CN115448185A - Super large intelligent tower crane and its construction method - Google Patents

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

Super large intelligent tower crane and its 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 technique

Tower cranes are referred to as tower cranes for short, also known as tower cranes. In the field of construction engineering, tower cranes are the most commonly used lifting equipment on construction sites. They are mainly used for the transportation and transfer of construction materials and large construction equipment. They are easy to install and disassemble. , convenient construction, saving manpower and other characteristics, it is an indispensable equipment in building construction. For a long time, it has been an urgent problem to improve the safety of the tower crane and at the same time improve the hoisting efficiency of the tower crane. However, the tower cranes currently used in construction have a single function, and their main functions are in the safety monitoring of the tower crane itself. The safety of personnel around the tower crane and the auxiliary improvement of engineering hoisting need to be strengthened. For example, for super high-rise buildings (above 300m), the height of the tower crane leads to more attachment frames of the tower crane itself. The maintenance and installation of the attachment frames often require the assistance of other lifting equipment, which brings great inconvenience to the construction. As the construction height of the tower crane increases, safety issues such as tower body inclination, wind force, and attachment frame strength are particularly prominent; Walking, but due to the complex construction area of the tower crane and the different sizes of hoisting objects hoisted by the tower crane, the tower crane driver has a blind spot in the process of operating the tower crane, the on-site command and dispatch personnel are not in place, and there may be people standing under the tower crane. Accidents of people passing by, tower crane hanging objects falling and hurting people happen from time to time.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned deficiencies in the background technology, and to provide a super-large intelligent tower crane and a construction method.

The technical solution of the present invention is: a super-large intelligent tower crane, including a flat-top tower crane, the flat-top tower crane includes a boom, a tower body below the boom, and a tower head above the boom; There are control room, lifting winch, lifting trolley, luffing winch and rotary motor,

It is characterized in that: it also includes,

A wind field environment monitoring unit, the wind field environment monitoring unit is used to collect wind field information and tower crane status information under the working environment of the tower crane;

A cable-stayed and inclined crane monitoring unit, the cable-stayed and inclined crane monitoring unit is used to identify the position of the tower crane hook so as to obtain the cable-stayed and inclined crane angle of the tower crane hook;

An operation safety area dynamic sensing unit, the operation safety area dynamic sensing unit is used to obtain the relative positions of the boom, hoisting objects and construction personnel in the tower crane operation area;

A group tower anti-collision unit, the group tower anti-collision unit is used to obtain the position deviation between the current tower crane and surrounding tower cranes;

A hoisting auxiliary guidance unit, the hoisting auxiliary guidance unit is used to collect the position coordinates of the hoisting object, the target position coordinates and the tower body position coordinates;

A sling, the sling is connected to the hook of the tower crane and is used to adjust the attitude of the hoisted object in the air;

A control unit, the control unit receives the parameter information collected by the wind field environment monitoring unit, the cable-stayed and inclined-hanging monitoring unit, the dynamic perception unit of the operation safety area, the group tower anti-collision unit, the hoisting auxiliary guidance unit and the spreader, and performs data processing, The key parameters of the tower crane operation and the simulation state of the tower crane operation are displayed to the operator through the display unit.

According to an ultra-large intelligent tower crane provided by the present invention, the wind field environment monitoring unit includes:

Tower body inclination angle acquisition module, the tower body inclination angle acquisition module is installed on the tower body for collecting the inclination angle of the tower body;

A wind field parameter collection module, the wind speed and wind direction collection module is installed on the tower body, and is used to collect the wind speed and wind direction in the environment where the tower crane is located;

Attachment frame stress acquisition module, the attachment frame stress acquisition module is installed on the tower body attachment frame for collecting the attachment frame stress of the tower body attachment frame;

The arm inclination acquisition module, the arm inclination acquisition module is installed on the arm and is used to acquire the arm inclination.

According to an ultra-large intelligent tower crane provided by the present invention, the cable-stayed and inclined-hung monitoring unit includes:

A binocular camera, the binocular camera is installed on the lifting trolley for collecting the image information of the tower crane hook below;

An angle acquisition module, the angle acquisition module is used for processing the image information, and acquires the vertical angle between the hook of the tower crane and the rope exit point of the lifting trolley as the angle of the inclined suspension.

According to an ultra-large intelligent tower crane provided by the present invention, the dynamic sensing unit of the operation safety zone includes:

An arm dangerous area acquisition module, the arm dangerous area acquisition module is used to acquire in real time the first dangerous area covered directly under the arm in motion or in a static state;

A lifting object dangerous area acquisition module, the lifting object dangerous area acquisition module is used to obtain the second dangerous area covered directly under the lifting object in a moving state or in a static state in real time;

Construction personnel position obtaining module, described construction personnel position obtaining module is used for obtaining construction personnel's position in real time;

A safety warning module, the safety warning module is used for receiving the location information of the construction personnel in real time, and sending out a safety warning signal when the construction personnel enter the first dangerous area or the second dangerous area.

According to an ultra-large intelligent tower crane provided by the present invention, the anti-collision unit of the group towers includes:

A tower crane relative position acquisition module, the tower crane relative position acquisition module includes cameras installed at the four corners of the connection between the boom and the tower body, for acquiring the relative positional relationship between the tower crane and surrounding tower cranes;

The tower crane position deviation acquisition module, the tower crane position deviation acquisition module includes laser radar installed at the first and last ends of the boom and the four corners of the connection between the boom and the tower body, used to obtain the position of the tower crane and the surrounding tower cranes deviation.

According to an ultra-large intelligent tower crane provided by the present invention, the hoisting auxiliary guidance unit includes:

A hoisting object position acquisition module, the hoisting object position acquisition module is used to collect current hoisting object position coordinate information;

A target position acquisition module, the target position acquisition module is used to collect target position coordinate information;

A tower body position collection module, the tower body position collection module is used to collect tower body position coordinate information.

According to an ultra-large intelligent tower crane provided by the present invention, the spreader includes:

a first crossbeam, the first crossbeam is connected to the tower crane hook;

a frame body, the frame body is hingedly connected to the first beam through a vertical rotation shaft that can rotate around the vertical axis;

a second beam, the second beam is connected to the frame body;

An inclination adjustment structure, the inclination adjustment structure is arranged on the frame body, and is used to adjust the horizontal inclination of the hoisting object;

a plurality of hooks, the plurality of hooks are arranged on the second crossbeam and are used to connect the hoisting objects;

The hook adjusting structure is arranged between the hanging hook and the second beam, and is used for adjusting the position of the hanging hook.

