CN115448185A - Ultra-large intelligent tower crane and construction method - Google Patents

Ultra-large intelligent tower crane and construction method Download PDF

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Publication number
CN115448185A
CN115448185A CN202211041418.8A CN202211041418A CN115448185A CN 115448185 A CN115448185 A CN 115448185A CN 202211041418 A CN202211041418 A CN 202211041418A CN 115448185 A CN115448185 A CN 115448185A
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CN
China
Prior art keywords
tower crane
tower
hoisting
acquiring
acquisition module
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Pending
Application number
CN202211041418.8A
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Chinese (zh)
Inventor
张鸿
张永涛
田唯
杨秀礼
华晓涛
李涛
康学云
陈沿松
程茂林
易飞
吴雪峰
张益鹏
朱明清
吴中正
夏昊
陈斌
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CCCC Second Harbor Engineering Co
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CCCC Second Harbor Engineering Co
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Publication date
Application filed by CCCC Second Harbor Engineering Co filed Critical CCCC Second Harbor Engineering Co
Priority to CN202211041418.8A priority Critical patent/CN115448185A/en
Publication of CN115448185A publication Critical patent/CN115448185A/en
Pending legal-status Critical Current

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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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • 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
    • B66C23/62—Constructional features or details

Abstract

The invention relates to the technical field of building construction, in particular to an ultra-large intelligent tower crane and a construction method. The wind field environment monitoring unit is used for acquiring wind field information and tower crane state information in the tower crane working environment; the oblique-pulling and oblique-hanging monitoring unit is used for identifying the position of a tower crane hook so as to obtain an oblique-pulling and oblique-hanging angle of the tower crane hook; the operation safety zone dynamic sensing unit is used for acquiring the relative positions of the suspension arm, the hoisting object and constructors in the operation area of the tower crane; the group tower anti-collision unit is used for acquiring the position deviation of the current tower crane and the surrounding tower cranes; the hoisting auxiliary guide unit is used for acquiring a position coordinate of a hoisted object, a target position coordinate and a tower body position coordinate; the lifting appliance is connected to a lifting hook of the tower crane; and the control unit receives the parameter information acquired by the unit and performs data processing. The tower crane has multiple functions, can greatly improve the safety of the operation and construction of the tower crane, and has extremely high safety operation efficiency.

Description

Ultra-large intelligent tower crane and construction method
Technical Field
The invention relates to the technical field of building construction, in particular to an ultra-large intelligent tower crane and a construction method.
Background
The tower crane is the most common hoisting equipment on the construction site in the field of construction engineering, is mainly used for transporting and transferring construction materials and large-scale construction equipment, has the characteristics of convenience in mounting and dismounting, convenience in construction, labor saving and the like, and is indispensable equipment in construction. In the past, it is an urgent problem to improve the safety and the hoisting efficiency of a tower crane. However, the tower crane used in the current building has a single function, and the main function of the tower crane is in the aspect of safety monitoring of the tower crane, and the safety of personnel around the tower crane and the auxiliary lifting of engineering hoisting need to be enhanced. For example, for super high-rise buildings (more than 300 m), the height of a tower crane is high, so that the number of attachment frames of the tower crane is large, the maintenance and the installation and the disassembly of the attachment frames are often assisted by other hoisting equipment, great inconvenience is brought to construction, and the safety problems of the inclination of a tower body, wind power, the strength of the attachment frames and the like are particularly prominent along with the increase of the construction height of the tower crane; for another example, when a component or a hoisting object is hoisted or falls, a person cannot stop or walk below the hoisting object, but because the construction area of the tower crane is complicated, and the sizes of the hoisting objects hoisted by the tower crane are different, a driver of the tower crane has a visual blind area in the process of operating the tower crane, the field commanding and dispatching personnel cannot work in place, and the person standing or passing below the tower crane occurs when the hoisting object of the tower crane falls to hurt the person.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provides an ultra-large intelligent tower crane and a construction method.
The technical scheme of the invention is as follows: a very large intelligent tower crane comprises a flat-top tower crane, wherein the flat-top tower crane comprises a suspension arm, a tower body below the suspension arm and a tower head above the suspension arm; the suspension arm is provided with a control room, a hoisting winch, a hoisting trolley, a luffing winch and a rotary motor,
the method is characterized in that: also comprises the following steps of (1) preparing,
the wind field environment monitoring unit is used for acquiring wind field information and tower crane state information in the working environment of the tower crane;
the system comprises a diagonal inclined hoisting monitoring unit, a diagonal inclined hoisting monitoring unit and a control unit, wherein the diagonal inclined hoisting monitoring unit is used for identifying the position of a lifting hook of the tower crane so as to obtain the diagonal inclined hoisting angle of the lifting hook of the tower crane;
the system comprises an operation safety zone dynamic sensing unit, a lifting arm dynamic sensing unit and a tower crane dynamic sensing unit, wherein the operation safety zone dynamic sensing unit is used for acquiring the relative positions of a lifting arm, a lifting object and constructors in a tower crane operation area;
the system comprises a group tower anti-collision unit, a group tower anti-collision unit and a group tower anti-collision unit, wherein the group tower anti-collision unit is used for acquiring the position deviation of a current tower crane and surrounding tower cranes;
the hoisting auxiliary guiding unit is used for acquiring a position coordinate of a hoisted object, a target position coordinate and a tower body position coordinate;
the lifting appliance is connected to a lifting hook of the tower crane and used for adjusting the aerial attitude of a lifted object;
and the control unit receives and processes parameter information acquired by the wind field environment monitoring unit, the inclined-pulling and inclined-hanging monitoring unit, the operation safety zone dynamic sensing unit, the group tower anti-collision unit, the hanging auxiliary guide unit and the hanging tool, and displays key parameters of tower crane operation and the simulation state of the tower crane operation to an operator through the display unit.
According to the invention, the wind field environment monitoring unit comprises,
the system comprises a tower body inclination angle acquisition module, a tower body inclination angle acquisition module and a control module, wherein the tower body inclination angle acquisition module is arranged on a tower body and is used for acquiring the inclination angle of the tower body;
the wind field parameter acquisition module is arranged on the tower body and used for acquiring the wind speed and the wind direction of the tower crane in the environment;
the attachment frame stress acquisition module is mounted on the tower body attachment frame and used for acquiring the attachment frame stress of the tower body attachment frame;
the suspension arm inclination angle acquisition module is installed on the suspension arm and used for acquiring the inclination angle of the suspension arm.
According to the ultra-large intelligent tower crane provided by the invention, the inclined-pulling and inclined-hanging monitoring unit comprises,
the binocular camera is mounted on the crane trolley and used for acquiring image information of a lifting hook of the tower crane below;
and the angle acquisition module is used for processing the image information and acquiring a vertical included angle between a tower crane hook and a rope outlet point of the hoisting trolley as a diagonal inclined hanging angle.
According to the ultra-large intelligent tower crane provided by the invention, the operation safety zone dynamic sensing unit comprises,
the suspension arm dangerous area acquisition module is used for acquiring a first dangerous area covered under a suspension arm in a moving state or a static state in real time;
the hoisting object dangerous area acquisition module is used for acquiring a second dangerous area which is in a moving state or a static state and is covered under the hoisting object in real time;
the system comprises a constructor position acquisition module, a construction worker position acquisition module and a construction worker position acquisition module, wherein the constructor position acquisition module is used for acquiring the position of a constructor in real time;
the safety warning module is used for receiving the position information of the constructors in real time and sending out safety warning signals when the constructors enter a first dangerous area or a second dangerous area.
According to the ultra-large intelligent tower crane provided by the invention, the group tower anti-collision unit comprises,
the system comprises a tower crane relative position acquisition module, a tower crane relative position acquisition module and a control module, wherein the tower crane relative position acquisition module comprises cameras which are arranged at four corners of the connection part of a suspension arm and a tower body and are used for acquiring the relative position relation between the tower crane and the surrounding tower cranes;
the tower crane position deviation acquisition module comprises laser radars which are arranged at the head end and the tail end of the suspension arm and at four corners of the connection part of the suspension arm and the tower body, and is used for acquiring the position deviation of the tower crane and the tower cranes around.
According to the ultra-large intelligent tower crane provided by the invention, the hoisting auxiliary guide unit comprises,
the lifting object position acquisition module is used for acquiring the current lifting object position coordinate information;
the target position acquisition module is used for acquiring target position coordinate information;
the system comprises a tower body position acquisition module, a tower body position acquisition module and a control module, wherein the tower body position acquisition module is used for acquiring the coordinate information of the tower body position.
