CN115010022A - Tower crane hanging space anti-collision method based on movement trend - Google Patents

Tower crane hanging space anti-collision method based on movement trend Download PDF

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CN115010022A
CN115010022A CN202210844177.4A CN202210844177A CN115010022A CN 115010022 A CN115010022 A CN 115010022A CN 202210844177 A CN202210844177 A CN 202210844177A CN 115010022 A CN115010022 A CN 115010022A
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tower crane
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杨晓娇
何跃川
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Sichuan Institute of Building Research
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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes

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Abstract

The invention discloses a tower crane hanging object space anti-collision method based on a movement trend, which comprises the following steps: acquiring static information and obstacle information of the tower crane as initial known information; updating the height of the bottom of the hoisted object in the hoisting process based on the static information of the tower crane; different collision checking algorithms are carried out on the basis of static information of the tower crane, information of the obstacles and the height of the bottom of the hoisted object in the hoisting process of the hoisted object, the motion trend of the hoisted object is judged according to the current position, speed, acceleration and direction of a crane arm and the hoisted object and the preset safe reserve time delta t, the running position relation between the tower crane and the surrounding tower cranes or the obstacles is obtained, the working state of the tower crane in the current and braking time is judged, and whether the tower crane is in a dangerous state or not is further judged, so that the safety of the whole tower crane system is ensured. The invention provides a more precise collision risk judgment method considering the influence of the braking reaction time of different drivers of different tower cranes and the braking distance of a hoisted object under different movement trends.

Description

Tower crane hanging space anti-collision method based on movement trend
Technical Field
The invention relates to the technical field of operation safety management of tower cranes in construction sites, in particular to a motion trend-based anti-collision method for a tower crane lifting space.
Background
In recent years, the building industry in China is vigorously developed, the building scale is continuously enlarged, and the total value of the building industry in China is increased year by year. However, the construction industry is continuously developing and brings significant challenges to the safety management of construction sites. In order to improve the construction efficiency, the building construction process has high dependence on construction machinery, in particular heavy machinery such as a tower crane (referred to as a tower crane for short) and the like. The tower crane is often operated manually and needs to be operated in coordination, so that safety accidents such as mutual collision between the tower crane and obstacles and between the tower cranes are easy to happen, and huge loss is caused. Therefore, the research on the anti-collision method of the tower crane becomes a problem that the safety management of a construction site is not negligible. The existing anti-collision method for the tower crane has the following defects:
(1) the existing anti-collision method defaults that a hoisted object is in a static state when the position of the hoisted object is calculated, and does not take the motion trend of the hoisted object due to the inertia effect into consideration in the hoisting process.
(2) The existing anti-collision method is not suitable for actual conditions by taking the distance between the current moment of the hanging object and a dangerous area as a judgment basis when the hanging object is judged in advance to be in the dangerous area.
(3) The braking response time delta t of different drivers of different tower cranes is different, the braking time and the moving distance of hoisted objects are also different under different hoisting speeds, the factor influencing safety is not considered in the prior art, and the problem of over conservative judgment can occur.
Therefore, how to provide a method for preventing collision in a tower crane suspended object space, which can solve at least one of the above technical problems, is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a tower crane hoisting space anti-collision method based on a movement trend, which improves the collision risk judgment precision and rationality.
In order to achieve the purpose, the invention adopts the following technical scheme:
a tower crane lifting space anti-collision method based on motion trend comprises the following steps:
acquiring static information and obstacle information of the tower crane as initial known information;
updating the height of the bottom of the hoisted object in the hoisting process based on the static information of the tower crane;
performing different collision checking algorithms based on the static information of the tower crane, the obstacle information and the height of the bottom of the hoisted object in the hoisting process of the hoisted object;
and judging whether the tower crane is in a dangerous state or not based on the preset safe reserve time delta t, and carrying out early warning deceleration or warning braking according to a check result.
Preferably, the algorithm for checking different collisions based on the static information of the tower crane, the information of the obstacles and the height of the bottom of the hoisted object in the hoisting process of the hoisted object specifically comprises the following steps:
acquiring the height of a fixed obstacle and the type of a collision condition based on the obstacle information, and acquiring the bottom height of a cargo boom based on the static information of the tower crane;
and performing different collision checking algorithms based on the collision condition type, the height of the bottom of the hoisted object, the height of the fixed barrier and the height of the bottom of the crane arm in the hoisting process of the hoisted object.