According to an ultra-large intelligent tower crane provided by the present invention, the inclination adjustment structure includes:

A first oil cylinder, the housing of the first oil cylinder is hingedly connected to the rotating shaft, and the push end is hingedly connected to the frame body, for driving the frame body to rotate around the longitudinal axis;

The second oil cylinder, the shell of the second oil cylinder is hingedly connected to the frame body, and the pushing end is hingedly connected to the second crossbeam for driving the second crossbeam to rotate around the transverse axis.

According to an ultra-large intelligent tower crane provided by the present invention, the spreader also includes:

a gear, the gear is fixed to the rotating shaft;

The rotating motor is installed on the first beam and connected with the gear transmission.

According to an ultra-large intelligent tower crane provided by the present invention, the hook adjustment structure includes:

a mounting seat, the mounting seat is slidably connected to the chute on the second beam, and the upper end of the hook passes through the chute and is fixedly connected to the mounting seat;

The third oil cylinder, the shell of the third oil cylinder is fixed on the second crossbeam, and the pushing end is connected to the installation seat, and is used to drive the installation seat to move along the slide groove.

The present invention also provides a construction method for an ultra-large intelligent tower crane. The construction method adopts the ultra-large intelligent tower crane described in claims 1 to 9, and includes the following steps:

S1. Connect the high-voltage cable to the tower crane, monitor the wind field environment of the tower crane, and allow the operator to enter the tower crane control room when the wind field environment meets the safety setting requirements;

S2. Carry out fault detection on the tower crane, operate the tower crane when there is no fault in the tower crane, operate the tower crane hook to lower the hook to hang the hoisting objects, and carry out dynamic perception of safe operation in the tower crane operation area to ensure that no operator is between the boom and the crane. Within the working range of the hoisting objects;

S3. Identify the hook of the tower crane, judge whether the hook of the tower crane is cable-stayed, and lift the hoisting object to the set height when the hook of the tower crane is within the safe angle range;

S4. Adjust the posture of the hoisting object, continue hoisting after completion, and monitor the relative position of the tower crane and the surrounding tower cranes in real time to avoid collisions;

S5. Obtain the position coordinates of the hoisting object, the target position coordinates and the tower body position coordinates, guide the hoisting of the tower crane, and complete the hoisting of the hoisting object through the luffing of the tower crane, the rotation of the tower crane, and the lifting of the tower crane.

According to the construction method of a super-large intelligent tower crane provided by the present invention, in the step S2, the method for dynamically sensing the safe operation of the tower crane operation area includes the following steps:

A1. Obtain the rotation angle of the boom in real time, and determine the first dangerous area projected by the boom on the ground;

A2. Real-time acquisition of the coverage of the hoisting object, the height of the hoisting object, the distance from the origin of the coordinates of the tower crane, and the rotation angle of the boom, and determine the second dangerous area projected on the ground by the hoisting object;

A3. Obtain the position coordinates of the construction personnel relative to the origin of the coordinates of the tower crane in real time, judge whether the construction personnel are in the first dangerous area or the second dangerous area, and issue a warning when the construction personnel are in the first dangerous area or the second dangerous area Signal.

According to a construction method of an ultra-large intelligent tower crane provided by the present invention, in the step A1, the method for determining the first dangerous area where the boom is projected on the ground includes: installing a first encoder on the rotary motor, recording the The swing angle of the boom determines the coverage of the boom according to the length and width of the boom and the set first safety distance, and determines the first dangerous area according to the swing angle of the boom and the coverage of the boom.

According to a construction method of an ultra-large intelligent tower crane provided by the present invention, in the step A2, obtaining the coverage of the hoisting object in real time includes: installing a camera on the lifting trolley, and obtaining the image information of the hoisting object directly below through the camera; The third encoder is installed on the hoisting winch, and the third encoder records the extension length of the wire rope of the hoisting winch to obtain the height of the hoisting object relative to the hoisting trolley as the height of the hoisting object; determine the height of the hoisting object on the ground according to the image information and the height of the hoisting object. The projected area on the above can get the coverage of the hoisting objects.

According to the construction method of an ultra-large intelligent tower crane provided by the present invention, in the step A2, a second encoder is installed on the luffing winch, and the second encoder records the luffing distance of the hoisting winch to obtain the hoisting object The horizontal distance relative to the origin of the coordinates of the tower crane; based on the rotation angle of the boom and the horizontal distance of the hoisting object relative to the origin of the coordinates of the tower crane, the position of the hoisting object relative to the origin of the coordinates of the tower crane can be obtained; based on the distance between the hoisting object and the origin of the coordinates of the tower crane The location, the coverage area of the hoisting object and the set second safety distance determine the second dangerous area.

According to the construction method of a super-large intelligent tower crane provided by the present invention, in the step S3, the method for judging whether there is a cable-stayed and inclined-hanging situation in the tower crane hook includes the following steps:

B1. Take the image information of the reflective sticker on the hook of the tower crane below through the binocular camera on the lifting trolley;

B2. Perform data processing on the image information, obtain the coordinates of the reflective stickers, and calculate the cable-stayed angle of the tower crane hook based on the coordinates of the rope exit point on the lifting trolley and the coordinates of the reflective stickers;

B3. Comparing the cable-stayed and inclined-hanging angle with the set angle threshold, if the cable-stayed and inclined-hanging angle is greater than the set angle threshold, it is considered that the tower crane hook has a cable-stayed and inclined-hanging situation, otherwise it is considered that there is no cable-stayed Inclined hanging situation.

According to a construction method of an ultra-large intelligent tower crane provided by the present invention, in the step S4, the method for adjusting the posture of the hoisting object includes the following steps:

C1. Obtain the X-direction inclination and Y-direction inclination of the spreader through the gyroscope on the spreader;

C2. Use the inclination adjustment structure on the spreader to adjust the X-direction inclination and Y-direction inclination of the hoisting object;

C3. Adjust the vertical rotation angle of the hoisting object through the rotating motor on the sling until the attitude of the hoisting object in the air meets the set requirements.

According to a construction method of an ultra-large intelligent tower crane provided by the present invention, in the step S5, the method for guiding the hoisting of the tower crane includes the following steps:

D1. Before the hoisting object is hoisted to the fine positioning height, use Beidou or GPS to obtain the position coordinates of the hoisting object, the target position coordinates and the tower body position coordinates, and provide rough positioning auxiliary guidance for the lifting of the hoisting object;

D2. During the hoisting of the hoisting object from the precise positioning height to the installation position, use the UWB electronic tags on the hoisting object, the tower body, and the boom to obtain the position coordinates of the hoisting object, the target position coordinates, and the tower body position coordinates, and carry out the lifting of the hoisting object Carry out fine positioning assistance guidance.

