CN115448185B - Super large intelligent tower crane and construction method - Google Patents

Super large intelligent tower crane and construction method Download PDF

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Publication number
CN115448185B
CN115448185B CN202211041418.8A CN202211041418A CN115448185B CN 115448185 B CN115448185 B CN 115448185B CN 202211041418 A CN202211041418 A CN 202211041418A CN 115448185 B CN115448185 B CN 115448185B
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China
Prior art keywords
tower crane
tower
lifting
crane
acquiring
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CN202211041418.8A
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CN115448185A (en
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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Priority to CN202211041418.8A priority Critical patent/CN115448185B/en
Publication of CN115448185A publication Critical patent/CN115448185A/en
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Classifications

    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

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 system comprises a wind field environment monitoring unit, a diagonal crane monitoring unit, a dynamic sensing unit, a group tower anti-collision unit, a hoisting auxiliary guiding unit, a control unit and a control unit, wherein the wind field environment monitoring unit is used for acquiring wind field information and tower crane state information under a working environment of a tower crane, the diagonal crane monitoring unit is used for identifying the position of a tower crane lifting hook so as to acquire diagonal crane angle of the tower crane lifting hook, the dynamic sensing unit of an operation safety area is used for acquiring relative positions of a suspension arm, a lifting object and constructors in an operation area of the tower crane, the group tower anti-collision unit is used for acquiring position deviation between a current tower crane and surrounding tower cranes, the hoisting auxiliary guiding unit is used for acquiring position coordinates of the lifting object, target position coordinates and tower body position coordinates, and the lifting appliance is connected to the tower crane lifting hook, and the control unit is used for receiving parameter information acquired by the units and performing data processing. The tower crane disclosed by the invention has multiple functions, can greatly improve the safety of 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 a crane equipment which is most commonly used on a building site, is mainly used for transporting and transferring building construction materials and large-scale construction equipment, has the characteristics of convenient installation and disassembly, convenient construction, labor saving and the like, and is an essential equipment in building construction. In the past, improving the lifting efficiency of tower crane when promoting tower crane security is the problem that needs to solve. However, the tower crane used in the current building has a single function, and the main functions of the tower crane are to be enhanced in the aspect of safety monitoring of the tower crane, safety of personnel around the tower crane and auxiliary lifting of engineering hoisting. For example, for super high-rise buildings (more than 300 m), the tower crane has more attached frames, the attached frames are maintained and detached often with the help of other lifting equipment, great inconvenience is brought to construction, and along with the increase of the construction height of the tower crane, the safety problems such as tower body inclination, wind power, strength of the attached frames and the like are particularly remarkable, for example, when a member and a lifting object are lifted or fall down, people cannot stay or walk below the lifting object, but due to the fact that the construction area of the tower crane is complex, the lifting object size of the tower crane is different, a visual blind area exists in the process of operating the tower crane by a tower crane driver, on-site command scheduling personnel cannot work in place, people stand below the tower crane or pass by, and accidents of falling and hurting people of the tower crane occur.
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 that the ultra-large intelligent tower crane comprises a flat head tower crane, wherein the flat head tower crane comprises a suspension arm, a tower body below the suspension arm and a tower head above the suspension arm, a control room, a hoisting winch, a hoisting trolley, an amplitude winch and a rotary motor are arranged on the suspension arm,
Also included is a method of manufacturing a semiconductor device,
The wind field environment monitoring unit is used for collecting wind field information and tower crane state information under the working environment of the tower crane;
the cable-stayed oblique hanging monitoring unit is used for identifying the position of the tower crane lifting hook so as to acquire the cable-stayed oblique hanging angle of the tower crane lifting hook;
The operation safety area dynamic sensing unit is used for acquiring the relative positions of the suspension arm, the hoisted object and constructors in the tower crane operation area;
The tower group anti-collision unit is used for acquiring the position deviation of the current tower crane and surrounding tower cranes;
The hoisting auxiliary guiding unit is used for collecting position coordinates of a hoisted object, target position coordinates and tower body position coordinates;
the lifting appliance is connected to the lifting hook of the tower crane and is used for adjusting the air posture of the lifting object;
The control unit receives the parameter information collected by the wind field environment monitoring unit, the inclined crane monitoring unit, the operation safety area dynamic sensing unit, the group tower anti-collision unit, the hoisting auxiliary guiding unit and the hoisting tool, processes the data, and displays key parameters of tower crane operation and simulation states of the tower crane operation to operators through the display unit.