Preferably, the types of collision situations include fixed obstacles, space restricted areas and tower cranes.
Preferably, when the obstacle is a fixed obstacle, if the height of the fixed obstacle is not less than the height of the bottom of the crane arm, a crane arm collision algorithm is carried out, if the height of the bottom of the crane in the hoisting process of the crane is not more than the height of the fixed obstacle and the height of the fixed obstacle is less than the height of the bottom of the crane arm, a crane hook collision algorithm is carried out, and if the height of the fixed obstacle is less than the height of the bottom of the crane in the hoisting process of the crane, safety is ensured;
when the space is a limited area, if the limited area is a cargo boom forbidden area or a group tower interference area, performing a cargo boom collision algorithm, if the limited area is a hook forbidden area, entering a hook collision algorithm, and if the limited area is a cargo boom forbidden area, performing an alarm prompt;
and when the collision is the tower crane, executing a tower crane collision algorithm.
Preferably, the static information of the tower crane comprises a plane coordinate of the tower crane, the length of a cargo boom, the relative height of a base and the height of the tower crane.
Preferably, the boom collision algorithm is specifically:
with tower crane plane coordinates P a As a center, the length R of the jib 3 Make a circle P for the radius a R 3 Obtaining all and circles P a R 3 A graph of boundary intersections;
traversing each edge of the graph, if any, and the circle P a R 3 Crossing to obtain the crossing point as the control point and to be located in the circle P a R 3 The inner pattern end points being control points, i.e. all the circles P are found a R 3 Inside or in a circle P a R 3 A control point on;
sequentially judging control points and coordinates P of tower crane a (X a ,Y a ) The angle values of the connected line segment and the positive north direction are sequentially arranged from small to large by taking the clockwise direction as the positive direction, the difference values between adjacent angles are sequentially solved according to the sequence, if the difference value is larger than pi, the smaller value of the adjacent angle values is the maximum value theta max, the larger value is reduced by 2 pi to be the minimum value theta min, if the difference values of the adjacent angles are all smaller than pi after all differences are made, the minimum angle value and the maximum angle value in the sequence are taken as the minimum value theta min min With a maximum value theta max Definition of [ theta ] min ,θ max ]Is an alarm interval;
according to a preset crane boom early warning buffer angle theta k Definition [ theta ] min -θ k ±2nπ,θ max +θ k ±2nπ]N is all natural numbers in the early warning interval;
acquiring previous moment t of tower crane 0 With the current time t 1 Corresponding jib slewing angle theta 0 、θ 1 Data, calculating the current time t 1 Jib angular velocity ω q1 And jib angular acceleration a q1 ：
Figure BDA0003751663460000031
Figure BDA0003751663460000032
Wherein, ω is q0 Represents t 0 The jib angular velocity at that moment;
based on preset safe reserve time delta t and angular speed omega q1 With angular acceleration a q1 The jib slewing angle theta after delta t is obtained t ：
Figure BDA0003751663460000041
Judging the rotation angle theta of the crane boom t Whether the alarm is in an early warning area or an alarm area.