The advantages of the present invention are: 1. The tower crane of the present invention 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 operation area in real time; The unit monitors the working status of the tower crane hook in real time to avoid cable-stayed suspension; through the dynamic sensing unit in the operation safety area, it detects the construction personnel in the operation area of the tower crane in real time and prevents the construction personnel from entering under the boom and hoisting objects; The tower group anti-collision unit monitors the relative position of the tower crane and the surrounding tower cranes in real time to avoid collision between the tower crane and the surrounding tower cranes; through the hoisting auxiliary guidance unit, the hoisting object, installation position and the coordinates of the tower crane are monitored in real time, and the hoisting object’s Guide the installation; monitor the aerial posture of the hoisting object through the spreader, and adjust the aerial posture of the hoisting object to ensure the stability of the hoisting object during the hoisting process; the invention is also provided with an alarm unit, which can be obtained from the above unit When the status parameter exceeds the set safety parameter, an alarm prompt is issued to further improve the safety of the entire tower crane operation; the tower crane of the present invention has many functions, fully considers various working conditions of the tower crane, and can greatly improve the tower crane. The safety and hoisting efficiency of the crane operation have realized 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 of the present invention includes a wind field parameter acquisition module, an attachment frame stress acquisition module, and a boom angle acquisition module, respectively collecting wind speed, wind direction, the stress of the attachment frame, and the boom angle. The wind speed and wind direction are the acquisition environment Wind field information, to judge whether the current wind field environment meets the requirements for safe operation, the stress of the attachment frame and the inclination angle of the boom are used to judge the operating state of the tower crane, and judge whether the tower crane itself meets the requirements for safe operation. The present invention fully considers the operation process of the tower crane All aspects of the process to ensure the safe operation of the tower crane;

3. The cable-stayed and inclined-hanging monitoring unit of the present invention is used to monitor the cable-stayed and inclined-hanging angle of the tower crane hook, and can judge whether there is a cable-stayed and inclined hanging on the tower crane's hook, and can avoid the occurrence of cable-stayed and inclined hanging in the lifting process. The situation of hoisting has greatly improved the safety and stability of hoisting;

4. The dynamic perception unit of the operation safety area of the present invention can obtain the dangerous area in the construction area of the tower crane in real time, mainly the area covered by the boom and hoisting objects, and can judge whether the construction personnel have entered the dangerous area to ensure the safety of the construction personnel , improve the safety management of the tower crane operation area;

5. The anti-collision unit of the group towers of the present invention can monitor the relative positional relationship between the tower crane and the surrounding tower cranes in real time, avoid the collision between the tower crane and the surrounding tower cranes during the hoisting process, coordinate the group towers, and the tower cranes will The safety has been greatly improved, and it is especially suitable for the construction of multiple tower cranes;

6. The hoisting auxiliary guidance unit of the present invention is used for precise guidance of the hoisting objects to ensure that the hoisting objects can be accurately and stably moved to the installation position, which can not only greatly improve the installation efficiency of the hoisting objects, but also improve the safety of the movement of the hoisting objects ;

7. The hanger of the present invention has a simple structure and can adjust the inclination angle of the hoisted object. The hook adjustment structure can adjust the position of the hook to ensure that the hook can be adaptively adjusted to the change of the lifting point of the hoisted object, and the operation is simple , easy to adjust;

8. The inclination adjustment structure of the present invention is simple, and the horizontal inclination angle of the hoisting object can be adjusted conveniently 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 hanger of the present invention also adjusts the rotation angle of the hoisting object around the vertical direction through the combined structure of the rotating motor and the gear, which facilitates the adjustment of the attitude of the hoisting object in the air and facilitates the installation of the hoisting object;

10. The hook adjustment structure of the present invention is extremely simple, and the hook can be adjusted conveniently through the third oil cylinder, so that the hook can adapt to the lifting point of the hoisting object and the hoisting objects of different structures;

11. The present invention also provides a construction method. The tower crane construction method of the present invention fully considers the wind field environment, tower crane failure, dynamic perception of safe operation, tower crane hook, hoisting object control attitude, hoisting guidance, etc. , can greatly improve the safety of the entire tower crane operation and construction, the hoisting efficiency has been greatly improved, and the entire construction method is orderly;

12. The invention obtains the first dangerous area based on the length and width of the boom, and then according to the length and width of the boom plus the first set distance to obtain the coverage of the boom projected on the ground by the boom, and then based on the rotation of the boom The angle determines the specific position of the boom coverage in the tower crane operation area, so that the first dangerous area corresponding to the boom can be obtained. The entire determination method is extremely simple, and the coverage of the boom can be obtained accurately and in real time, which is convenient for construction warning of personnel;

13. The acquisition of the second dangerous area in the present invention is based on the coverage of the hoisting object, and then the position of the hoisting object is obtained. Based on the position of the hoisting object, the location of the hoisting object coverage in the tower crane operation area can be obtained, and the hoisting object is obtained Corresponding to the second dangerous area, by sensing the position of the hoisting object in real time, the area covered by the hoisting object is obtained, which is convenient for warning the construction personnel entering the tower crane operation area;

14. The method of obtaining the position of the hoisting object in the present invention is extremely simple. By obtaining the rotation angle of the boom and the luffing distance of the trolley, the projected position of the hoisting object on the ground of the tower crane operation area can be obtained, and the position of the hoisting object can be obtained It is very accurate and can monitor the position of the hoisting object in real time, so as to timely warn the construction personnel entering the dangerous area;

15. The method of the present invention for judging whether there is a cable-stayed and inclined-hanging situation is extremely simple. The binocular camera can capture the image information of the reflective sticker on the hook of the tower crane. Based on the characteristics of the binocular camera itself, the data processing of the image information can obtain The coordinates of the reflective stickers and the coordinates of the rope exit point of the lifting trolley are relatively easy to obtain. Based on the above two coordinates, the angle of the cable-stayed and inclined crane can be easily obtained, and the current tower crane can be judged by obtaining the angle of the cable-stayed and inclined crane. The whole method is very simple to check whether the hook is inclined to hang or not;

16. The method of adjusting the attitude of the hoisting object in the air by the sling of the present invention is simple. The gyroscope on the sling collects the horizontal inclination of the sling, and adjusts the sling based on the collected horizontal inclination to ensure that the sling and the hoisting object are in a horizontal state , the adjustment of the rotation angle can be used together with the adjustment of the horizontal inclination, which is convenient for adjustment and installation;

17. The hoisting guidance of the tower crane in the present invention can greatly improve the efficiency of hoisting and installation of hoisting objects. The guidance of the present invention is divided into two types of guidance. One is the rough positioning auxiliary guidance before reaching the fine positioning height. The guidance method Both efficiency and safety, the second is the fine positioning auxiliary guidance after reaching the fine positioning height, with high accuracy, accurate installation alignment and high safety.