According to the invention, the lifting appliance comprises a lifting device,
the first cross beam is connected with a tower crane lifting hook;
the frame body is hinged to the first cross beam through a vertical rotating shaft and can rotate around a vertical axis;
the second cross beam is connected with the frame body;
the inclination angle adjusting structure is arranged on the frame body and is used for adjusting the horizontal inclination angle of the hoisted object;
the lifting hooks are arranged on the second cross beam and used for connecting a lifting object;
and the lifting hook adjusting structure is arranged between the lifting hook and the second cross beam and is used for adjusting the position of the lifting hook.
According to the ultra-large intelligent tower crane provided by the invention, the inclination angle adjusting structure comprises,
the shell of the first oil cylinder is hinged to the rotating shaft, and the pushing end is hinged to the frame body and used for driving the frame body to rotate around the longitudinal axis;
and the shell of the second oil cylinder is hinged to the frame body, and the pushing end is hinged to the second beam and used for driving the second beam to rotate around the transverse axis.
According to the ultra-large intelligent tower crane provided by the invention, the lifting appliance also comprises a lifting device body,
a gear fixed to the rotating shaft;
and the rotating motor is arranged on the first cross beam and is in transmission connection with the gear.
According to the ultra-large intelligent tower crane provided by the invention, the lifting hook adjusting structure comprises,
the mounting seat is connected to the sliding groove in the second cross beam in a sliding mode, and the upper end of the lifting hook penetrates through the sliding groove to be fixedly connected with the mounting seat;
and the shell of the third oil cylinder is fixed on the second cross beam, and the pushing end is connected to the mounting seat and used for driving the mounting seat to move along the sliding groove.
The invention also provides a construction method of the ultra-large intelligent tower crane, which adopts the ultra-large only tower crane of claims 1-9 and comprises the following steps:
the method includes the steps that S1, a high-voltage cable is connected into a tower crane, the wind field environment of the tower crane is monitored, and when the wind field environment meets the safety setting requirement, an operator is allowed to enter a tower crane control room;
s2, fault detection is carried out on the tower crane, the tower crane is operated under the condition that the tower crane has no fault, a lifting hook of the tower crane is operated to put down a hook on a lifting object, safe operation dynamic sensing is carried out on an operation area of the tower crane, and it is ensured that no-operation personnel are located in the working range of the lifting arm and the lifting object;
s3, identifying the tower crane hook, judging whether the tower crane hook has the condition of inclined hoisting, and hoisting the hoisted object to a set height when the tower crane hook is within a safe angle range;
s4, adjusting the posture of the hoisted object, continuing hoisting after the completion of the adjustment, and monitoring the relative position of the tower crane and the surrounding tower cranes in real time to avoid collision;
and S5, acquiring the position coordinate of the hoisted object, the target position coordinate and the tower body position coordinate, guiding the hoisting of the tower crane, and completing the hoisting of the hoisted object through the amplitude variation of the tower crane, the rotation of the tower crane and the hoisting of the tower crane.
According to the construction method of the ultra-large intelligent tower crane provided by the invention, in the step S2, the method for dynamically sensing the safe operation of the tower crane operation area comprises the following steps:
a1, acquiring a rotation angle of a suspension arm in real time, and determining a first danger area of the suspension arm projected on the ground;
a2, acquiring a lifting object coverage range, a lifting object height, a distance relative to a tower crane coordinate origin and a lifting arm rotation angle in real time, and determining a second dangerous area of the lifting object projected on the ground;
a3, acquiring the position coordinate of the constructor relative to the origin of coordinates of the tower crane in real time, judging whether the constructor is in a first dangerous area or a second dangerous area, and sending out a warning signal when the constructor is in the first dangerous area or the second dangerous area.
According to the construction method of the ultra-large intelligent tower crane provided by the invention, in the step A1, the method for determining the first dangerous area of the suspension arm projected on the ground comprises the following steps: the method comprises the steps of installing a first encoder on a rotary motor, recording the rotary angle of a suspension arm, determining the coverage range of the suspension arm according to the length and the width of the suspension arm and a set first safety distance, and determining a first dangerous area according to the rotary angle and the coverage range of the suspension arm.
According to the construction method of the ultra-large intelligent tower crane, the step A2 of obtaining the coverage range of the hoisted object in real time comprises the following steps: a camera is arranged on the trolley, and image information of a hoisting object right below the trolley is acquired through the camera; a third encoder is arranged on the hoisting winch and records the extension length of a steel wire rope of the hoisting winch so as to obtain the height of a hoisted object relative to the hoisting trolley as the height of the hoisted object; and determining the projection area of the hoisted object on the ground according to the image information and the height of the hoisted object to obtain the coverage range of the hoisted object.
According to the construction method of the ultra-large intelligent tower crane, provided by the invention, in the step A2, a second encoder is arranged on the amplitude-variable winch, and the second encoder records the amplitude-variable distance of the hoisting winch so as to obtain the horizontal distance of a hoisted object relative to the origin of coordinates of the tower crane; the position of the hoisting object relative to the coordinate origin of the tower crane can be obtained based on the rotation angle of the suspension arm and the horizontal distance of the hoisting object relative to the coordinate origin of the tower crane; and determining a second dangerous area based on the position of the hoisting object relative to the coordinate origin of the tower crane, the coverage range of the hoisting object and the set second safety distance.
According to the construction method of the ultra-large intelligent tower crane provided by the invention, in the step S3, the method for judging whether the inclined-pulling inclined-hanging condition exists in the lifting hook of the tower crane comprises the following steps:
b1, shooting image information of a reflective sticker on a tower crane hook below through a binocular camera on the trolley;
b2, carrying out data processing on the image information, obtaining the coordinates of the reflective sticker, and calculating the inclined-pulling inclined-hanging angle of the tower crane hook based on the coordinates of the rope outlet point on the crane trolley and the coordinates of the reflective sticker;
and B3, comparing the inclined-pulling angle with a set angle threshold, if the inclined-pulling angle is larger than the set angle threshold, determining that the inclined-pulling condition of the tower crane hook occurs, and otherwise, determining that the inclined-pulling condition does not occur.
According to the construction method of the ultra-large intelligent tower crane provided by the invention, in the step S4, the method for adjusting the posture of the hoisted object comprises the following steps:
c1, acquiring an X-direction inclination angle and a Y-direction inclination angle of the lifting appliance through a gyroscope on the lifting appliance;
c2, adjusting an X-direction inclination angle and a Y-direction inclination angle of the hoisted object by using an inclination angle adjusting structure on the sling;
and C3, adjusting the vertical rotating angle of the hoisted object through a rotating motor on the hoisting tool until the aerial posture of the hoisted object meets the set requirement.
According to the construction method of the ultra-large intelligent tower crane provided by the invention, in the step S5, the method for guiding the hoisting of the tower crane comprises the following steps:
d1, before the hoisted object is hoisted to the fine positioning height, acquiring a position coordinate of the hoisted object, a target position coordinate and a tower body position coordinate by using a Beidou or a GPS, and performing coarse positioning auxiliary guidance on the hoisting of the hoisted object;
and D2, in the process of hoisting the hoisted object from the fine positioning height to the installation position, acquiring the position coordinates of the hoisted object, the target position coordinates and the position coordinates of the tower body by using the UWB electronic tags on the hoisted object, the tower body and the hoisting arm, and hoisting the hoisted object to perform fine positioning auxiliary guidance.