Preferably, the hook collision algorithm is specifically:
with tower crane plane coordinates P a As a center, the length R of the jib 3 Make a circle P for the radius a R 3 Traversing all the plane circumscribed polygons or circumscribed circles of the obstacles to obtain all the circles P a R 3 Graph F with intersected boundaries x ；
Graph F x The expression mode is the geometry of the characteristic points, namely, the circumscribed polygon takes the coordinates of each endpoint as the characteristic points, and the circumscribed circle takes the coordinates of the circle center and the boundary as the characteristic points;
acquiring previous moment t of tower crane 0 With the current time t 1 Corresponding jib slewing angle theta 0 、θ 1 And the previous time t 0 With the current time t 1 Corresponding tower crane trolley amplitude value R f0 、R f1 Solving for the current time t 1 Coordinate P of hanging object d (X d ,Y d ) Data, the calculation formula is as follows:
X d ＝X a +R f1 sinθ 1
Y d ＝Y a +R f1 cosθ 1 ；
solving for t 0 Time and current time t 1 Angular velocity of tower crane boom
Figure BDA0003751663460000042
Current time t 1 Angular acceleration of tower crane boom
Figure BDA0003751663460000043
t 0 Time and current time t 1 Moving speed v of tower crane trolley f0 And v f1 At the current time t 1 Moving acceleration a of tower crane trolley f1 And further, the amplitude value R of the trolley A of the tower crane at the moment after n x delta t is obtained fnt ：
Figure BDA0003751663460000044
Figure BDA0003751663460000045
Figure BDA0003751663460000046
Figure BDA0003751663460000047
Figure BDA0003751663460000048
Solving the hanging object coordinate P after n times of preset safe reserve time n x delta t motion trend dnt (X dnt ,Y dnt ) The calculation formula is as follows:
X dnt ＝X a +R fnt sinθ nt
Y dnt ＝Y a +R fnt cosθ nt
Figure BDA0003751663460000051
wherein, theta nt Representing the jib rotation angle of the tower crane A at the moment after n x delta t;
judging the coordinate P of the hanging object dnt (X dnt ,Y dnt ) Whether or not in the pattern F x On the inner or boundary, if true, findHanging position P after preset safe reserve time Deltat is solved dt (X dt ,Y dt ) And determining the hanging object position P dt (X dt ,Y dt ) Whether or not in the pattern F x Inside or on the boundary, the specific calculation process is as follows:
X dt ＝X a +R ft sinθ t
Y dt ＝Y a +R ft cosθ t
wherein, theta t Shows the slewing angle R of the jib A of the tower crane at the moment after delta t ft Showing the amplitude value of the trolley A of the tower crane at the moment after delta t,
Figure BDA0003751663460000052
Figure BDA0003751663460000053
wherein R is f0 、R f1 Represents t 0 Time and current time t 1 A tower crane trolley amplitude value;
if the coordinate P of the hanging object dnt (X dnt ,Y dnt ) Is not in the pattern F x Inside or on the boundary, then pass through P d Coordinate sum P dnt Coordinate solving of hanging object motion track P d P dnt To determine the motion track P of the suspended object d P dnt And pattern F x If the relation of each edge is crossed, alarming and braking are carried out, and if the relation is not crossed, safety is carried out;
at the judgment of the hanging position P dt (X dt ,Y dt ) Whether or not in the pattern F x When in or on the boundary, if the position P of the suspended object is dt (X dt ,Y dt ) And (4) alarming and braking inside or on the boundary of the graph Fx, otherwise early warning and decelerating.
Preferably, the height H of the bottom of the crane boom q Comprises the following steps:
H q ＝H 1 +H 2
wherein H 1 Is a baseRelative height, H 2 Is the height of the tower crane.
Preferably, the initial suspended object bottom height H d Comprises the following steps:
H d ＝H 1 +H 5 -H w
wherein H 1 Is the relative height of the base, H 5 To initial hook height, H w The height of the hanging object is shown.
Preferably, the height of the bottom of the hoisted object after updating is as follows:
H′ d ＝H d -H w
wherein H w To the height of the suspended load, H d Is the suspended object bottom height, H 'before updating' d The height of the bottom of the hanging object is the height of the bottom of the hanging object in the hanging process.
The invention has the following advantages:
(1) considering the influence of the moving direction, the moving speed and the acceleration on the motion of the hanging object and the judgment of a dangerous area;
(2) the braking reaction time of different drivers of different tower cranes and the influence of hoisted objects on the braking distance under different movement trends are considered, and a more precise collision risk judgment method is provided.
(3) For the control of the forbidden area of the crane boom only through the rotation angle theta, the calculation method is simple and the efficiency is high; meanwhile, the position of the crane jib after the preset safe reserve time delta t is pre-judged according to the moving trend of the crane jib, so that the precision is improved, and the collision risk judgment precision and the reasonability are improved.
(4) For the problem of collision between tower cranes, traversing all possible collision scenes of interference of the tower cranes and aiming at compiling algorithms; and the collision trend after delta t is considered, so that the safety risk is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an overall flow chart of a spatial anti-collision method for a tower crane based on a motion trend.
FIG. 2 is a flow chart for realizing a crane arm collision algorithm.
