prestored in the background, analyzing and matching. And selecting the material 2 for combination according to the lifting hook 1, and executing a corresponding lifting task.
For another example, through the analysis hoisting task, the lifting hook 1 is to hoist a steel plate, and then through the analysis and matching of the types and the quantities of various materials prestored in the monitoring background, it can be known that the materials 1 and 4 are steel plates. When the distance relation between the material 1, the material 4 and the lifting hook 1 is analyzed, the fact that the material 1 is closer to the lifting hook 1 can be obtained, then the lifting hook 1 selects the material 1 to combine according to the principle of proximity, and corresponding lifting tasks are executed.
For another example, if the lifting hook 1 at the upper left corner of fig. 1 is to lift the material 4 at the lower right corner, and at the same time, the lifting hook 4 at the lower right corner is to lift the material 1 at the upper left corner, the lifting paths are overlapped, and if the lifting paths are executed simultaneously, collision between two tower cranes is caused, so that safety accidents are caused. At this moment, the hoisting time of the overlapped lifting hooks is reasonably arranged, and the time-sharing hoisting is executed, so that the safety accidents can be avoided.
For another example, if the hoisting routes of the lifting hooks are not overlapped, for example, the lifting hook 1 at the upper left corner is to hoist the material 1 at the upper left corner, the lifting hook 2 at the upper right corner is to hoist the material 2 at the upper right corner, the lifting hook 3 at the lower left corner is to hoist the material 3 at the lower left corner, and the lifting hook 4 at the lower right corner is to hoist the material 4 at the lower right corner, these hoisting tasks can be simultaneously executed, and the maximum hoisting tasks are completed in unit time, so that the hoisting efficiency is improved.
More preferably, for example, if the number of the steel plates to be lifted by the lifting hook 1 exceeds the number of the steel plates of the material 1, the material 1 is lifted in advance during planning, and the steel plates in the material 4 are lifted continuously after the steel plates of the material 1 are used.
This application can effectively avoid the collision risk between tower crane or the lifting hook through real-time barrier monitoring, position detection, speed monitoring and anticipatory calculation when a plurality of tower cranes carry out the handling task simultaneously, improves the security of tower crane crowd during operation to carry out scientific planning when there is the conflict in tower crane hoist and mount task route.
The application embodiment provides an intelligence tower crane gyration overall process situation monitoring sensing system, this system is used for carrying out above-mentioned embodiment intelligence tower crane gyration overall process situation monitoring sensing method, as shown in figure 3, this system includes:
the sensor module 501 is used for arranging a speed sensor, a position sensor and an obstacle sensor at both ends of a main beam of each tower crane and on a lifting hook when a plurality of tower cranes simultaneously lift a plurality of materials to be lifted in a material set;
the position acquisition module 502 is used for acquiring data of the two ends of the main cross beam of each tower crane and obstacle sensors of the lifting hook in real time, and when the obstacle sensors monitor that obstacles exist in a preset range, starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hook and acquiring real-time data;
the first early warning module 503 is configured to judge a first spatial position relationship between each tower crane and hook and other tower cranes and hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the two ends of the main cross beam of each tower crane and a speed sensor of a lifting hook and acquiring real-time data;
the second early warning module 504 is configured to determine, according to the first spatial position relationship and the speed sensor data, a second spatial position relationship between each tower crane and each hook after a preset time period and other tower cranes and hooks; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the tower cranes stop;
and the matching planning module 505 is used for receiving and analyzing hoisting tasks of the plurality of tower cranes, and planning hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks.
The intelligent tower crane rotation overall process condition monitoring and sensing system provided by the embodiment of the application and the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment of the application are based on the same inventive concept, and have the same beneficial effects as methods adopted, operated or realized by application programs stored in the intelligent tower crane rotation overall process condition monitoring and sensing system.
The embodiment of the application also provides electronic equipment corresponding to the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment so as to execute the intelligent tower crane rotation overall process condition monitoring and sensing method. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device provided in some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: the system comprises a processor 200, a memory 201, a bus 202 and a communication interface 203, wherein the processor 200, the communication interface 203 and the memory 201 are connected through the bus 202; the memory 201 stores a computer program which can be run on the processor 200, and when the processor 200 runs the computer program, the intelligent tower crane rotation overall process condition monitoring and sensing method provided by any one of the foregoing embodiments of the present application is executed.
The Memory 201 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 203 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The processor 200 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 200. The Processor 200 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by 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 ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201 and completes the steps of the method in combination with the hardware thereof.
The electronic equipment provided by the embodiment of the application and the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment of the application have the same inventive concept and have the same beneficial effects as the method adopted, operated or realized by the electronic equipment.
Referring to fig. 5, the illustrated computer-readable storage medium is an optical disc 30, and a computer program (i.e., a program product) is stored thereon, and when being executed by a processor, the computer program may execute the intelligent tower crane rotation overall process condition monitoring and sensing method provided by any of the foregoing embodiments.
It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.