The invention has the advantages that: 1. the tower crane integrates a plurality of safety units, monitors the working environment of the tower crane through the wind field environment detection unit, and detects the wind field environment of the tower crane working area in real time; the working state of a tower crane hook is monitored in real time through a diagonal inclined hoisting monitoring unit, so that diagonal inclined hoisting is avoided; through the dynamic sensing unit of the operation safety area, the constructors in the tower crane operation area are detected in real time, and the constructors are prevented from entering the lower parts of the suspension arm and the hoisting object; the relative position of the tower cranes and the surrounding tower cranes is monitored in real time through the group tower anti-collision unit, so that the tower cranes are prevented from colliding with the surrounding tower cranes; monitoring the hoisted object, the installation position and the coordinate of the tower crane in real time through the hoisting auxiliary guide unit, and guiding the installation of the hoisted object; monitoring the air attitude of the hoisted object through the lifting appliance, and adjusting the air attitude of the hoisted object to ensure the stability of the hoisted object in the hoisting process; the invention is also provided with an alarm unit which can send out an alarm prompt when the state parameter acquired by the unit exceeds the set safety parameter, thereby further improving the safety of the whole tower crane operation; the tower crane has numerous functions, fully considers various conditions of the operation of the tower crane, can greatly improve the operation safety and the hoisting efficiency of the tower crane, and realizes the safety monitoring of the whole life cycle of the tower crane from before hoisting to the completion of hoisting construction;
2. the wind field environment monitoring unit comprises a wind field parameter acquisition module, an attachment frame stress acquisition module and a suspension arm inclination angle acquisition module, and is used for respectively acquiring wind speed, wind direction, attachment frame stress and suspension arm inclination angle, wherein the wind speed and the wind direction are used for acquiring environment wind field information and judging whether the current wind field environment meets the safe operation requirement;
3. the oblique-pulling and oblique-hanging monitoring unit is used for monitoring the oblique-pulling and oblique-hanging angle of the tower crane hook, can judge whether the oblique-pulling and oblique-hanging condition occurs to the tower crane hook, can avoid the oblique-pulling and oblique-hanging condition in the hoisting process, and greatly improves the safety and stability of hoisting;
4. the operation safety zone dynamic sensing unit can acquire a dangerous zone of a tower crane construction operation zone in real time, mainly a zone covered by the suspension arm and the hoisting object, and can judge whether constructors enter the dangerous zone, so that the safety of the constructors is ensured, and the safety management of the tower crane operation zone is improved;
5. the group tower anti-collision unit can monitor the relative position relationship between the tower cranes and the surrounding tower cranes in real time, avoids the collision between the tower cranes and the surrounding tower cranes in the hoisting process, coordinates the group tower, greatly improves the safety of the tower cranes in the operation process, and is particularly suitable for occasions where a plurality of tower cranes are constructed;
6. the auxiliary hoisting guide unit is used for accurately guiding the hoisted object, so that the hoisted object can be accurately and stably moved to the installation position, the installation efficiency of the hoisted object can be greatly improved, and the moving safety of the hoisted object can be improved;
7. the lifting appliance is simple in structure, can adjust the inclination angle of a lifted object, can adjust the position of the lifting hook by the lifting hook adjusting structure, ensures that the lifting hook can adjust the adaptability of the lifting hook according to the change of the lifting point of the lifted object, and is simple to operate and convenient to adjust;
8. the inclination angle adjusting structure is simple, the horizontal inclination angle of a hoisted object can be conveniently adjusted through the first oil cylinder and the second oil cylinder, the first oil cylinder and the second oil cylinder can be automatically controlled and adjusted, and the operation is simple;
9. the lifting appliance also adjusts the vertical rotation angle of the lifted object through the combined structure of the rotating motor and the gear, so that the air posture of the lifted object can be conveniently adjusted, and the lifted object can be conveniently installed;
10. the lifting hook adjusting structure is extremely simple, and the lifting hook can be conveniently adjusted through the third oil cylinder, so that the lifting hook can adapt to lifting points of hoisted objects and hoisted objects with different structures;
11. the invention also provides a construction method, the construction method of the tower crane fully considers the conditions of wind field environment, tower crane fault, safe operation dynamic sensing, tower crane lifting hook, lifting object control posture, lifting guide and the like, the safety of the whole tower crane operation construction can be greatly improved, the lifting efficiency is greatly improved, and the whole construction method is well-ordered;
12. the method comprises the steps of obtaining the length and the width of a first dangerous area based on a suspension arm, obtaining the suspension arm coverage range of the suspension arm projected on the ground according to the length and the width of the suspension arm and a first set distance, and determining the specific position of the suspension arm coverage range in a tower crane operation area based on the rotation angle of the suspension arm, so that the first dangerous area corresponding to the suspension arm can be obtained;
13. the second dangerous area is obtained based on the coverage range of the hoisted object, then the position of the hoisted object is obtained, the position of the coverage range of the hoisted object in the operation area of the tower crane can be obtained based on the position of the hoisted object, the second dangerous area corresponding to the hoisted object is obtained, the area covered by the hoisted object is obtained by sensing the position of the hoisted object in real time, and convenience is brought to warning constructors entering the operation area of the tower crane;
14. the method for acquiring the position of the hoisted object is very simple, the projection position of the hoisted object on the ground of the operation area of the tower crane can be acquired by acquiring the rotation angle of the boom and the amplitude variation distance of the trolley, the position of the hoisted object is very accurate, and the position of the hoisted object can be monitored in real time, so that constructors entering a dangerous area can be warned in time;
15. the method for judging whether the inclined-pulling inclined-hanging condition occurs or not is extremely simple, the binocular camera can shoot the image information of the reflective sticker on the tower crane hook, the coordinates of the reflective sticker can be obtained by carrying out data processing on the image information based on the characteristics of the binocular camera, the coordinates of the rope outlet point of the crane trolley are easy to obtain, the inclined-pulling inclined-hanging angle can be easily obtained based on the two coordinates, and the inclined-pulling inclined-hanging angle can be obtained to judge whether the inclined-pulling inclined hanging occurs to the current tower crane hook, so that the whole method is extremely simple;
16. the lifting appliance has a simple adjustment mode for the aerial posture of the lifted object, the gyroscope on the lifting appliance acquires the horizontal inclination angle of the lifting appliance and adjusts the lifting appliance based on the acquired horizontal inclination angle, so that the lifting appliance and the lifted object are ensured to be in a horizontal state, and the adjustment of the rotation angle can be used together with the adjustment of the horizontal inclination angle, thereby facilitating adjustment and installation;
17. the guide of the invention for hoisting and hoisting the tower crane can greatly improve the efficiency of hoisting and installing hoisted objects, the guide of the invention is divided into two kinds of guide, one is a coarse positioning auxiliary guide before reaching the fine positioning height, the guide mode has efficiency and safety, and the second is a fine positioning auxiliary guide after reaching the fine positioning height, so the precision degree is high, the installation alignment is accurate, and the safety is high.
The tower crane has multiple functions, can greatly improve the safety of operation and construction of the tower crane, has extremely high efficiency of safe operation, and has great popularization value.
Drawings
FIG. 1: the invention discloses a structural schematic diagram of an ultra-large tower-only crane;
FIG. 2 is a schematic diagram: the invention discloses a schematic diagram of an arrangement structure of a dynamic sensing unit in an operation safety zone;
FIG. 3: the first danger area and the second danger area are divided into schematic diagrams;
FIG. 4: the side view of the spreader structure of the present invention;
FIG. 5 is a schematic view of: the front view of the hanger structure of the invention;
FIG. 6: the construction method of the invention is a flow chart;
wherein: 101-tower crane; 102-a boom; 103-a trolley; 104-hoisting winch; 105-a luffing winch; 106-a rotary electric machine; 107-hoisted objects; 108 — a first encoder; 109 — a second encoder; 110 — a third encoder; 111-security camera; 112-a control room; 113-a wireless module; 114-audible and visual alarm; 115-total station; 116 — a safety helmet; 117 — boom hoist; 118-an attachment frame; 119-tower crane hook;
201-a spreader; 202-a first beam; 203-a frame body; 204 — a second beam; 205-a rotating shaft; 206-hook; 207-a first cylinder; 208-a second cylinder; 209-first pin; 210-a second pin; 211-gear; 212 — a rotating motor; 213-mounting seat; 214-third cylinder.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
The invention is described in further detail below with reference to the figures and the specific embodiments.
The utility model relates to a super large-scale intelligent tower crane, the tower crane main part of this application is the same with current tower crane, as shown in figure 1, including flat-top tower machine 101 and swing arm loop wheel machine 117, flat-top tower machine 101 includes the body of the tower, the tower head and davit 102, the body of the tower is located davit 102 below, the tower head is located davit 102 above, swing arm loop wheel machine 117 installs on the tower head, swing arm loop wheel machine 117 can wind the head of the tower rotation through slewing mechanism, so that adjustment direction when lifting heavy object, swing arm loop wheel machine 117 and flat-top tower machine 101 do not work simultaneously, swing arm loop wheel machine 117 mainly is used for overhauing and ann tears attachment frame 118 open.