Fig. 3(a) and 3(b) are plan views of two cases of boom collision.
FIG. 4 is a flow chart of a hook crash algorithm implementation.
Fig. 5 is a plan view showing a state where the hook collides.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a method for preventing collision of a tower crane hoisting space based on a motion trend, which comprises the following steps of:
s1: acquiring static information of the tower crane and data information input of cloud platform obstacles as initial known information;
s2: judging the classification of the hoisted objects by combining with a lifting hook camera, and updating the height of the bottom of the hoisted objects in the hoisting process of the hoisted objects;
s3: and entering different collision checking algorithms according to different collision condition classifications. The algorithm is to judge the movement trend of the cargo boom or the movement trend of the suspended object according to the preset safe reserve time delta t, and comprises a cargo boom collision algorithm, a lifting hook collision algorithm and a group tower collision algorithm;
s4: and judging whether early warning deceleration or warning braking is needed or not according to the output result of the algorithm.
The symbols and the acquisition mode of the data related to the invention are shown in the following table:
TABLE 1 data of various types
Figure BDA0003751663460000071
Figure BDA0003751663460000081
S1 specifically includes: the static data of the tower crane is acquired through a black box at the end of a driver, and comprises plane coordinates of the tower crane, the length of a cargo boom, the relative height of a base and the height of the tower crane. Taking tower crane A as an example, the plane center coordinate is P a ＝(X a ,Y a )，R 1 、R 2 And R 3 The lengths of the balance arm, the amplitude distance and the length of the cargo boom are respectively used as the radius to draw a circle, so that the horizontal range covered by the tower crane A in the working process can be obtained. The vertical static data is 0 on the reference surface, and the bottom height H of the crane boom of the tower crane can be obtained q ＝H 1 +H 2 Bottom height H of counterweight p ＝H 1 +H 2 -H 4 Height H of hanging article w Height H of suspended object bottom d ＝H 1 +H 5 -H w Wherein H is 1 Is the relative height of the base, H 2 Is the height of the tower crane H 4 For the height of the hanging down of the balancing weight, H 5 Is the initial hook height obtained by the sensor. Wherein due to the hanging height H of the balancing weight 4 Usually not more than 2m, let H for model simplification q ＝H p I.e. the bottom height of the crane boom is equal to the bottom height of the counterweight.
The cloud platform information is input with the information of the obstacles and the tower cranes on the basis of loading construction site drawings, and the feature point coordinate information of all the obstacles, the limited area, the names of the tower cranes, the image classification, the collision condition classification, the serial number, the fixed obstacle height and each end point of the description image on the whole construction site is obtained.
S2 specifically includes: the classification and volume adjustment parameters of the hoisted objects are judged through a lifting hook camera, namely, a picture of the hoisted objects is obtained from a camera arranged at the farthest end of a crane arm or on a luffing trolley, the type of the hoisted objects is judged through AI target identification and other modes, and the overall dimension (height is H) of the hoisted objects is estimated through the hoisting weight information obtained by a sensor w ) Modifying the calculated value H 'of the height of the suspended object at the moment of the tower crane' d ＝H d -H w 。
S3 specifically includes: due to the fact that the conditions of a construction site are complex, and the shapes of obstacles in the working environment of the tower crane are various, in the method, the possible collision conditions of the tower crane (the tower crane A) are classified into three types: (1) a space limitation area (a manually set boom or hook exclusion area, etc.); (2) fixed obstacles (e.g., existing buildings); (3) and other adjacent tower cranes. For the barrier, the plane can be divided into a polygonal area, a circular area and a tower crane area according to different geometric expression modes, the model can be simplified into a convex polygon, and the approximate minimum circumscribed polygon or circumscribed circle is taken in consideration of safety storage.
The barrier characteristics are mainly distinguished by means of collision classification and barrier fixed-point height, two parameters of height H and collision condition classification in the obtained fixed barrier information are obtained, and the height H of the bottom of the crane boom in the obtained static data q And the height H of the suspended object in the dynamic data d Parameters, which algorithm should be entered. Firstly, the height index is determined whether to pay more attention through collision classification, then whether to need to be checked is judged according to the vertical relation, and different algorithms are entered, wherein the specific algorithm judgment is shown in the following table.