The tower crane of the present invention has multiple functions, can greatly improve the safety of tower crane operation and construction, has extremely high efficiency of safe operation, and has great popularization value.

Description of drawings

Fig. 1: Structural schematic diagram of the ultra-large only tower crane of the present invention;

Figure 2: Schematic diagram of the layout of the dynamic sensing unit in the operating safety zone of the present invention;

Figure 3: Schematic diagram of division of the first dangerous area and the second dangerous area of the present invention;

Fig. 4: side view of hanger structure of the present invention;

Fig. 5: front view of hanger structure of the present invention;

Fig. 6: construction method flowchart of the present invention;

Among them: 101—tower crane; 102—crane; 103—lifting trolley; 104—lifting winch; 105—luffing winch; 106—rotary motor; Second encoder; 110—third encoder; 111—security camera; 112—control room; 113—wireless module; 114—sound and light alarm; 115—total station; 116—safety helmet; 117—jib crane ; 118—attachment frame; 119—tower crane hook;

201—sling; 202—first beam; 203—frame; 204—second beam; 205—rotating shaft; 206—hook; 207—first cylinder; 208—second cylinder; 209—first pin ; 210—the second bearing pin; 211—gear; 212—rotating motor; 213—mounting seat; 214—the third oil cylinder.

detailed description

Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", " The orientation or positional relationship indicated by "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientation or positional relationship shown in the drawings, and only It is for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

This application relates to a super-large intelligent tower crane. The main part of the tower crane of this application is the same as that of the existing tower crane, as shown in Figure 1, including a flat-top tower crane 101 and a boom crane 117. 101 includes a tower body, a tower head and a boom 102, the tower body is located below the boom 102, the tower head is located above the boom 102, the boom crane 117 is installed on the tower head, and the boom crane 117 can go around the tower through a slewing mechanism. The head is rotated so as to adjust the direction when lifting heavy objects. The boom crane 117 and the flat head tower crane 101 do not work at the same time. The boom crane 117 is mainly used for maintenance and installation and removal of the attachment frame 118.

A control room 112, a hoisting winch 104, a hoisting trolley 103, a luffing winch 105 and a rotary motor 106 are installed on the boom 102 of the flat-top tower crane 101; alarm; the wireless module and the controller are connected via Ethernet; the lifting winch 104, the lifting trolley 103, the luffing winch 104, and the rotary motor 106 are all installed on the boom 102 of the tower crane, which are electrically connected with the controller, To control the movement of the tower crane; an encoder is respectively installed on the rotating shafts of the hoisting winch 104, the luffing winch 105 and the rotary motor 106 to monitor the movement of the tower crane, and the encoder is electrically connected to the controller in the control room. The controller in the control room is electrically connected with the computer, and is used to centrally display the safety situation that needs to be monitored by the tower crane. When an abnormal situation occurs, an instruction is issued to make the sound and light alarm alarm.

In this application, the following modules are installed on the tower crane: wind field environment monitoring unit, cable-stayed and inclined crane monitoring unit, dynamic perception unit in operation safety area, group tower anti-collision unit, hoisting auxiliary guidance unit, spreader and control unit, wind The field environment monitoring unit is used to collect the wind field information and tower crane status information in the working environment of the tower crane. The safety area dynamic sensing unit is used to obtain the relative position of the boom, hoisting objects and construction personnel in the tower crane operation area, the group tower anti-collision unit is used to obtain the position deviation between the current tower crane and the surrounding tower cranes, and the hoisting auxiliary guidance unit is used to Collect the position coordinates of the lifting object, the target position coordinates and the tower body position coordinates, and the spreader is connected to the hook of the tower crane to adjust the attitude of the lifting object in the air; the control unit receives the wind field environment monitoring unit, the cable-stayed and inclined crane monitoring The parameter information collected by the unit, the dynamic perception unit of the operation safety area, the group tower anti-collision unit, the hoisting auxiliary guidance unit and the spreader is processed and the data is processed, and the key parameters of the tower crane operation and the simulation status of the tower crane operation are displayed to the user through the display unit. operator.

In fact, the control unit of the present application is integrated on the controller of the control room, and a display unit is arranged in the control room, and the display unit is used to present the control content to the operator. The collected information is sent to the control unit), and the control unit performs data processing on the above-mentioned collected information. Send instructions, and the alarm unit sends out an alarm prompt; second, after processing the above-mentioned collected information, it is sent to the display unit, and the display unit displays the processed information to the operator, which is convenient for the operator to perform corresponding operations. Perform data processing, and transmit the simulation status information of the tower crane operation to the display unit, further facilitating the hoisting operation of the operator.

When in use, connect the high-voltage cable to the tower crane and prepare for work. The wind field environment monitoring unit starts to monitor the wind field environment information and the tower crane status information. After receiving the corresponding information, the control unit judges whether the current wind field environment and tower crane status meet the requirements. If the set safety conditions are not satisfied, an alarm command will be sent to the alarm unit, and the alarm unit will send out an alarm prompt to prohibit the operation. Only when the set safety conditions are met, the operator can enter the tower crane control room;

After the operator enters the tower crane control room, he operates the tower crane. First, he conducts a fault self-check on the tower crane to ensure that the tower crane is operating normally. If there is a fault, the fault should be eliminated in time;

Start to prepare for the lifting of the hoisting object, and divide the dangerous area of the tower crane construction area. The control unit monitors the position of the construction personnel and the relative position of the dangerous area in real time. Once the construction personnel appear in the dangerous area, the control unit sends an alarm to the alarm unit Send instructions to remind the operator, and the operator can make adjustments in time;

When there are no construction workers in the dangerous area, start to identify the tower crane hook 119, the cable-stayed and inclined-hang monitoring unit recognizes the position of the tower crane hook 119, obtains the cable-stayed and inclined-hanging angle of the tower crane hook 119, and the control unit After the cable-stayed and inclined-hanging angle of the current tower crane hook 119 is compared with the set safety angle, if it is greater than the set safety angle, it is judged that the current tower crane hook 119 has a cable-stayed and inclined hanging situation. Adjust the situation to rule out this dangerous situation;

After eliminating the cable-stayed and inclined-hanging situation, connect the sling to the hoisting object, lift the hoisting object to the set height (this application is 2m above the ground), and the sling starts to adjust the attitude of the hoisting object in the air to ensure that the hoisting object After reaching the set attitude, the operator controls the tower crane to continue lifting after the adjustment is completed;

During the hoisting process, the anti-collision unit of the group tower detects the relative position of the tower crane and the surrounding tower cranes. When the relative position is less than the set safety distance, the control unit sends an instruction to the alarm unit room and prompts the operator to avoid tower cranes. collision problem;

During the hoisting process of the tower crane, the hoisting auxiliary guidance unit obtains the position coordinates of the hoisting object, the target position and the tower body in real time, and sends the above-mentioned coordinates to the control unit, and the control unit sends the coordinate information to the display unit. It shows that the hoisting object is moved to the installation position under the guidance of the coordinates for installation. After the installation accuracy meets the set requirements, the hoisting of the hoisting object is completed.