A control room 112, a hoisting winch 104, a hoisting trolley 103, a variable amplitude winch 105 and a rotary motor 106 are arranged on the suspension arm 102 of the flat head tower crane 101; a controller, a computer, a wireless module and a sound-light alarm are arranged in the control room 112; the wireless module is connected with the controller through the Ethernet; the hoisting winch 104, the trolley 103, the luffing winch 104 and the rotary motor 106 are all arranged on the suspension arm 102 of the tower crane, and are electrically connected with the controller for controlling the tower crane to move; and encoders are respectively arranged on the rotating shafts of the hoisting winch 104, the amplitude-variable winch 105 and the rotary motor 106 and used for monitoring the motion condition of the tower crane, and the encoders are electrically connected with a control room controller. And the control room controller is electrically connected with the computer and is used for intensively displaying the safety condition needing to be monitored of the tower crane and sending an instruction to make the audible and visual alarm give an alarm when the abnormal condition occurs.
The following modules are installed on the tower crane: the system comprises a wind field environment monitoring unit, a diagonal inclined hoisting monitoring unit, an operation safety zone dynamic sensing unit, a group tower anti-collision unit, a hoisting auxiliary guiding unit, a lifting appliance and a control unit, wherein the wind field environment monitoring unit is used for acquiring wind field information and tower crane state information under the working environment of the tower crane; the control unit receives parameter information collected by the wind field environment monitoring unit, the inclined-pulling inclined-hanging monitoring unit, the operation safety zone dynamic sensing unit, the group tower anti-collision unit, the hanging auxiliary guide unit and the hanging tool and performs data processing, and key parameters of tower crane operation and simulation states of the tower crane operation are displayed to an operator through the display unit.
Actually, the control unit of the present application is integrated on a controller of a control room, a display unit is arranged in the control room, the display unit is used for presenting control content to an operator, the control unit of the present application collects information of the units (sends the collected information to the control unit through a wireless module), the control unit performs data processing on the collected information, firstly, the collected information is compared with a set safety threshold value, whether the safety setting is exceeded is judged, if the safety setting is exceeded, an instruction is sent to an alarm unit, and the alarm unit sends an alarm prompt; secondly, the collected information is processed and then sent to the display unit, the processed information is displayed to an operator by the display unit, the operator can conveniently perform corresponding operation, the collected information can be subjected to data processing, simulation state information of tower crane operation is transmitted to the display unit, and the lifting operation of the operator is further facilitated.
When the high-voltage cable is used, the high-voltage cable is connected to the tower crane, preparation work is carried out, the wind field environment monitoring unit starts to monitor wind field environment information and tower crane state information, the control unit judges whether the current wind field environment and the tower crane state meet set safety conditions or not after receiving corresponding information, if the current wind field environment and the tower crane state do not meet the set safety conditions, an alarm instruction is sent to the alarm unit, the alarm unit sends an alarm prompt to prohibit operation, and an operator can enter a tower crane control room only under the condition that the set safety conditions are met;
after an operator enters a tower crane control room, the tower crane is operated, firstly, fault self-checking is carried out on the tower crane to ensure that the tower crane runs normally, and if the fault occurs, the fault is timely eliminated;
the method comprises the steps that hoisting of hoisted objects is prepared, dangerous areas are divided in a tower crane construction operation area, a control unit monitors the position of constructors and the relative position relation of the dangerous areas in real time, and once the constructors appear in the dangerous areas, the control unit sends instructions to an alarm unit to remind operators, and the operators can make adjustments in time;
when no constructor exists in the dangerous area, the tower crane hook 119 is identified, the diagonal inclined hanging monitoring unit identifies the position of the tower crane hook 119, the diagonal inclined hanging angle of the tower crane hook 119 is obtained, the control unit compares the diagonal inclined hanging angle of the current tower crane hook 119 with a set safety angle after receiving the diagonal inclined hanging angle, and if the diagonal inclined hanging angle is larger than the set safety angle, the situation that the diagonal inclined hanging exists in the current tower crane hook 119 is judged, and the situation needs to be adjusted to eliminate the dangerous situation;
after the oblique-pulling inclined hoisting condition is eliminated, the lifting appliance is connected with the hoisted object, the hoisted object is hoisted to a set height (2 m away from the ground in the application), the lifting appliance starts to adjust the aerial posture of the hoisted object, the hoisted object is ensured to reach the set posture, and after the adjustment is finished, an operator controls the tower crane to continue hoisting;
in the hoisting process, the group tower anti-collision unit detects the relative position of the tower cranes and the surrounding tower cranes, and the control unit gives an instruction to the alarm unit room when the relative position is smaller than a set safe interval, so as to prompt operators and avoid the problem of tower crane collision;
in the process of hoisting the hoisted object by the tower crane, the hoisting auxiliary guide unit acquires the position coordinate of the hoisted object, the target position coordinate and the position coordinate of the tower body in real time and sends the coordinates to the control unit, the control unit sends coordinate information to the display unit for displaying, the hoisted object moves to the installation position for installation under the condition of coordinate guide, and after the installation precision reaches the set requirement, the hoisting of the hoisted object is completed.
In some embodiments of the present application, the wind field environment monitoring unit is optimized in this embodiment, and the specific wind field environment monitoring unit includes a tower body inclination angle acquisition module, a wind field parameter acquisition module, an attachment frame stress acquisition module, and a boom inclination angle acquisition module, where the tower body inclination angle acquisition module is installed on the tower body and is used for acquiring an inclination angle of the tower body; the wind speed and wind direction acquisition module is used for acquiring wind speed and wind direction of the tower crane in the environment; the attachment frame stress acquisition module is arranged on the tower body attachment frame and used for acquiring the stress of the attachment frame; the boom inclination angle acquisition module is installed on the boom and used for acquiring a boom inclination angle (the boom inclination angle of the present application refers to an angle of the boom deflecting along a wind direction).
The wind speed and the wind direction reflect the state of the wind field environment, the inclination angle of the tower body, the stress of the attachment frame and the inclination angle of the suspension arm reflect the operation state of the tower crane, the tower crane can operate only when the state of the wind field environment and the operation state of the tower crane meet the safety setting requirements, and otherwise, the tower crane cannot perform operation construction as long as one of the states does not meet the requirements. The above job information can be monitored by installing a sensor to the corresponding structure.
In other embodiments of the present application, the oblique-pulling and oblique-hanging monitoring unit is enriched in this embodiment, specifically, the camera and the angle acquisition module of the oblique-pulling and oblique-hanging monitoring unit of this embodiment are a binocular camera installed at the lower end of the trolley and used for acquiring image information of a hook below; the angle acquisition module is used for processing image information and acquiring an included angle between a lifting hook sling and the vertical direction as an inclined-pulling angle.