TABLE 2 specific algorithm judgment
Figure BDA0003751663460000091
Figure BDA0003751663460000101
As shown in fig. 2, the calculation flow of the boom collision algorithm includes:
1) with tower crane plane coordinates P a As a center, find all the circles P a R 3 The pattern of the collision, the plan views of the two cases of the collision are shown in FIG. 3(a) and FIG. 3(b), and the boom length R 3 Traversing each edge of the graph for the radius, if any, and the circleP a R 3 Obtaining intersection points as control points under the intersection condition, and adding the intersection points into the control point set; will lie on the circle P at the same time a R 3 Adding the internal graphic endpoint as a control point into the control point set;
2) sequentially judging the angle values of the line segment connected with the control point and the tower crane coordinate Pa (Xa, Ya) and the due north direction, taking the clockwise direction as the positive, sequentially arranging the angle values from small to large, sequentially solving the difference value between the adjacent angles, and if the difference value is larger than pi, enabling the smaller value of the adjacent angle values to be the maximum value theta max The difference between the larger value and 2 pi is used as the minimum value theta min If the angle values in the sequence are all differenced according to the sequence and the adjacent angle difference values are less than pi, taking the minimum angle value and the maximum angle value in the sequence as the minimum value theta min With a maximum value theta max Definition of [ theta ] min ,θ max ]Is an alarm interval;
3) according to a preset crane boom early warning buffer angle theta k Definition [ theta ] min -θ k ±2nπ,θ max +θ k ±2nπ]N is all natural numbers in the early warning interval;
4) acquiring previous moment t of tower crane through sensor 0 With the current time t 1 Boom rotation angle theta 0 、θ 1 Calculating the boom t 1 Angular velocity ω at the present time q1 Angular acceleration a q1 Information;
Figure BDA0003751663460000111
Figure BDA0003751663460000112
5) according to the preset safe reserve time delta t (delta t, namely the safe reserve time required by a driver from receiving a pre-alarm to finishing the anti-collision operation), the angular speed omega q1 With angular acceleration a q1 The jib slewing angle theta after delta t is obtained t (ii) a For ease of calculation, boom width is incorporated into the secure storeThe preparation time Δ t is considered.
Figure BDA0003751663460000113
By judging the rotation angle theta of the crane boom t Whether in the early warning interval [ theta ] min -θ k ±2nπ,θ max +θ k ±2nπ]And alarm interval [ theta ] min ,θ max ]So as to judge whether to carry out early warning deceleration or warning braking;
as shown in fig. 4, a hook collision algorithm is required to be used in a region where the boom can enter but the hook cannot enter, and the specific flow of the hook collision algorithm includes:
1) with tower crane plane coordinates P a As a center, a crane arm R 3 Length is a radius a R 3 Traversing all plane circumscribed polygons or circumscribed circles of the obstacles to find all circles P a R 3 Pattern of collision F x The plan view is shown in fig. 5; the circumscribed polygon takes coordinates of all end points as characteristic points, and the circumscribed circle takes coordinates of the circle center and a boundary as the characteristic points;
2) acquiring previous moment t of tower crane through sensor 0 With the current time t 1 Tower crane boom rotation angle theta 0 、θ 1 Amplitude value R of tower crane trolley f0 、R f1 Solving the coordinates P of the suspended object d (X d ,Y d ) Data, the calculation formula is as follows:
X d ＝X a +R f1 sinθ 1
Y d ＝Y a +R f1 cosθ 1
solving for t 0 Time and current time t 1 Angular velocity of tower crane boom
Figure BDA0003751663460000114
Current time t 1 Angular acceleration of tower crane boom
Figure BDA0003751663460000115
t 0 Time and current time t 1 Moving speed v of tower crane trolley f0 And v f1 At the present time t 1 Moving acceleration a of tower crane trolley f1 And solving the coordinate P after n times of preset safe reserve time n x delta t (n is an integer larger than 1 and can be set by a user according to the situation) of the hanging object is moved dnt (X dnt ,Y dnt ) The calculation formula is as follows:
X dnt ＝X a +R fnt sinθ nt
Y dnt ＝Y a +R fnt cosθ nt
wherein, theta nt Representing the slewing angle R of the jib A of the tower crane at the moment after n x Delta t fnt The method comprises the following steps of representing the amplitude value of a trolley A of the tower crane at the moment after n x delta t, wherein the specific calculation formula is as follows:
Figure BDA0003751663460000121
Figure BDA0003751663460000122
Figure BDA0003751663460000123
Figure BDA0003751663460000124
Figure BDA0003751663460000125
Figure BDA0003751663460000126
judgment of P dnt (X dnt ,Y dnt ) Whether or not in the pattern F x Interior orOn the boundary, if true, the position P of the suspended object after the preset safe reserve time Delta t is solved dt (X dt ,Y dt ) Whether or not in the pattern F x Interior or on a boundary; if the motion track is false, solving the motion track P of the suspended object d P dnt (by P) d And P dnt Two end point representations) and graph F x And (4) the relation of each side, if the sides are intersected, alarming and braking, and if the sides are not intersected, safety is realized. At the judgment of P dnt In the pattern F x When the interior (or the boundary) is true, solving the hanging object position P after the preset safe reserve time delta t dt (X dt ,Y dt ) Whether or not in the pattern F x Inside or on the boundary, the calculation formula is as follows; if true, alarming and braking, and if not false, early warning and decelerating.