The invention provides an ultra-large intelligent tower crane, which comprises a wind field environment monitoring unit,
The tower body inclination angle acquisition module is arranged on the tower body and 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 attaching frame stress acquisition module is arranged on the tower body attaching frame and is used for acquiring attaching frame stress of the tower body attaching frame;
and the suspension arm inclination angle acquisition module is arranged on the suspension arm and used for acquiring the suspension arm inclination angle.
The invention provides an ultra-large intelligent tower crane, which comprises a cable-stayed inclined crane monitoring unit,
The binocular camera is arranged on the trolley and used for collecting image information of the lifting hook of the lower tower crane;
the angle acquisition module is used for processing the image information and acquiring a vertical included angle between the tower crane lifting hook and the lifting trolley rope outlet point as a diagonal lifting angle.
The invention provides an ultra-large intelligent tower crane, 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 the suspension arm in a moving state or a static state in real time;
The lifting object dangerous area acquisition module is used for acquiring a second dangerous area covered under the lifting object in a moving state or a static state in real time;
the constructor position acquisition module is used for acquiring the constructor position 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.
The invention provides an ultra-large intelligent tower crane, which comprises a group tower anti-collision unit,
The tower crane relative position acquisition module comprises cameras arranged at four corners of the joint of the suspension arm and the tower body and is used for acquiring the relative position relation between the tower crane and surrounding tower cranes;
The tower crane position deviation acquisition module comprises laser radars arranged at the four corners of the joint of the suspension arm and the tower body and used for acquiring the position deviation of the tower crane and surrounding tower cranes.
The invention provides an ultra-large intelligent tower crane, wherein the auxiliary hoisting guiding unit comprises,
The lifting object position acquisition module is used for acquiring the position coordinate information of the current lifting object;
the target position acquisition module is used for acquiring target position coordinate information;
the tower body position acquisition module is used for acquiring tower body position coordinate information.
According to the ultra-large intelligent tower crane provided by the invention, the lifting appliance comprises,
The first cross beam is connected with the 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 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 hoisted object;
the lifting hook adjusting structure is arranged between the lifting hook and the second cross beam and 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;
the shell of the second oil cylinder is hinged to the frame body, and the pushing end is hinged to the second cross beam and used for driving the second cross 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 gear fixed to the rotation shaft;
and the rotating motor is arranged on the first cross beam and is connected with the gear transmission.
The invention provides an ultra-large intelligent tower crane, the lifting hook adjusting structure comprises,
The mounting seat is connected to the sliding groove on the second cross beam in a sliding manner, and the upper end of the lifting hook penetrates through the sliding groove and is 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 with 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 comprises the following steps:
s1, connecting a high-voltage cable into a tower crane, monitoring the wind field environment of the tower crane, and allowing an operator to enter a control room of the tower crane when the wind field environment meets the safety setting requirement;
S2, performing fault detection on the tower crane, operating the tower crane under the condition that the tower crane has no fault, operating a tower crane lifting hook to drop a hanging object, and performing safe operation dynamic sensing on an operation area of the tower crane to ensure that no operator is in the working range of the hanging arm and the hanging object;
s3, identifying a tower crane lifting hook, judging whether the tower crane lifting hook has a diagonal inclined lifting condition, and lifting a lifting object to a set height when the tower crane lifting hook is in a safe angle range;
S4, adjusting the posture of the hoisted object, and continuously hoisting after the completion of the posture adjustment, and monitoring the relative positions of the tower crane and surrounding tower cranes in real time to avoid collision;
s5, acquiring position coordinates of the hoisted object, target position coordinates and tower body position coordinates, guiding hoisting of the tower crane, and completing hoisting of the hoisted object through amplitude variation of the tower crane, rotation of the tower crane and hoisting of the tower crane.
According to the construction method of the ultra-large intelligent tower crane, in the step S2, the method for carrying out safe operation dynamic sensing on the operation area of the tower crane comprises the following steps:
a1, acquiring the rotation angle of the suspension arm in real time, and determining a first dangerous area projected on the ground by the suspension arm;
A2, acquiring a coverage area of the hoisted object, the height of the hoisted object, a distance relative to a coordinate origin of the tower crane and a rotation angle of the suspension arm in real time, and determining a second dangerous area of the hoisted object projected on the ground;
a3, acquiring position coordinates of constructors relative to the coordinate origin of the tower crane in real time, judging whether the constructors are in the first dangerous area or the second dangerous area, and sending out warning signals when the constructors are in the first dangerous area or the second dangerous area.