Specifically, when the tower crane is in hoisting operation, a high-definition binocular camera on the crane trolley captures the reflective sticker on the hook of the tower crane in real time, the shooting interval is 0.5s, an image signal is transmitted to the angle acquisition module, the angle acquisition module identifies the coordinate of the reflective sticker of the hook through an image recognition intelligent algorithm, and the identified data are transmitted to the control unit. The optical centers of the two cameras have a fixed distance d, assuming that the right camera C 1 Coordinate system is O 1 X 1 Y 1 Z 1 Left camera C 2 Coordinate system is O 2 X 2 Y 2 Z 2 Focal lengths are all f, and coordinates of a cursor point P are in C 1 Is as follows (x) 1 ，y 1 ，z 1 ) At C 2 In the coordinate system is (x) 2 ，y 2 ，z 2 ) To the left of the image point in the left camera is (u) 1 ，v 1 ) The image point coordinate in the right camera is (u) 2 ，v 2 )。
According to the photographic proportion relation, the coordinate is processed, and the three-dimensional coordinate of the space point P can be obtained as follows:
Figure BDA0003820697530000151
Figure BDA0003820697530000152
Figure BDA0003820697530000153
the camera is installed on the crane trolley, wherein the relative positions of the rope outlet point on the crane trolley and the camera are fixed, at any time, the rope outlet point on the crane trolley is selected as the origin of a world coordinate system, the optical center connecting line of the camera is taken as the X axis of the world coordinate system, the optical axis of the camera is taken as the Z axis of the world coordinate system, the direction of the tower head pointing to the crane boom is taken as the forward direction of the X axis, the crane boom vertically pointing to the ground is taken as the forward direction of the Z axis, the world coordinate system is established according to the right-hand principle, the position of the right hand of a person standing on the tower head is taken as the right side of the crane boom, and the position of the left hand of the person is taken as the left side. The transformation rotation matrix of the two coordinate systems is R, the translation matrix is T, and then the coordinates of the P point in the world coordinate system are further obtained as follows:
Figure BDA0003820697530000154
since the matrix R, T is related to coordinate selection, a known quantity, the image coordinate (u) 1 ，v 1 ) And (u) 2 ，v 2 ) And if the oblique-pulling oblique-hanging angle theta is obtained through image recognition, the oblique-pulling oblique-hanging angle theta is as follows:
Figure BDA0003820697530000161
the control unit calculates the inclined angle theta and a preset threshold theta 1 And Θ 2 Comparison is carried out, wherein theta 1 <Θ 2 And according to the comparison of the oblique-pulling oblique-hanging angle theta with different preset thresholds, starting different alarm prompts and motion instructions to prevent the oblique-pulling oblique-hanging angle from being too large. Concretely, theta is not more than theta 1 In the process, the display unit prompts that the inclined-pulling inclined-hanging angle is normal in a green character mode; when theta is satisfied 1 ＜θ＜Θ 2 When the alarm is started, a first-level alarm is started, and the display unit prompts 'please notice, and the inclined-pulling inclined-hanging angle is larger' in a red character flashing mode; theta is more than or equal to theta 2 When the alarm is started, the second-level alarm is started, the control unit sends a switch control signal to control the audible and visual alarm to give an alarm, and the display unit prompts 'please notice, and the inclined-pulling inclined-hanging angle is too large' in a red text mode; when theta is larger than theta 1 The display unit can give motion indication, comprising: when x is w When the amplitude is larger than 0, the display screen prompts to increase the amplitude; when x is w When the amplitude is less than 0, the display screen prompts 'please reduce the amplitude', when y w When the value is more than 0, the display screen prompts to turn left, and when y is larger than 0 w If the current value is less than 0, the display screen prompts 'please turn right'; the size of the luffing winch is measured by an encoder on the luffing winch, and the rotation size is measured by an encoder on the rotary motor (the angle theta set by the embodiment is 1 Is 15 DEG theta 2 20 deg. for example).
In the inclined-hanging detection process of the tower crane, the control unit transmits alarm information and inclined-hanging angle conditions to a cloud end through the wireless module so as to be used for remote monitoring.
In a further embodiment of the present application, the dynamic sensing unit for an operation safety zone in this embodiment is optimized, and specifically, the dynamic sensing unit for an operation safety zone in this embodiment in this market includes a boom danger area obtaining module, a hoisted object danger area obtaining module, a constructor position obtaining module, and a safety warning module, where the boom danger area obtaining module is configured to obtain, in real time, a first danger area covered under a boom in a moving state or a static state; the hoisting object dangerous area acquisition module is used for acquiring a second dangerous area which is in a moving state or a static state and is covered under the hoisting object in real time; the constructor position acquisition module is used for acquiring the position of a constructor in real time; the safety warning module is used for receiving the position information of the constructors in real time and sending out safety warning signals when the constructors enter the first dangerous area or the second dangerous area.
As shown in fig. 2, the tower crane 101 of the present application includes a boom 102, and a hoisting winch 104, a luffing winch 105, a rotating motor 106, and a trolley 103 that are mounted on the boom 102, where the boom 102 is mounted on the tower crane 101 and can rotate around a vertical axis (a rotation center), that is, the rotating motor 106 on the tower crane 101 drives the boom 102 to rotate around the vertical axis, and the trolley 103 can move on the boom 102 along the length direction of the boom 102 through the luffing winch 105, so as to achieve luffing adjustment. The hoisting trolley 103 is provided with a hoisting rope, and the hoisting rope is controlled by a hoisting winch 104 to realize the vertical movement of hoisted objects.
In order to realize the identification of the dangerous areas of the lifting arm 102 and the lifting object 107, the system further comprises a lifting arm dangerous area acquisition module, a lifting object dangerous area acquisition module, a constructor position acquisition module and a safety warning module, wherein the lifting arm dangerous area acquisition module is used for acquiring a first dangerous area which is covered under the lifting arm in a moving state or a static state in real time; the hoisting object dangerous area acquisition module is used for acquiring a second dangerous area which is in a moving state or a static state and covers under the hoisting object in real time; the system comprises a constructor position acquisition module, a position coordinate acquisition module and a data processing module, wherein the constructor position acquisition module is used for acquiring the position of a constructor in real time, and can be realized in a way that the constructor carries a position coordinate acquisition device, or can be realized in a way that an image acquisition device is installed in a tower crane operation area to identify the constructor so as to acquire the coordinate information of the constructor; the safety warning module is used for receiving the position information of the constructors in real time and sending out safety warning signals when the constructors enter a first dangerous area or a second dangerous area.
The safety warning module is a control module of the whole sensing system and is used for processing data acquired by the suspension arm dangerous area acquisition module, the hoisting object dangerous area acquisition module and the constructor position acquisition module and judging whether constructors enter the dangerous area or not so as to send warning information timely. The safety warning module belongs to a part of the control unit and the alarm unit, and for convenience of understanding, the safety warning module is assigned to the dynamic sensing unit of the operation safety zone.
During the in-service use, the tower machine is in the operation process, first danger zone under the current situation can be discerned to davit danger zone acquisition module, second danger zone can be discerned to hoist and mount thing danger zone acquisition module, constructor position acquisition module acquires the constructor's that enters into tower machine operation area position coordinate, carry out the comparison with constructor's position coordinate and first danger zone and second danger zone, if constructor appears miscellaneous first danger zone or second danger zone, just send warning information immediately, remind, can be to sending warning information to tower machine operation personnel, also can send warning information to the constructor that enters into danger zone simultaneously.
Specifically, the suspension arm dangerous area acquisition module comprises a suspension arm coverage area acquisition module, a suspension arm rotation angle acquisition module and a first dangerous area determination module, wherein the suspension arm coverage area acquisition module determines the suspension arm coverage area according to the length and width of the suspension arm and a set first safety distance; the suspension arm rotation angle acquisition module comprises a first encoder arranged on the rotation motor and is used for acquiring the rotation angle of the suspension arm; the first dangerous area determining module determines a first dangerous area according to the coverage range of the suspension arm and the rotation angle of the suspension arm.
The length, the width and the first safety distance of the boom stored by the boom coverage obtaining module of the embodiment are preset, the length and the width of the boom are directly obtained according to the structure of the boom, the first safety distance is a distance extension in the horizontal direction in the two directions of the length and the width of the boom, the general extension distance is 500 mm-1000 mm (the distance adjusted in the length direction is d, and the distance adjusted in the width direction is c, as shown in fig. 3, c and d may be the same or different and are set according to actual requirements), an area where the boom is vertically projected onto the ground can be obtained through the length and the width of the boom, the first safety distance is set to avoid the safety problem caused by the inclined falling of components on the boom, and the safety hazard caused by the inclined falling is avoided by enlarging the coverage area of the boom.
The length, the width and the first safety distance of the suspension arm can obtain the coverage range of the suspension arm on the ground, the suspension arm rotates around a vertical axis in the use process of the tower crane, and the rotation angle of the suspension arm needs to be confirmed for dynamic sensing, namely the specific position of the current suspension arm is confirmed. The present embodiment mounts a first encoder 108 on the rotary motor 106, and the first encoder 108 is actually an angle sensor for recording the rotation angle of the rotary motor 106. In actual use, the rotation center of the boom is set as an origin (an O point measured by the total station 115, as shown in fig. 3, the origin of the tower crane measured by the total station 115 is directly input into the controller, and a processing mode is the same as the length and width data of the boom), a straight line passing through the origin in the north-south direction is set as a Y axis, a straight line passing through the origin in the east-west direction is set as an X axis, and the first encoder 108 can obtain the rotation angle of the rotation motor 106, so as to obtain the rotation angle of the boom, which is equivalent to obtaining the included angle between the boom coverage range and the X axis or the Y axis, so as to obtain the position in the XY plane (the XY plane is actually the ground) of the boom coverage range, and the combination of the boom coverage range and the position is actually the first dangerous region, as shown in fig. 3 as the a region.