In some embodiments of the present application, this embodiment optimizes the above-mentioned wind field environment monitoring unit, and the specific wind field environment monitoring unit includes a tower body inclination acquisition module, a wind field parameter acquisition module, an attachment frame stress acquisition module and The boom inclination acquisition module, in which the tower inclination acquisition module is installed on the tower body to collect the inclination angle of the tower body; the wind speed and wind direction acquisition module is used to collect the wind speed and wind direction in the environment where the tower crane is located; the attachment frame stress acquisition module is installed on the tower The body attachment frame is used to collect the stress of the attachment frame; the boom inclination acquisition module is installed on the boom to collect the boom inclination (the boom inclination in this application refers to the angle that the boom deflects along the wind direction).

The wind speed and 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 boom reflect the operating state of the tower crane. Only when the state of the wind field environment and the operating state of the tower crane are in line with the safety Only when the requirements are set, the tower crane can carry out the operation, otherwise as long as a certain item does not meet the requirements, the tower crane cannot carry out the operation and construction. The above operation information can be monitored by installing sensors on the corresponding structures.

In other embodiments of the present application, this embodiment enriches the above-mentioned cable-stayed and inclined-hanging monitoring unit. Specifically, the camera and angle acquisition module of the cable-stayed and inclined-hanging monitoring unit of this embodiment, the camera of this embodiment is The binocular camera installed at the lower end of the lifting trolley is used to collect the image information of the lower hook; the angle acquisition module is used to process the image information, and obtain the angle between the hook sling and the vertical direction as the cable-stayed angle. hanging angle.

Specifically, when the tower crane is hoisting, the high-definition binocular camera on the lifting trolley captures the reflective stickers on the hook of the tower crane in real time, and the shooting interval is 0.5s once, and the image signal is transmitted to the angle acquisition module. The module recognizes the coordinates of the hook reflective sticker through the image recognition intelligent algorithm, and transmits the recognized data to the control unit. There is a fixed distance d between the optical centers of the two cameras. Suppose the coordinate system of the right camera C ₁ is O ₁ X ₁ Y ₁ Z ₁ , the coordinate system of the left camera C ₂ is O ₂ X ₂ Y ₂ Z ₂ , and the focal length is f. The coordinates of the cursor point P are (x ₁ , y ₁ , z ₁ ) under C ₁ , (x ₂ , y ₂ , z ₂ ) in the C ₂ coordinate system, and (u ₁ , v ₁ ), the image point coordinates in the right camera are (u ₂ , v ₂ ).

According to the photographic proportional relationship, the coordinates are processed, and the three-dimensional coordinates of the spatial point P can be obtained as:

Since the camera is installed on the trolley, the relative position of the rope exit point on the trolley and the camera is fixed, at any moment, the rope exit point on the trolley is selected as the origin of the world coordinate system, and the light The center line is the X-axis of the world coordinate system, the optical axis of the camera is the Z-axis of the world coordinate system, and the direction of the tower head pointing to the boom is the positive direction of the X-axis, and the vertical direction of the boom pointing to the ground is the positive direction of the Z-axis Orientation, establish the world coordinate system according to the right-hand principle, assuming that a person stands on the tower head and faces the direction of the boom, the position of the right hand of the person is the right, and the position of the left hand of the person is the left. It can be obtained that the transformation rotation matrix of the two coordinate systems is R, and the translation matrix is T, so the coordinates of point P in the world coordinate system can be further obtained as:

Since the matrices R and T are related to the selection of coordinates and are known quantities, the image coordinates (u ₁ , v ₁ ) and (u ₂ , v ₂ ) are obtained through image recognition, then the angle θ of the cable-stayed crane is:

The control unit compares the calculated cable-stayed angle θ with preset thresholds Θ ₁ and Θ ₂ , wherein Θ ₁ <Θ ₂ , according to the comparison between the cable-stayed angle θ and different preset thresholds, Start different alarm prompts and motion instructions to prevent the angle of the cable-stayed suspension from being too large. Specifically, when θ ≤ Θ ₁ , the display unit will prompt in green text that "the angle of the inclined suspension is normal"; when Θ ₁ < θ < Θ ₂ , the first level alarm will be activated, and the display unit will display in red text The flashing mode prompts "Please note that the angle of the inclined suspension is relatively large"; when θ≥Θ ₂ , the second level alarm will be activated, the control unit will send a switch control signal, and the sound and light alarm will be controlled to give an alarm, and the display unit will be The way of the red text prompts "Please note that the angle of the inclined suspension is too large"; when θ>Θ ₁ , the display unit will give motion instructions, including: when x _w >0, the display prompts "Please increase the variable Amplitude"; when x _w <0, the display prompts "please reduce the amplitude", when y _w > 0, the display prompts "please turn left", when y _w <0, the display prompts "please Rotate to the right "; the specific size of the amplitude is measured by the encoder on the luffing winch, and the size of the revolution is measured by the encoder on the rotary motor (the angle Θ ₁ set in this embodiment is 15 °, and Θ ₂ is 20 °).

During the detection process of the tower crane's cable-stayed and inclined crane, the control unit transmits the alarm information and the angle of the cable-stayed and inclined crane to the cloud through the wireless module for remote monitoring.

In a further embodiment of the present application, this embodiment optimizes the above-mentioned dynamic perception unit of the operation safety area. Specifically, the dynamic perception unit of the operation safety area in the embodiment of this city includes a boom dangerous area acquisition module, a hoisting object danger The area acquisition module, the construction personnel position acquisition module and the safety warning module, the boom dangerous area acquisition module is used to obtain the first dangerous area covered directly under the boom in motion or in a static state in real time; the dangerous area acquisition module of lifting objects is used Obtain the second dangerous area covered directly under the hoisting objects in a moving or static state in real time; the construction personnel position acquisition module is used to obtain the construction personnel's location in real time; the safety warning module is used to receive the construction personnel's location information in real time, and When a person enters the first dangerous area or the second dangerous area, a safety warning signal is issued.

As shown in Figure 2, the tower crane 101 of the present application includes a boom 102 and a hoisting winch 104 installed on the boom 102, a luffing winch 105, a rotary motor 106, and a lifting trolley 103, and the boom 102 is installed on the tower crane. 101 can rotate around the vertical axis (rotation center), that is, the rotary motor 106 on the tower crane 101 drives the boom 102 to rotate around the vertical axis. The arm 102 moves in the length direction to realize amplitude adjustment. Lifting trolley 103 is equipped with suspension rope, and suspension rope is controlled by lifting winch 104, realizes the vertical movement of hoisting object.