According to the construction method of the ultra-large intelligent tower crane, in the step A1, the method for determining the first dangerous area of the suspension arm projected on the ground comprises the steps of installing a first encoder on a rotary motor, recording the rotation angle of the suspension arm, determining the coverage area of the suspension arm according to the length and the width of the suspension arm and the set first safety distance, and determining the first dangerous area according to the rotation angle of the suspension arm and the coverage area of the suspension arm.
The construction method of the ultra-large intelligent tower crane comprises the steps of installing a camera on a trolley, obtaining image information of a hoisted object right below the trolley through the camera, installing a third encoder on a hoisting winch, recording the extending length of a steel wire rope of the hoisting winch by the third encoder to obtain the height of the hoisted object relative to the 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 of the hoisted object.
According to the construction method of the ultra-large intelligent tower crane, in the step A2, a second encoder is arranged on a luffing winch, the second encoder records the luffing distance of the luffing winch to obtain the horizontal distance of the hoisting relative to the coordinate origin of the tower crane, the position of the hoisting relative to the coordinate origin of the tower crane can be obtained based on the rotation angle of the boom and the horizontal distance of the hoisting relative to the coordinate origin of the tower crane, and a second dangerous area is determined based on the position of the hoisting relative to the coordinate origin of the tower crane, the coverage area of a hoisting object and the set second safe distance.
According to the construction method of the ultra-large intelligent tower crane, in the step S3, the method for judging whether the condition of oblique-pulling inclined hanging exists on the tower crane lifting hook comprises the following steps:
b1, shooting image information of a reflective patch on a lifting hook of a tower crane below through a binocular camera on a trolley;
B2, carrying out data processing on the image information to obtain coordinates of the light reflecting paste, and calculating a diagonal oblique hanging angle of a tower crane hanging hook based on coordinates of a rope outlet point on the trolley and the coordinates of the light reflecting paste;
And B3, comparing the inclined hanging angle with a set angle threshold, if the inclined hanging angle is larger than the set angle threshold, considering that the inclined hanging condition of the tower crane lifting hook occurs, otherwise, considering that the inclined hanging condition does not occur.
According to the construction method of the ultra-large intelligent tower crane, in the step S4, the method for adjusting the posture of the hoisted object comprises the following steps:
C1, acquiring an X-direction dip angle and a Y-direction dip angle of a lifting appliance through a gyroscope on the lifting appliance;
C2, adjusting the X-direction dip angle and the Y-direction dip angle of the hoisted object by utilizing a dip angle adjusting structure on the hoisting tool;
and C3, adjusting the vertical rotation angle of the hoisted object through a rotation motor on the lifting appliance until the air posture of the hoisted object reaches the set requirement.
According to the construction method of the ultra-large intelligent tower crane, in the step S5, the method for guiding the crane to hoist comprises the following steps:
d1, acquiring a position coordinate, a target position coordinate and a tower body position coordinate of a hoisted object by using Beidou or GPS before the hoisted object is hoisted to a fine positioning height, and performing coarse positioning auxiliary guidance on the hoisted object;
and D2, in the process that the hoisted object is hoisted to the installation position from the fine positioning height, acquiring the position coordinates, the target position coordinates and the tower body position coordinates of the hoisted object by utilizing UWB electronic tags on the hoisted object, the tower body and the suspension arm, and carrying out fine positioning auxiliary guidance on hoisting of the hoisted object.