X dt ＝X a +R ft sinθ t
Y dt ＝Y a +R ft cosθ t
Wherein, theta t Shows the slewing angle R of the jib A of the tower crane at the moment after delta t ft The method comprises the following steps of (1) representing the amplitude value of a trolley A of the tower crane at the moment after delta t, wherein a specific calculation formula is as follows:
Figure BDA0003751663460000131
Figure BDA0003751663460000132
Figure BDA0003751663460000133
wherein, theta 0 、θ 1 Represents t 0 Time of day and current t 1 At the moment, the rotating angle of a crane boom of the tower crane,
Figure BDA0003751663460000134
respectively representing the current time t 1 And t 0 The angular velocity of the tower crane boom at any moment,
Figure BDA0003751663460000135
indicates the current time t 1 Angular acceleration of the tower crane boom.
Figure BDA0003751663460000136
Figure BDA0003751663460000137
Figure BDA0003751663460000138
Wherein R is f0 、R f1 Represents t 0 Time and current time t 1 Amplitude value of tower crane carriage, v f0 And v f1 Respectively represent t 0 Time and current time t 1 Speed of movement of the tower crane carriage, a f1 Respectively representing the current time t 1 And (5) acceleration of the movement of the tower crane trolley.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A tower crane hanging space anti-collision method based on motion trend is characterized by comprising the following steps:
acquiring static information and obstacle information of the tower crane as initial known information;
updating the height of the bottom of the hoisted object in the hoisting process based on the static information of the tower crane;
performing different collision checking algorithms based on the static information of the tower crane, the obstacle information and the height of the bottom of the hoisted object in the hoisting process of the hoisted object;
and calculating the possible motion position of the tower crane in the braking time based on the preset safe reserve time delta t, judging whether the tower crane is in a dangerous state, and performing early warning deceleration or warning braking according to a checking result.
2. The method for preventing collision of the space of the tower crane hoisted objects based on the motion trend as claimed in claim 1, wherein the algorithm for performing different collision check based on the static information of the tower crane, the information of the obstacles and the height of the bottom of the hoisted objects in the hoisting process specifically comprises the following steps:
acquiring the height of a fixed obstacle and the type of a collision condition based on the obstacle information, and acquiring the bottom height of a cargo boom based on the static information of the tower crane;
and performing different collision checking algorithms based on the collision condition type, the height of the bottom of the hoisted object, the height of the fixed barrier and the height of the bottom of the crane arm in the hoisting process of the hoisted object.
3. The method for preventing collision of the space of the tower crane hoist based on the movement trend as claimed in claim 2, wherein the collision condition types comprise fixed obstacles, space limitation areas and the tower crane.