In order to realize the identification of the dangerous area of the boom 102 and the hoisting objects 107, the application also includes the acquisition module of the dangerous area of the crane arm, the acquisition module of the dangerous area of the hoisting object, the acquisition module of the construction personnel position and the safety warning module, and the acquisition module of the dangerous area of the crane arm. The module is used to obtain in real time the first dangerous area covered directly under the boom in a moving state or in a static state; Dangerous area: The construction personnel position acquisition module is used to obtain the construction personnel's position in real time. The construction personnel's position acquisition module can be implemented by the construction personnel carrying a position coordinate acquisition device, or by installing an image acquisition device in the tower crane operation area. The identification of construction personnel is realized by obtaining the coordinate information of construction personnel; the safety warning module is used to receive the location information of construction personnel in real time, and send a safety warning signal when construction personnel enter the first dangerous area or the second dangerous area.

The safety warning module is the control module of the entire perception system, which is used to process the data obtained by the crane arm dangerous area acquisition module, hoisting object dangerous area acquisition module, and construction personnel position acquisition module, and judge whether construction personnel have entered the dangerous area. In order to issue warning messages in a timely manner. The safety warning module is a part of the control unit and the alarm unit. Here, for the sake of easy understanding, the safety warning module is assigned to the dynamic perception unit of the operation safety area.

In actual use, during the operation of the tower crane, the boom dangerous area acquisition module will identify the first dangerous area in the current situation, the hoisting objects dangerous area acquisition module will identify the second dangerous area, and the construction personnel position acquisition module will acquire and enter The position coordinates of the construction workers who have arrived at the tower crane operation area, and compare the position coordinates of the construction workers with the position coordinates of the first dangerous area and the second dangerous area. If the construction personnel appear in the first dangerous area or the second dangerous area, Immediately send a warning message to remind, it can be to send a warning message to the tower crane operator, and can also send a warning message to the construction personnel entering the dangerous area at the same time.

Specifically, the boom dangerous area acquisition module includes the boom coverage acquisition module, the boom rotation angle acquisition module and the first dangerous area determination module. The boom coverage acquisition module is based on the length and width of the boom and the set first The safety distance determines the boom coverage; the boom rotation angle acquisition module includes a first encoder installed on the slewing motor for obtaining the boom rotation angle; the first dangerous area determination module is based on the boom coverage and the boom rotation The angle determines the first danger zone.

The length, width and first safety distance of the boom stored in the boom coverage acquisition module of this embodiment are preset, and the length and width of the boom are directly obtained according to the structure of the boom. The first safety distance It is to extend the distance in the horizontal direction in the length and width directions of the boom. The general extension distance is 500mm~1000mm (the distance adjusted along the length direction is d, and the distance adjusted along the width direction is c, as shown in Figure 3 , c and d can be the same or different, and set according to actual needs), the area where the boom is projected vertically onto the ground can be obtained through the length and width of the boom, and the setting of the first safety distance is In order to avoid the safety problems caused by the oblique falling of the parts on the boom, by expanding the coverage area of the boom, the safety hazard caused by the oblique falling is avoided.

The length, width and first safety distance of the boom can be used to obtain the coverage of the boom on the ground. During the use of the tower crane, the boom rotates around the vertical axis. To sense the dynamics, it is necessary to adjust the rotation angle of the boom To confirm, that is to confirm which specific position the current boom is in. In this embodiment, a first encoder 108 is installed 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 . During actual use, the center of rotation of the boom is set as the origin (measured by the total station 115, point O shown in Figure 3, the origin of the tower crane measured by the total station 115 is directly input into the controller, and the hoist The same processing mode as the length and width data of the arm), the straight line passing through the origin along the north-south direction is set as the Y axis, and the east-west straight line passing through the origin is set as the X axis, and the first encoder 108 can obtain the rotary motor The rotation angle of 106, so as to obtain the angle of rotation of the boom, is equivalent to obtaining the angle between the coverage of the boom and the X-axis or Y-axis, so that the XY plane of the coverage of the boom can be obtained (the XY plane is actually the ground ), the combination of boom coverage and location is actually the first dangerous area, such as area A shown in Figure 3.

The lifting object dangerous area acquisition module includes the lifting object position acquisition module, the lifting object coverage acquisition module and the second dangerous area determination module. The lifting object position acquisition module is used to obtain the current position of the lifting object relative to the coordinate origin of the tower crane; the lifting object coverage The range acquisition module is used to determine the coverage of the hoisting object according to the projected area of the hoisting object on the ground; the second dangerous area determination module determines the second dangerous area according to the coverage area of the hoisting object, the location of the hoisting object, and the set second safety distance, such as Area B shown in Figure 3.

In fact, it is the same way to determine the first dangerous area corresponding to the boom and the second dangerous area corresponding to the hoisting object, that is, to determine the coverage of the boom or the hoisting object, and then determine the position of the boom or the hoisting object, combined Specific hazard areas can be obtained from coverage and location. The difference is that the length and width of the boom are fixed, and the structure of the boom remains unchanged, 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 this embodiment, a dedicated hoisting object coverage acquiring module is set to acquire the hoisting object coverage.

In a preferred embodiment of the present application, this embodiment optimizes the above-mentioned hoisting object coverage acquisition module. The specific hoisting object coverage acquisition module includes a security camera 111, a hoisting object height acquisition module, and a coverage extraction module. The safety camera 111 is installed on the lifting trolley 103, and is used to obtain the image information of the hoisting objects below; The distance between the trolleys 103 is used as the height of the hoisting object 107; the coverage extraction module determines the projected area of the hoisting object 107 on the ground according to the image information and the height of the hoisting object to obtain the coverage of the hoisting object.

The safety camera 111 is installed on the lifting trolley 103 through a bolt structure, and is used to obtain the image information directly below, that is, to obtain the image information of the hoisting object directly below, and the obtained image information is converted into a grayscale image, Gaussian filter, and edge detection , dilation and corrosion, finding the boundary and measuring the width, the profile, length and width of the hoisting object can be obtained. Image processing needs to be determined in combination with the distance between the hoisting object and the hoisting trolley. During image processing, the outline, length, and width of the hoisting object can be obtained through the relationship between the number of pixels in the image information of the hoisting object and the distance (ie After processing the image information, the distance between the outline and the edge of the image can be obtained, and then according to the distance between the hoisting object and the lifting trolley, the unit length corresponding to each pixel point can be obtained. In this way, it can be obtained The length, width and other information of the hoisting object). Then carry out the expansion of the second safety distance on the contour of the hoisting object (as shown in Figure 3, expand the distance e along the contour of the hoisting object, and the value of e is 500mm-1000mm), that is, extend the hoisting object along the horizontal direction The outline of the second safety distance is expanded, and the formed area is the coverage of the hoisting object.