The computer-readable storage medium provided by the above embodiment of the application and the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment of the application are based on the same inventive concept, and have the same beneficial effects as methods adopted, operated or realized by application programs stored in the computer-readable storage medium.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application. The present application may also be embodied as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the 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 conceive various changes or substitutions within the technical scope of the present application, and these should be covered by 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 (10)
1. The intelligent tower crane rotation overall process condition monitoring and sensing method is characterized by comprising the following steps of:
when a plurality of tower cranes simultaneously hoist a plurality of materials to be hoisted in a material set, a speed sensor, a position sensor and an obstacle sensor are arranged at two ends of a main beam of each tower crane and on a lifting hook;
acquiring data of the two ends of the main cross beam of each tower crane and barrier sensors of the lifting hook in real time, and starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hook and acquiring real-time data when the barrier sensors monitor that barriers exist in a preset range;
judging a first spatial position relation between each tower crane and the lifting hook and between other tower cranes and the lifting hook in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the two ends of the main cross beam of each tower crane and a speed sensor of a lifting hook and acquiring real-time data;
judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the data of the speed sensors; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the tower cranes stop;
and receiving and analyzing the hoisting tasks of the plurality of tower cranes, and planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relationship between each tower crane and each lifting hook and other tower cranes and lifting hooks.
2. The method of claim 1,
the tower crane comprises an amplitude variation trolley which is used for controlling the lifting height and the transverse position of the lifting hook.
3. The method of claim 2, further comprising:
and when the obstacle sensor monitors that no obstacle exists in the preset range, the two ends of the main beam of each tower crane and the position sensors of the lifting hooks are not started.
4. The method of claim 3,
the first spatial position relation between each tower crane and the lifting hook and the first spatial position relation between other tower cranes and the lifting hook are judged in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, the main beam two ends of each tower crane and the speed sensor of the lifting hook are started, and real-time data are acquired, including:
calculating the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a first preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a first preset early warning distance, starting the two ends of the main cross beam of at least two tower cranes and the speed sensor of the lifting hook corresponding to the space distance smaller than the first preset early warning distance, and acquiring real-time data.
5. The method of claim 4,
judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation accords with the second preset early warning condition, then control a plurality of tower crane deceleration until stopping, include:
calculating the space position coordinates of each tower crane and each lifting hook after a preset time period according to the data of the speed sensor;
calculating the space distance between the space position coordinates of the two ends of the main cross beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main cross beams of other tower cranes and the lifting hook;
if the space distance is larger than a second preset early warning distance, the two ends of the main cross beam of each tower crane and the speed sensor of the lifting hook are not started; and if the space distance is smaller than a second preset early warning distance, controlling the plurality of tower cranes to reduce the speed until the towers stop.
6. The method of claim 4 or 5,
and each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the number of the materials.
7. The method of claim 6,
accepting and analyzing the hoisting tasks of the plurality of tower cranes, planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relationship between each tower crane and each lifting hook and other tower cranes and lifting hooks, and comprising the following steps:
receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the number of materials to be hoisted;
matching each lifting hook with a plurality of materials to be lifted in the material set according to the lifting task, and selecting at least one material to be lifted which accords with the type of the material to be lifted for each lifting hook;
when the materials to be hoisted matched with one lifting hook are multiple, acquiring the space distance from the lifting hook to each matched material to be hoisted and sequencing;
selecting a matched material closest to the space distance of the lifting hook as a final target lifting material;
planning a hoisting path from the lifting hook to the target hoisting material according to the spatial position relationship between the lifting hook and the target hoisting material;
when the hoisting paths of the plurality of lifting hooks are crossed, the hoisting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the hoisting task.
8. The utility model provides an intelligence tower crane gyration overall process situation monitoring sensing system which characterized in that includes:
the sensor module is used for arranging a speed sensor, a position sensor and an obstacle sensor at both ends of a main beam of each tower crane and on a lifting hook when a plurality of tower cranes simultaneously lift a plurality of materials to be lifted in a material set;
the position acquisition module is used for acquiring data of the two ends of the main cross beam of each tower crane and obstacle sensors of the lifting hook in real time, and when the obstacle sensors monitor that obstacles exist in a preset range, starting the two ends of the main cross beam of each tower crane and the position sensors of the lifting hook and acquiring real-time data;
the first early warning module is used for judging a first spatial position relation between each tower crane and the lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the two ends of the main cross beam of each tower crane and a speed sensor of a lifting hook and acquiring real-time data;
the second early warning module is used for judging second spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation accords with a second preset early warning condition, controlling the plurality of tower cranes to reduce the speed until the tower cranes stop;
and the matching planning module is used for receiving and analyzing the hoisting tasks of the plurality of tower cranes, and planning the hoisting paths and hoisting sequences of the plurality of tower cranes according to the current spatial position relations between each tower crane and each lifting hook and other tower cranes and lifting hooks.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor to implement the method according to any of claims 1-7.
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