4. The method for preventing the space collision of the tower crane hoisted objects based on the motion trend of claim 3 is characterized in that when the method is used for fixing the obstacles, a crane arm collision algorithm is carried out if the height of the fixed obstacles is not less than the height of the bottom of the crane arm, a hook collision algorithm is carried out if the height of the bottom of the hoisted objects in the hoisting process is not more than the height of the fixed obstacles and the height of the fixed obstacles is less than the height of the bottom of the crane arm, and the method is safe if the height of the fixed obstacles is less than the height of the bottom of the hoisted objects in the hoisting process;
when the space is a limited area, if the limited area is a cargo boom forbidden zone or a group tower interference zone, performing a cargo boom collision algorithm, if the limited area is a hook forbidden zone, entering a hook collision algorithm, and if the limited area is a cargo boom prompt zone or a hook prompt zone, performing alarm prompt;
and when the collision is the tower crane, executing a tower crane collision algorithm.
5. The method as claimed in claim 4, wherein the static information of the tower crane comprises the plane coordinates of the tower crane, the length of the boom, the relative height of the base and the height of the tower crane.
6. The tower crane hoisting space anti-collision method based on the motion trend as claimed in claim 5, wherein the crane boom collision algorithm specifically comprises:
with tower crane plane coordinates P a As a center, the length R of the jib 3 Make a circle P for the radius a R 3 Obtaining all and circles P a R 3 A graph of boundary intersections;
traversing each edge of the graph, if any, and the circle P a R 3 Crossing to obtain the crossing point as the control point and to be located in the circle P a R 3 The inner pattern end points being control points, i.e. all the circles P are found a R 3 Inside or in a circle P a R 3 A control point on;
sequentially judging control points and coordinates P of tower crane a (X a ,Y a ) The angle values of the connected line segments and the positive north direction are arranged in sequence from small to large by taking the clockwise direction as the positive direction, the difference value between adjacent angles is solved in sequence, and if the difference value is larger than pi, the smaller value of the adjacent angle values is made to be the maximum value theta max The difference of the larger value minus 2 pi is taken as the minimum value theta min If all the difference values are less than pi, taking the minimum angle value in the sequence andthe maximum angle value is taken as the minimum value theta min With a maximum value theta max Definition of [ theta ] min ,θ max ]Is an alarm interval;
according to a preset crane boom early warning buffer angle theta k Definition [ theta ] min -θ k ±2nπ,θ max +θ k ±2nπ]N is all natural numbers in the early warning interval;
acquiring previous moment t of tower crane 0 With the current time t 1 Corresponding jib slewing angle theta 0 、θ 1 Data, calculating the current time t 1 Jib angular velocity ω q1 And jib angular acceleration a q1 ：
Figure FDA0003751663450000021
Figure FDA0003751663450000022
Wherein, ω is q0 Represents t 0 The jib angular velocity at that moment;
based on preset safe reserve time delta t and angular speed omega q1 With angular acceleration a q1 The jib slewing angle theta after delta t is obtained t ：
Figure FDA0003751663450000031
Judging the rotation angle theta of the crane boom t Whether the alarm is in an early warning area or an alarm area.
7. The tower crane hanging object space anti-collision method based on the motion trend as claimed in claim 5, wherein the hook collision algorithm is specifically as follows:
with tower crane plane coordinates P a As a center, the length R of the jib 3 Make a circle P for the radius a R 3 Go through the plane of all obstaclesThe surface is circumscribed by polygon or circumscribed circle to obtain all the circles P a R 3 Graph F with intersecting boundaries x ；
Graph F x The expression mode is the geometry of the characteristic points, namely, the circumscribed polygon takes the coordinates of all end points as the characteristic points, and the circumscribed circle takes the coordinates of the circle center and the boundary as the characteristic points;
acquiring previous moment t of tower crane 0 With the current time t 1 Corresponding jib slewing angle theta 0 、θ 1 And the previous time t 0 And the current time t 1 Corresponding tower crane trolley amplitude value R f0 、R f1 Solving for the current time t 1 Coordinate P of hanging object d (X d ,Y d ) Data, the calculation formula is as follows:
X d ＝X a +R f1 sinθ 1