In this embodiment, the distance between the hoisting object and the lifting trolley is obtained through the third encoder 110, as shown in Figure 2, the third encoder 110 is installed on the hoisting winch 104, and the third encoder 110 is actually a length sensor , record the protruding length of the sling on the hoisting winch 103, the distance between the hoisting object 107 and the hoisting trolley 103 can be obtained, the height of the boom 102 and the ground is determined, and the distance between the hoisting object 107 and the hoisting trolley 103 can be obtained, Then the height of the hoisting object 107 from the ground can be obtained.

The hoisting object position acquisition module includes a hoisting object luffing distance determination module, and the hoisting object luffing distance determination module includes a second encoder 109 installed on the luffing winch 105 for obtaining the luffing distance of the hoisting winch 105 as the hoisting object 107 is the horizontal distance relative to the origin of the coordinates of the tower crane 101.

The second encoder 109 is installed on the luffing winch 105, and is a length sensor, which records the luffing length of the hoisting winch 103, and in fact records the extension length of the luffing winch 105 traction rope.

After the coverage of the hoisting object is determined, the luffing distance of the lifting trolley 103 is also determined, and the rotation angle of the boom 102 is determined according to the first encoder 108. The rotation angle and the luffing distance can determine the specific position of the hoisting object in the tower crane operation area. According to the specific position of the hoisting object in the tower crane operation area and the coverage of the hoisting object, the second dangerous area corresponding to the hoisting object can be determined, such as area B shown in Figure 3.

The construction personnel location acquisition module includes a positioning module, which is carried on the construction personnel, including a GPS positioning module and a wireless signal generation module, which are used to send construction personnel location signals to the safety warning module in real time. The positioning module of this embodiment is a device carried on the body of the construction worker, and can be installed on the safety helmet 116 (as shown in FIG. 2 ) of the construction worker, or on the overalls, as long as the requirements can be met.

In the control room 112 is the control center of the whole dynamic perception system, including a controller (a part of the control unit), a computer, a wireless module 113 and an audible and visual alarm 114 (a part of the alarm unit) in the control room 112, the controller and the above-mentioned coding The wireless module 113 is a LORA module, and the controller 112 is an EPEC controller.

The dynamic perception method of the tower crane operation safety zone in this embodiment is carried out according to the following steps:

A1. Obtain the rotation angle of the boom in real time, and determine the first dangerous area projected by the boom on the ground;

A2. Real-time acquisition of the coverage of the hoisting object, the height of the hoisting object, the distance from the origin of the coordinates of the tower crane, and the rotation angle of the boom, and determine the second dangerous area projected on the ground by the hoisting object;

A3. Obtain the position coordinates of the construction personnel relative to the origin of the coordinates of the tower crane in real time, judge whether the construction personnel are in the first dangerous area or the second dangerous area, and issue a warning when the construction personnel are in the first dangerous area or the second dangerous area Signal.

In some embodiments of the present application, this embodiment optimizes the above-mentioned group tower anti-collision unit. The specific group tower anti-collision unit includes a tower crane relative position acquisition module and a tower crane position deviation acquisition module. The tower crane relative position The acquisition module is used to obtain the relative positional relationship between the tower crane and the surrounding tower cranes; the tower crane position deviation acquisition module is used to obtain the position deviation between the tower crane and the surrounding tower cranes.

The anti-collision unit of the group tower includes six laser radars and four anti-collision cameras, one laser radar and one anti-collision camera are installed at the four corners of the connection between the boom and the tower body, and one laser is installed at the head and tail of the boom Radar, to obtain the relative position relationship between the current tower crane and the surrounding tower cranes, the lidar and the anti-collision camera are connected with the control unit, and output the position deviation between the current tower crane and the surrounding tower cranes, which is used to prevent the current tower crane from touching other construction tower cranes , when the lidar detects that the distance between the current tower crane and other construction tower cranes is less than the safety distance threshold, the control unit sends an alarm command to the alarm unit, and the alarm unit sends out an alarm prompt.

In some other embodiments of the present application, this embodiment optimizes the above-mentioned hoisting auxiliary guidance unit. The specific hoisting auxiliary guidance unit includes a hoisting object position acquisition module, a target position acquisition module and a tower body position acquisition module. The position collection module is used to collect the position coordinate information of the current lifting object; the target position collection module is used to collect the target position coordinate information; the tower body position collection module is used to collect the tower body position coordinate information. In fact, there are many ways to obtain the position coordinate information of the hoisting object, the target position coordinate information and the tower body position coordinate information. This embodiment adopts two modes, one is to measure the above coordinates by Beidou or GPS, the other is to The above coordinates are obtained by installing UWB on the hoisting object, installation location and tower body.

The hoisting auxiliary guidance unit of this embodiment includes two stages, one is rough positioning before the hoisting object reaches the set height, and the other is fine positioning after the hoisting object reaches the set height. The set height of this embodiment refers to the height of the hoisting object. Arrive at the 5m above the installation location, the rough positioning can use Beidou or GPS to obtain the position coordinate information of the hoisting object, the target position coordinate information and the tower body position coordinate information, and the fine positioning can obtain the hoisting object position coordinate information through UWB, Target position coordinate information and tower body position coordinate information. Coarse positioning takes into account the speed of hoisting and improves the efficiency of hoisting object transfer. When implementing fine positioning, the lifting object is very close to the installation position, and the installation accuracy needs to be considered.

After the hoisting object position acquisition module, target position acquisition module and tower body position acquisition module acquire the corresponding coordinate information, the relevant coordinate information is transmitted to the control unit through the wireless module, and the control unit performs data processing on the coordinate information and feeds it back to the display The unit is presented to the operator, which is convenient for the operator to perform hoisting operations.

In a further embodiment of the present application, the above-mentioned sling is optimized in this embodiment. Specifically, the sling in this embodiment is an intelligent sling, which is used to adjust the attitude of the lifting object in the air, as shown in Figures 4-5 As shown, the hanger 201 includes a first beam 202, a frame body 203, a second beam 204, an inclination adjustment structure, a hook 206 and a hook adjustment structure, the first beam 202 is connected with the tower crane hook 119, and the frame body 203 passes through The vertical rotation shaft 205 is hingedly connected to the first beam 202 rotatable around the vertical axis, and the second beam 202 is connected to the frame body 203 . The inclination adjusting structure is arranged on the frame body 203 and is used for adjusting the horizontal inclination of the hoisted object. A plurality of hooks 206 are arranged on the second beam 204 for connecting the hanging objects. In this embodiment, four hooks 206 are arranged on the second beam 204, and the four hooks 206 include two components placed on the second beam. 204 at both ends, each group includes two hooks 206 that are located on both sides of the end of the second beam 204 . The hook adjusting structure is arranged between the hook 206 and the second beam 204 for adjusting the position of the hook 206 .