The hoisting object dangerous area acquisition module comprises a hoisting object position acquisition module, a hoisting object coverage area acquisition module and a second dangerous area determination module, and the hoisting object position acquisition module is used for acquiring the current position of the hoisting object relative to the coordinate origin of the tower crane; the hoisting object coverage area acquisition module is used for determining the hoisting object coverage area according to the projection area of the hoisting object on the ground; the second dangerous area determining module determines a second dangerous area according to the hoisting object coverage, the hoisting object position and a set second safety distance, such as an area B shown in fig. 3.
Actually, the same method is used for determining a first dangerous area corresponding to the suspension arm and determining a second dangerous area corresponding to the hoisting object, namely, the coverage range of the suspension arm or the hoisting object is determined, then the position of the suspension arm or the hoisting object is determined, and the specific dangerous area can be obtained by combining the coverage range and the position. The difference lies in that the length and width of the suspension arm are determined, the structure of the suspension arm is not changed, but the structure of the hoisting object is different, and the structure of the hoisting object cannot be input into the control system in advance. In the embodiment, a special hoisting object coverage area acquisition module is set to acquire the hoisting object coverage area.
In a preferred embodiment of the present application, the hoisting object coverage obtaining module is optimized in this embodiment, and the specific hoisting object coverage obtaining module includes a safety camera 111, a hoisting object height obtaining module, and a coverage extracting module, where the safety camera 111 is installed on the crane trolley 103 and is used for obtaining image information of the hoisting object below; the hoisting object height obtaining module comprises a third encoder 110 arranged on the hoisting winch 104 and used for obtaining the distance between the hoisting object 107 and the hoisting trolley 103 as the height of the hoisting object 107; the coverage range extraction module determines the projection area of the hoisted object 107 on the ground according to the image information and the height of the hoisted object so as to obtain the coverage range of the hoisted object.
The safety camera 111 is mounted on the crane trolley 103 through a bolt structure and used for acquiring image information right below, namely acquiring image information of a lifting object right below, and converting the acquired image information into a gray-scale image, gaussian filtering, edge detection, expansion corrosion, boundary searching and width measurement to obtain the profile, length and width of the lifting object. The image processing is determined by combining the distance between the hoisted object and the crane trolley, and during the image processing, the outline, the length and the width of the hoisted object can be obtained through the relationship between the number of the pixels of the image information of the hoisted object and the distance (namely, the distance between the outline and the edge of the image can be obtained after the image information is processed, then the unit length corresponding to each pixel can be obtained according to the distance between the hoisted object and the crane trolley, and the information such as the length and the width of the hoisted object can be obtained through the method). And then expanding a second safety distance (as shown in figure 3, expanding the distance e along the profile of the hoisted object, wherein the value of e is 500-1000 mm) on the profile of the hoisted object, namely expanding the profile of the hoisted object by the second safety distance along the horizontal direction to form an area, namely a coverage range of the hoisted object.
In the embodiment, the distance between the hoisted object and the trolley is obtained by the third encoder 110, as shown in fig. 2, the third encoder 110 is installed on the hoisting winch 104, the third encoder 110 is actually a length sensor, the distance between the hoisted object 107 and the trolley 103 can be obtained by recording the extension length of the lifting rope on the hoisting winch 103, the height between the boom 102 and the ground is determined, and the height between the hoisted object 107 and the trolley 103 can be obtained by obtaining the distance between the hoisted object 107 and the ground.
The hoisting object position obtaining module comprises a hoisting object amplitude distance determining module, the hoisting object amplitude distance determining module comprises a second encoder 109 installed on the amplitude winch 105, and the second encoder is used for obtaining the amplitude distance of the amplitude winch 105 as the horizontal distance of the hoisting object 107 relative to the coordinate origin of the tower crane 101.
A second encoder 109 is mounted on luffing winch 105 and is a length sensor that records the length of the luffing of hoisting winch 103, in fact the extension of the haulage rope of luffing winch 105.
After the hoisting object coverage range is determined, the luffing distance of the hoisting trolley 103 is also determined, the rotation angle of the boom 102 is determined according to the first encoder 108, the specific position of the hoisting object in the tower crane operation area can be determined according to the rotation angle and the luffing distance, and a second dangerous area corresponding to the hoisting object can be determined according to the specific position of the hoisting object in the tower crane operation area and the hoisting object coverage range, such as an area B shown in fig. 3.
The constructor position acquisition module comprises a positioning module, the positioning module is carried on the constructor body, and comprises a GPS positioning module and a wireless signal generation module, and the GPS positioning module is used for sending constructor position signals to the safety warning module in real time. The positioning module of the embodiment is a device carried on a constructor, and can be installed on a safety helmet 116 (shown in fig. 2) of the constructor, or can be installed on a work clothes as long as the requirement can be met.
The control room 112 is a control center of the whole dynamic sensing system, the control room 112 comprises a controller (part of a control unit), a computer, a wireless module 113 and an audible and visual alarm 114 (part of an alarm unit), the controller is electrically connected with the encoder and the computer, information collected by the encoder is transmitted to the computer for display, the wireless module 113 is a LORA module, and the controller 112 is an EPEC controller.
The dynamic sensing method for the tower crane operation safety zone is carried out according to the following steps:
a1, acquiring a rotation angle of a suspension arm in real time, and determining a first danger area of the suspension arm projected on the ground;
a2, acquiring a hoisting object coverage range, a hoisting object height, a distance relative to a tower crane coordinate origin and a boom rotation angle in real time, and determining a second dangerous area of the hoisting object projected on the ground;
and A3, acquiring the position coordinate of the constructor relative to the origin of coordinates of the tower crane in real time, judging whether the constructor is in the first dangerous area or the second dangerous area, and sending a warning signal when the constructor is in the first dangerous area or the second dangerous area.
In some embodiments of the present application, the group tower anti-collision unit is optimized in this embodiment, and specifically, the group tower anti-collision unit includes a tower crane relative position acquisition module and a tower crane position deviation acquisition module, where the tower crane relative position acquisition module is used to acquire a relative position relationship between a tower crane and surrounding tower cranes; the tower crane position deviation acquisition module is used for acquiring the position deviation of the tower crane and the surrounding tower cranes.
The group tower anti-collision unit comprises six laser radars and four anti-collision cameras, the laser radars and the anti-collision cameras are respectively installed at four corners of the connecting position of the suspension arm and the tower body, the laser radars are respectively installed at the head and the tail of the suspension arm, the relative position relation between the current tower crane and the surrounding tower cranes is obtained, the laser radars and the anti-collision cameras are connected with the control unit, the position deviation between the current tower crane and the surrounding tower cranes is output, the current tower crane is prevented from touching other construction tower cranes, when the laser radars monitor that the distance between the current tower crane and the other construction tower cranes is smaller than a safety distance threshold value, the control unit sends an alarm instruction to the alarm unit, and the alarm unit sends an alarm prompt.
In other embodiments of the present application, the hoisting auxiliary guidance unit is optimized in this embodiment, and the specific hoisting auxiliary guidance unit includes a hoisted object position acquisition module, a target position acquisition module and a tower body position acquisition module, where the hoisted object position acquisition module is used to acquire current hoisted object position coordinate information; the target position acquisition module is used for acquiring coordinate information of a target position; the tower body position acquisition module is used for acquiring the coordinate information of the position of the tower body. In fact, the modes of acquiring the position coordinate information of the hoisted object, the target position coordinate information and the position coordinate information of the tower body are various, and the embodiment adopts two modes, namely, the above coordinates are measured in a Beidou or GPS mode, and the above coordinates are acquired by installing UWB on the hoisted object, the installation position and the tower body.
The hoisting auxiliary guiding unit comprises two stages, wherein the rough positioning is performed before the hoisted object reaches the set height, and the fine positioning is performed after the hoisted object reaches the set height, the set height of the embodiment means that the hoisted object reaches the position 5m above the installation position, the position coordinate information of the hoisted object, the target position coordinate information and the position coordinate information of the tower body can be obtained in the rough positioning mode by adopting a Beidou or GPS mode, and the position coordinate information of the hoisted object, the target position coordinate information and the position coordinate information of the tower body can be obtained in the fine positioning mode by adopting a UWB mode. The hoisting speed is considered in the coarse positioning, and the hoisting object transfer efficiency is improved. When the precise positioning is implemented, the distance between the hoisted object and the installation position is very close, and the installation precision needs to be considered.
After the corresponding coordinate information is collected by the hoisting object position collection module, the target position collection module and the tower body position collection module, the related coordinate information is transmitted to the control unit through the wireless module, and after the control unit performs data processing on the coordinate information, the coordinate information is fed back to the display unit to be displayed for an operator, so that the hoisting operation of the operator is facilitated.