Y d ＝Y a +R f1 cosθ 1 ；
solving for t 0 Time and current time t 1 Angular velocity omega of tower crane boom q0 、ω q1 At the present time t 1 Angular acceleration a of tower crane boom q1 ，t 0 Time and current time t 1 Moving speed v of tower crane trolley f0 And v f1 At the present time t 1 Tower crane small car moving acceleration a f1 And further obtaining the amplitude value R of the trolley A of the tower crane at the time after n x delta t fnt ：
Figure FDA0003751663450000032
Figure FDA0003751663450000033
Figure FDA0003751663450000034
Figure FDA0003751663450000035
Figure FDA0003751663450000036
And solving the hanging object coordinate P after n times of preset safe reserve time n x delta t motion trend dnt (X dnt ,Y dnt ) The calculation formula is as follows:
X dnt ＝X a +R fnt sinθ nt
Y dnt ＝Y a +R fnt cosθ nt
Figure FDA0003751663450000041
wherein, theta nt Representing the jib rotation angle of the tower crane A at the moment after n x delta t;
judging the coordinate P of the hanging object dnt (X dnt ,Y dnt ) Whether or not in the pattern F x On the inner part or the boundary, if true, the position P of the suspended object after the preset safe reserve time Delta t is solved dt (X dt ,Y dt ) And determining the hanging object position P dt (X dt ,Y dt ) Whether or not in the pattern F x Inside or on the boundary, the specific calculation process is as follows:
X dt ＝X a +R ft sinθ t
Y dt ＝Y a +R ft cosθ t
wherein, theta t Shows the slewing angle R of the jib A of the tower crane at the moment after delta t ft Showing the amplitude value of the trolley A of the tower crane at the moment after delta t,
Figure FDA0003751663450000042
Figure FDA0003751663450000043
wherein R is f0 、R f1 Represents t 0 Time and current time t 1 A tower crane trolley amplitude value;
if the coordinate P of the hanging object dnt (X dnt ,Y dnt ) Is not in the pattern F x Inside or on the boundary, then pass through P d Coordinate sum P dnt Coordinate solving of hanging object motion track P d P dnt To determine the motion track P of the suspended object d P dnt And pattern F x If the relation of each edge is crossed, alarming and braking are carried out, and if the relation is not crossed, safety is carried out;
at the judgment of the hanging position P dt (X dt ,Y dt ) Whether or not in the pattern F x When in the interior or on the boundary, if the article is suspended at position P dt (X dt ,Y dt ) And (4) alarming and braking inside or on the boundary of the graph Fx, otherwise early warning and decelerating.
8. The method for preventing collision of tower crane hoisting space based on motion trend as claimed in claim 4, wherein the height H of the bottom of the crane boom is q Comprises the following steps:
H q ＝H 1 +H 2
wherein H 1 Is the relative height of the base, H 2 Is the height of the tower crane.
9. The anti-collision method for space of tower crane hoisted objects based on motion trend as claimed in claim 8, wherein the initial height H of the hoisted object bottom d Comprises the following steps:
H d ＝H 1 +H 5 -H w
wherein H 1 Is the relative height of the base, H 5 To initial hook height, H w The height of the hanging object is shown.
10. The tower crane suspended object space anti-collision method based on the motion trend as claimed in claim 9, wherein the suspended object is continuously updated in the suspended object lifting process, and the updated suspended object bottom height is as follows:
H′ d ＝H d -H w
wherein H w To the height of the suspended load, H d Is the height of the suspended object before updating, H' d The height of the bottom of the hanging object is the height of the bottom of the hanging object in the hanging process.
CN202210844177.4A 2022-07-18 2022-07-18 Tower crane hanging space anti-collision method based on movement trend Pending CN115010022A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115108486A (en) * 2022-07-18 2022-09-27 四川省建筑科学研究院有限公司 Tower crane group tower anti-collision method based on movement trend
CN116281636A (en) * 2023-02-22 2023-06-23 中国建筑第五工程局有限公司 Anti-collision method and system for group tower operation
CN117945292A (en) * 2024-03-26 2024-04-30 山西六建集团有限公司 Anti-collision and control method for project inner group tower operation

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115108486A (en) * 2022-07-18 2022-09-27 四川省建筑科学研究院有限公司 Tower crane group tower anti-collision method based on movement trend
CN116281636A (en) * 2023-02-22 2023-06-23 中国建筑第五工程局有限公司 Anti-collision method and system for group tower operation
CN116281636B (en) * 2023-02-22 2024-01-09 中国建筑第五工程局有限公司 Anti-collision method and system for group tower operation
CN117945292A (en) * 2024-03-26 2024-04-30 山西六建集团有限公司 Anti-collision and control method for project inner group tower operation

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