As shown in Figures 4-5, the inclination adjustment structure of this embodiment includes a first oil cylinder 207 and a second oil cylinder 208, the shell of the first oil cylinder 207 is hingedly connected to the rotating shaft 205, and the push end is hingedly connected to the frame body 203, For driving the frame body 203 to rotate around the longitudinal axis, the frame body 203 is rotatably hingedly connected to the lower end of the rotating shaft 205 through a longitudinal first pin shaft 209, and the first oil cylinder 207 pushes the frame body 203 to rotate, in fact, it pushes the frame body 203 rotates around the first pin shaft 209.

The casing of the second oil cylinder 210 is hingedly connected to the frame body 203 , and the pushing end is hingedly connected to the second beam 204 for driving the second beam 204 to rotate around a transverse axis. The second crossbeam 204 is rotatably hingedly connected to the frame body 203 through the second horizontal pin shaft 210 , and the second oil cylinder 210 drives the second crossbeam 204 to rotate, which actually pushes the second crossbeam 204 to rotate around the second pin shaft 210 . Both ends of the frame body 203 are connected to the second beam 204 through two second pin shafts 210 .

In addition, a rotating structure is installed on the hanger 201. As shown in Figures 4-5, the rotating structure includes a gear 211 and a rotating motor 212. 212 transmission connection. When it is necessary to adjust the rotation of the vertical axis of the hoisting object, drive the rotating motor 212, the rotating motor 212 drives the gear 211 to rotate, the gear 211 drives the rotating shaft 205 to rotate, and the frame body 203 installed on the rotating shaft 205 can follow the rotating shaft 205 rotation to realize the adjustment of the vertical rotation angle of the hoisting object.

The hook adjustment structure of this embodiment includes a mounting base 213 and a third oil cylinder 214 , the mounting base 213 is slidably connected to the slide groove on the second beam 204 , and the upper end of the hook 206 is fixedly connected to the mounting base 213 through the slide groove. The casing of the third oil cylinder 214 is fixed on the second beam 204, and the pushing end is connected to the mounting base 213 for driving the mounting base 213 to move along the chute. The chute is arranged longitudinally, and the third oil cylinder 214 can adjust the hook 206 in the longitudinal direction.

In this embodiment, a gyroscope, a wireless transmission module, and a controller are installed on the second crossbeam 204. During use, the operator can send a control command to the controller through a handheld control device, adjust the position of the hook 206, and make the hook 206 and the hoisting One-to-one correspondence of the lifting points on the object, and then the hook 206 is connected with the object to be lifted. After the connection is completed, lift the hoisting object to the set adjustment height, obtain the X-direction inclination angle and Y-direction inclination angle of the sling through the gyroscope on the sling, and use the first oil cylinder 207 and the second oil cylinder 208 on the sling to adjust the height of the hoisting object. Adjust the X-direction inclination and Y-direction inclination, and use the rotating motor 212 on the spreader to adjust the vertical rotation angle of the hoisting object until the air attitude of the hoisting object meets the set requirements.

The construction method of the ultra-large intelligent tower crane of the present application is carried out according to the following steps, as shown in Figure 6:

S1. First connect the 10KV high-voltage wires to the control room of the tower crane to avoid voltage loss, and monitor the wind field environment of the tower crane, including the wind speed and direction from the bottom of the tower to the top of the tower, the stress of the attachment frame of the tower crane, and the inclination angle of the tower body and the inclination angle of the boom, the collected information is transmitted to the cloud, and the operator holds the control terminal device to judge the collected information, whether the current environment and the status of the tower crane meet the construction requirements, and if it does not meet the safety construction requirements, that is, the detection data exceeds the predetermined Safety threshold, alarm prompt and buzzer alarm, and lock the tower crane, prohibit operation of the tower crane, and allow operators to enter the tower crane control room when the wind field environment meets the safety setting requirements;

S2. The operator is allowed to climb from the bottom of the tower crane to the tower crane control room, specifically enter the control room through the tower body ladder, operate the tower crane, and perform fault detection on the tower crane. If there is a fault, a corresponding alarm will be issued until the tower crane When the tower crane is in normal operation, operate the tower crane under the condition that the tower crane is not faulty, and carry out the hoisting operation of the tower crane, including lowering the hook of the tower crane, adjusting the hook of the spreader, hooking the hook and other operations, and inputting the target position of the hoisting object to the control unit , the target posture of heavy objects, etc., when it is detected that there is a hoisting object on the hook, the dynamic perception of safe operation in the tower crane operation area begins, including the position of the tower body of the tower crane, the rotation, luffing, and lifting of the tower crane The height and other information are combined with the location of the construction personnel around the tower crane to judge whether there are people breaking into the construction area of the tower crane. If so, the sound and light alarm will roar, and the alarm unit will give an alarm prompt;

S3. Identify the tower crane hook, and the control unit compares the collected cable-stayed angle with the set threshold to determine whether there is a cable-stayed angle in the tower crane hook. If there is a cable-stayed angle If the set threshold is exceeded, the alarm unit will send out an alarm prompt. If the angle of the cable-stayed and inclined suspension is less than the set threshold, it proves that there is no cable-stayed and inclined suspension at present, and the hoisting object is lifted to the set height, that is, 2m above the ground;

S4. Adjust the attitude of the hoisting object, adjust the attitude of the hoisting object through the first oil cylinder, the second oil cylinder and the rotating motor, until the attitude of the hoisting object is consistent with the set attitude in the air, and continue to lift after the attitude adjustment is completed. The relative position of the tower crane and the surrounding tower cranes is monitored in real time. When the relative position of the tower crane boom and the surrounding tower cranes is less than the set distance, an audible and visual alarm is issued to avoid collisions;

S5. Carry out rough positioning guidance, obtain the position coordinates of the lifting object, the target position coordinates and the tower body position coordinates through Beidou or GPS, and use the path planning guidance algorithm to automatically control the tower crane to perform rotation, luffing and lifting movements until hoisting When the object reaches 5m above the target position, fine positioning guidance is started. The position coordinates of the hoisting object, the target position and the tower body are obtained through the UWB installed on the hoisting object, the target position and the tower body, and the path planning guidance algorithm is used to automatically control The tower crane performs slewing, luffing and lifting movements until the current position of the hoisting object coincides with the target position or reaches the allowable error range, and the hoisting construction of the hoisting object is completed.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

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.

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