In a further embodiment of the application, the embodiment optimizes the lifting appliance, the lifting appliance of the embodiment is an intelligent lifting appliance, and is used for adjusting the air posture of a lifted object, as shown in fig. 4 to 5, the lifting appliance 201 comprises a first cross beam 202, a frame body 203, a second cross beam 204, an inclination angle adjusting structure, a lifting hook 206 and a lifting hook adjusting structure, the first cross beam 202 is connected with a lifting hook 119 of a tower crane, the frame body 203 is connected with the first cross beam 202 through a hinge joint which can rotate around a vertical axis through a vertical rotating shaft 205, and the second cross beam 202 is connected with the frame body 203. The inclination angle adjusting structure is arranged on the frame body 203 and is used for adjusting the horizontal inclination angle of the hoisted object. The plurality of hooks 206 are disposed on the second beam 204 and used for connecting a lifting object, in this embodiment, four hooks 206 are disposed on the second beam 204, the four hooks 206 include two groups and are disposed at two ends of the second beam 204, and each group includes two hooks 206 disposed at two sides of the end of the second beam 204. The hook adjustment structure is disposed between the hook 206 and the second beam 204 for adjusting the position of the hook 206.
As shown in fig. 4 to 5, the tilt angle adjusting structure of this embodiment includes a first cylinder 207 and a second cylinder 208, a housing of the first cylinder 207 is hinged to a rotating shaft 205, a pushing end is hinged to the frame body 203 for driving the frame body 203 to rotate around a longitudinal axis, the frame body 203 is rotatably hinged to a lower end of the rotating shaft 205 through a longitudinal first pin 209, and the first cylinder 207 pushes the frame body 203 to rotate, and in fact, pushes the frame body 203 to rotate around the first pin 209.
The housing of the second cylinder 210 is hinged to the frame 203, and the pushing end is hinged to the second beam 204, for driving the second beam 204 to rotate around the transverse axis. The second beam 204 is rotatably hinged to the frame 203 by a second transverse pin 210, and the second cylinder 210 drives the second beam 204 to rotate, in fact, the second beam 204 is pushed to rotate around the second pin 210. Two ends of the frame body 203 are connected with the second beam 204 through two second pins 210.
In addition, a rotating structure is further installed on the lifting appliance 201, as shown in fig. 4 to 5, the rotating structure includes a gear 211 and a rotating motor 212, the gear 211 is fixed on the rotating shaft 205, and the rotating motor 212 is installed on the first cross beam 202 and is in transmission connection with the gear 212. When the vertical axis of hoist and mount thing is adjusted in the rotation, the drive rotates motor 212, rotates motor 212 drive gear 211 and rotates, and gear 211 drives axis of rotation 205 rotatory, installs the support body 203 on axis of rotation 205 and can follow axis of rotation 205 rotatory, realizes the regulation to the vertical turned angle of hoist and mount thing.
The hook adjusting structure of this embodiment includes a mounting seat 213 and a third cylinder 214, the mounting seat 213 is slidably connected to the sliding groove of the second beam 204, and the upper end of the hook 206 passes through the sliding groove and is fixedly connected to the mounting seat 213. The housing of the third cylinder 214 is fixed on the second beam 204, and the pushing end is connected to the mounting seat 213 for driving the mounting seat 213 to move along the sliding groove. The slide is longitudinally disposed and the third cylinder 214 is capable of longitudinal adjustment of the hook 206.
In this embodiment, the gyroscope, the wireless transmission module and the controller are installed on the second cross beam 204, and when the lifting hook 206 is used, an operator can send a control instruction to the controller through the handheld control device, adjust the position of the lifting hook 206, enable the lifting hook 206 to correspond to lifting points on a lifting object one by one, and then connect the lifting hook 206 with the lifting object. After the connection is finished, the hoisted object is hoisted to a set height to be adjusted, the X-direction inclination angle and the Y-direction inclination angle of the hoisted object are obtained through the gyroscope on the hoisted object, the X-direction inclination angle and the Y-direction inclination angle of the hoisted object are adjusted through the first oil cylinder 207 and the second oil cylinder 208 on the hoisted object, and the vertical rotation angle of the hoisted object is adjusted through the rotating motor 212 on the hoisted object until the air posture of the hoisted object meets the set requirement.
The construction method of the ultra-large intelligent tower crane is carried out according to the following steps, as shown in fig. 6:
s1, firstly, connecting a 10KV high-voltage wire into a tower crane control room, avoiding voltage loss, monitoring the wind field environment of the tower crane, wherein the wind speed and the wind direction from the tower bottom to the tower top, the stress condition of a tower crane attachment frame, the tower body inclination angle and the suspension arm inclination angle are included, the acquired information is transmitted to a cloud end, an operator holds a control terminal device to judge the acquired information, whether the current environment and the tower crane state meet the construction requirements or not is judged, if the current environment and the tower crane state do not meet the safety construction requirements, namely the detected data exceed a preset safety threshold value, an alarm prompt and a boomer alarm are carried out, the tower crane is locked, the tower crane is forbidden to operate, and when the wind field environment meets the safety setting requirements, the operator is allowed to enter the tower crane control room;
s2, allowing an operator to climb to a tower crane control room from the bottom of the tower crane, specifically, entering the control room through a tower body crawling ladder, operating the tower crane, carrying out fault detection on the tower crane, if the tower crane fails, sending out a corresponding alarm prompt until the tower crane normally runs, operating the tower crane under the condition that the tower crane does not have faults, carrying out tower crane hoisting operation, including operations of lowering a tower crane hook, adjusting a hook of a lifting appliance, hooking the hook by the hook and the like, inputting a target position of a hoisted object, a target posture of a heavy object and the like to a control unit, and when the condition that the hoisted object is hoisted by the hook is detected, starting to carry out safe operation dynamic sensing on a tower crane operation area, wherein the steps of combining information of the tower body position of the tower crane, the rotation, the amplitude, the hoisting height and the like of the tower crane with the positions of constructors around the tower crane, judging whether the personnel intrude into the tower crane construction range, if so, then the audible and visual alarm sound alarm prompt;
s3, identifying a tower crane hook, comparing the collected oblique-pulling oblique-hanging angle with a set threshold value by a control unit, judging whether the tower crane hook has the oblique-pulling oblique-hanging condition, if the oblique-pulling oblique-hanging angle exceeds the set threshold value, sending an alarm prompt by an alarm unit, and if the oblique-pulling oblique-hanging angle is smaller than the set threshold value, proving that the oblique-pulling oblique-hanging condition does not exist at present, and hoisting the hoisted object to the set height, namely, hoisting the hoisted object to 2m away from the ground;
s4, adjusting the posture of the hoisted object through the first oil cylinder, the second oil cylinder and the rotating motor until the posture of the hoisted object is consistent with the set posture in the air, continuing hoisting after the posture adjustment is finished, monitoring the relative position of the tower crane and the surrounding tower cranes in real time, and sending out an audible and visual alarm prompt to avoid collision when the relative position of the boom of the tower crane and the surrounding tower crane is smaller than a set distance;
s5, coarse positioning guidance is carried out, the position coordinates of the hoisted object, the target position coordinates and the position coordinates of a tower body are obtained through the Beidou or the GPS, a path planning guidance algorithm is adopted, the tower crane is automatically controlled to carry out rotation, amplitude variation and lifting motion until the hoisted object reaches a position 5m above the target position, fine positioning guidance is carried out, the position coordinates of the hoisted object, the target position coordinates and the position coordinates of the tower body are obtained through the UWB arranged on the hoisted object, the target position and the tower body, the path planning guidance algorithm is adopted, the tower crane is automatically controlled to carry out rotation, amplitude variation and lifting motion until the current position of the hoisted object is coincided with the target position or reaches an allowable error range, and hoisting construction of the hoisted object is completed.
The foregoing shows and describes the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A very large intelligent tower crane comprises a flat-top tower crane, wherein the flat-top tower crane comprises a suspension arm, a tower body below the suspension arm and a tower head above the suspension arm; the suspension arm is provided with a control room, a hoisting winch, a hoisting trolley, an amplitude-variable winch and a rotary motor,
the method is characterized in that: also comprises the following steps of (1) preparing,
the wind field environment monitoring unit is used for acquiring wind field information and tower crane state information in the working environment of the tower crane;
the system comprises a diagonal inclined hoisting monitoring unit, a diagonal inclined hoisting monitoring unit and a control unit, wherein the diagonal inclined hoisting monitoring unit is used for identifying the position of a lifting hook of the tower crane so as to obtain the diagonal inclined hoisting angle of the lifting hook of the tower crane;
the system comprises an operation safety zone dynamic sensing unit, a lifting arm dynamic sensing unit and a tower crane dynamic sensing unit, wherein the operation safety zone dynamic sensing unit is used for acquiring the relative positions of a lifting arm, a lifting object and constructors in a tower crane operation area;
the system comprises a group tower anti-collision unit, a group tower anti-collision unit and a group tower anti-collision unit, wherein the group tower anti-collision unit is used for acquiring the position deviation of a current tower crane and surrounding tower cranes;
the hoisting auxiliary guiding unit is used for acquiring a position coordinate of a hoisted object, a target position coordinate and a position coordinate of a tower body;
the lifting appliance is connected to a lifting hook of the tower crane and used for adjusting the aerial attitude of a lifted object;
and the control unit receives and processes parameter information acquired by the wind field environment monitoring unit, the inclined-pulling and inclined-hanging monitoring unit, the operation safety zone dynamic sensing unit, the group tower anti-collision unit, the hanging auxiliary guide unit and the hanging tool, and displays key parameters of tower crane operation and the simulation state of the tower crane operation to an operator through the display unit.
2. The very large intelligent tower crane of claim 1, wherein: the wind field environment monitoring unit comprises a wind field environment monitoring unit,
the system comprises a tower body inclination angle acquisition module, a tower body inclination angle acquisition module and a control module, wherein the tower body inclination angle acquisition module is arranged on a tower body and is used for acquiring the inclination angle of the tower body;
the wind field parameter acquisition module is arranged on the tower body and used for acquiring the wind speed and the wind direction of the tower crane in the environment;
the attachment frame stress acquisition module is arranged on the tower body attachment frame and used for acquiring attachment frame stress of the tower body attachment frame;
the suspension arm inclination angle acquisition module is installed on the suspension arm and used for acquiring the inclination angle of the suspension arm.
3. The ultra-large intelligent tower crane according to claim 1, wherein: the inclined-pulling and inclined-hanging monitoring unit comprises,
the binocular camera is mounted on the crane trolley and used for collecting image information of the lifting hook of the tower crane below;
the angle acquisition module is used for processing the image information and acquiring a vertical included angle between a tower crane hook and a hoisting trolley rope outlet point as a diagonal inclined hanging angle.
4. The very large intelligent tower crane of claim 1, wherein: the operation safety zone dynamic sensing unit comprises a working safety zone dynamic sensing unit,
the suspension arm dangerous area acquisition module is used for acquiring a first dangerous area covered under a suspension arm in a moving state or a static state in real time;
the hoisting object dangerous area acquisition module is used for acquiring a second dangerous area which is in a moving state or a static state and is covered under the hoisting object in real time;
the system comprises a constructor position acquisition module, a construction worker position acquisition module and a construction worker position acquisition module, wherein the constructor position acquisition module is used for acquiring the position of a constructor in real time;
and the safety warning module is used for receiving the position information of the constructors in real time and sending out safety warning signals when the constructors enter a first dangerous area or a second dangerous area.
5. The very large intelligent tower crane of claim 1, wherein: the group tower anti-collision unit comprises a group tower anti-collision unit,
the system comprises a tower crane relative position acquisition module, a tower crane relative position acquisition module and a control module, wherein the tower crane relative position acquisition module comprises cameras which are arranged at four corners of the connection part of a suspension arm and a tower body and are used for acquiring the relative position relation between the tower crane and the surrounding tower cranes;
the system comprises a tower crane position deviation acquisition module, wherein the tower crane position deviation acquisition module comprises laser radars which are arranged at the head and tail ends of a suspension arm and four corners of the connection part of the suspension arm and a tower body and is used for acquiring the position deviation of the tower crane and the surrounding tower cranes.
6. The ultra-large intelligent tower crane according to claim 1, wherein: the lifting appliance comprises a lifting appliance body and a lifting appliance body,
the first cross beam is connected with a tower crane hook;
the frame body is hinged to the first cross beam through a vertical rotating shaft and can rotate around a vertical axis;
the second cross beam is connected with the frame body;
the inclination angle adjusting structure is arranged on the frame body and is used for adjusting the horizontal inclination angle of the hoisted object;
the lifting hooks are arranged on the second cross beam and used for connecting a lifting object;
and the lifting hook adjusting structure is arranged between the lifting hook and the second cross beam and is used for adjusting the position of the lifting hook.
7. The very large intelligent tower crane of claim 6, wherein: the tilt angle adjusting structure comprises a tilt angle adjusting mechanism,
the shell of the first oil cylinder is hinged to the rotating shaft, and the pushing end is hinged to the frame body and used for driving the frame body to rotate around the longitudinal axis;
and the shell of the second oil cylinder is hinged to the frame body, and the pushing end is hinged to the second beam and used for driving the second beam to rotate around the transverse axis.
8. The very large intelligent tower crane of claim 6, wherein: the lifting appliance also comprises a lifting appliance body,
a gear fixed to the rotating shaft;
and the rotating motor is arranged on the first cross beam and is in transmission connection with the gear.
9. A construction method of an ultra-large intelligent tower crane is characterized by comprising the following steps: the construction method adopts the ultra-large tower-only crane of claims 1-8, and comprises the following steps:
s1, a high-voltage cable is connected into a tower crane, the wind field environment of the tower crane is monitored, and when the wind field environment meets the safety setting requirement, an operator is allowed to enter a tower crane control room;
s2, fault detection is carried out on the tower crane, the tower crane is operated under the condition that the tower crane has no fault, a lifting hook of the tower crane is operated to put down a hook to hang a hoisting object, and safe operation dynamic sensing is carried out on an operation area of the tower crane, so that no-operation personnel are in the working range of the hoisting arm and the hoisting object;
s3, identifying the tower crane hook, judging whether the tower crane hook has the condition of inclined hoisting, and hoisting the hoisted object to a set height when the tower crane hook is within a safe angle range;
s4, adjusting the posture of the hoisted object, continuing hoisting after the completion of the adjustment, and monitoring the relative position of the tower crane and the surrounding tower cranes in real time to avoid collision;
and S5, acquiring the position coordinate of the hoisted object, the target position coordinate and the tower body position coordinate, guiding the hoisting of the tower crane, and completing the hoisting of the hoisted object through the amplitude variation of the tower crane, the rotation of the tower crane and the hoisting of the tower crane.
10. The construction method of the ultra-large intelligent tower crane according to claim 9, characterized in that: in the step S2, the method for dynamically sensing the safe operation in the tower crane operation area includes the following steps:
a1, acquiring a rotation angle of a suspension arm in real time, and determining a first dangerous area projected by the suspension arm on the ground;
a2, acquiring a hoisting object coverage range, a hoisting object height, a distance relative to a tower crane coordinate origin and a boom rotation angle in real time, and determining a second dangerous area of the hoisting object projected on the ground;
a3, acquiring the position coordinate of the constructor relative to the origin of coordinates of the tower crane in real time, judging whether the constructor is in a first dangerous area or a second dangerous area, and sending out a warning signal when the constructor is in the first dangerous area or the second dangerous area.
CN202211041418.8A 2022-08-29 2022-08-29 Ultra-large intelligent tower crane and construction method Pending CN115448185A (en)

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CN202211041418.8A CN115448185A (en) 2022-08-29 2022-08-29 Ultra-large intelligent tower crane and construction method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211041418.8A CN115448185A (en) 2022-08-29 2022-08-29 Ultra-large intelligent tower crane and construction method

Publications (1)

Publication Number Publication Date
CN115448185A true CN115448185A (en) 2022-12-09

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CN202211041418.8A Pending CN115448185A (en) 2022-08-29 2022-08-29 Ultra-large intelligent tower crane and construction method

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116443744A (en) * 2023-06-16 2023-07-18 九八建设发展有限公司 Bridge prefab hoisting accessory

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116443744A (en) * 2023-06-16 2023-07-18 九八建设发展有限公司 Bridge prefab hoisting accessory
CN116443744B (en) * 2023-06-16 2023-08-15 九八建设发展有限公司 Bridge prefab hoisting accessory

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