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, detects the wind field environment of the working area of the tower crane in real time, monitors the working state of the lifting hook of the tower crane in real time through the inclined crane monitoring unit, avoids inclined crane pulling, detects constructors in the working area of the tower crane in real time through the dynamic sensing unit of the working safety area, avoids the constructors from entering below the lifting arm and the lifting object, monitors the relative positions of the tower crane and the surrounding tower crane in real time through the group tower anti-collision unit, avoids collision between the tower crane and the surrounding tower crane, guides the installation of the lifting object through the lifting auxiliary guide unit, monitors the lifting object, the installation position and the coordinates of the tower crane in real time, monitors the air posture of the lifting object through the lifting appliance, and adjusts the air posture of the lifting object, ensures the stability of the lifting object in the lifting process, and is also provided with the alarm unit, and the alarm unit can send alarm prompt when the state parameters acquired by the units exceed the set safety parameters, further improves the safety of the whole tower crane operation, fully considers the conditions of the tower crane, and the lifting operation safety is greatly improved, and the full life cycle of the tower crane can be completely monitored;
2. the wind field environment monitoring unit comprises a wind field parameter acquisition module, an attachment frame stress acquisition module and a boom inclination angle acquisition module, wherein wind speed, wind direction, stress of the attachment frame and boom inclination angle are respectively acquired, the wind speed and wind direction are acquired environment wind field information, whether the current wind field environment meets the safety operation requirement is judged, the stress of the attachment frame and the boom inclination angle are the operation states of a tower crane are judged, and whether the tower crane meets the safety operation requirement is judged;
3. The inclined-pulling inclined-hanging monitoring unit is used for monitoring the inclined-pulling inclined hanging angle of the tower crane lifting hook, can judge whether the inclined-pulling inclined hanging condition occurs to the tower crane lifting hook, can avoid the inclined-pulling inclined hanging condition during the lifting process, and greatly improves the lifting safety and stability;
4. the dynamic sensing unit of the operation safety zone can acquire the dangerous area of the construction operation area of the tower crane in real time, mainly the area covered by the suspension arm and the hoisting object, can judge whether constructors enter the dangerous area, ensures the safety of the constructors, and improves the safety management of the operation area of the tower crane;
5. The tower crane group anti-collision unit can monitor the relative position relation between the tower crane and surrounding tower cranes in real time, avoid collision between the tower crane and the surrounding tower cranes in the hoisting process, coordinate the tower crane group, greatly improve the safety of the tower crane in the operation process, and is particularly suitable for occasions where a plurality of tower cranes are constructed;
6. The auxiliary hoisting guiding unit is used for accurately guiding the hoisted object, ensures that the hoisted object can be accurately and stably moved to the installation position, not only can greatly improve the installation efficiency of the hoisted object, but also can improve the moving safety of the hoisted object;
7. The lifting appliance disclosed by the invention has a simple structure, can be used for adjusting the inclination angle of a lifting object, and can be used for adjusting the position of the lifting hook through the lifting hook adjusting structure, so that the lifting hook can be used for adaptively adjusting the lifting point change of the lifting object, and the lifting appliance is simple to operate and convenient to adjust;
8. the inclination angle adjusting device is simple in structure, the horizontal inclination angle of the 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 of the invention also adjusts the vertical rotation angle of the lifting object around the vertical through the combined structure of the rotating motor and the gear, thereby being convenient for adjusting the air posture of the lifting object and being convenient for installing the lifting object;
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 lifting objects and lifting 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 faults, safe operation dynamic perception, tower crane lifting hooks, lifting object control postures, 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 orderly;
12. The method comprises the steps of obtaining a first dangerous area based on the length and the width of the suspension arm, obtaining the coverage area of the suspension arm projected on the ground by the suspension arm according to the length and the width of the suspension arm and the first set distance, and determining the specific position of the suspension arm coverage area 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, the whole determination method is extremely simple, the coverage area of the suspension arm can be accurately obtained in real time, and the warning to constructors is convenient;
13. The second dangerous area is obtained based on the coverage area of the hoisted object, then the position of the hoisted object is obtained, the position 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 the warning of constructors entering the operation area of the tower crane is facilitated;
14. The method for acquiring the position of the hoisted object is extremely simple, the projection position of the hoisted object on the ground of the operation area of the tower crane can be obtained by acquiring the rotation angle of the boom and the amplitude changing distance of the trolley, the position of the hoisted object can be very accurate, and the position of the hoisted object can be monitored in real time so as to be convenient for timely warning constructors entering a dangerous area;
15. The method for judging whether the inclined oblique hanging condition occurs is extremely simple, the binocular camera can shoot the image information of the reflective patch on the tower crane lifting hook, the coordinates of the reflective patch 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 trolley are relatively easy to obtain, the inclined oblique hanging angle can be easily obtained based on the two coordinates, and the inclined oblique hanging angle can be obtained to judge whether the inclined oblique hanging occurs on the current tower crane lifting hook, so that the whole method is extremely simple;
16. The lifting appliance has a simple adjustment mode for the air posture of the lifting object, the gyroscope on the lifting appliance acquires the horizontal inclination angle of the lifting appliance, the lifting appliance is adjusted based on the acquired horizontal inclination angle, the lifting appliance and the lifting object are ensured to be in a horizontal state, the adjustment of the rotation angle can be matched with the adjustment of the horizontal inclination angle for use, and the adjustment and the installation are convenient;
17. The invention can greatly improve the lifting and installing efficiency of the lifting object for the tower crane, and the guiding of the invention is divided into two guiding modes, namely, the coarse positioning auxiliary guiding before reaching the fine positioning height, the guiding mode has efficiency and safety, and the second guiding mode is the fine positioning auxiliary guiding after reaching the fine positioning height, and the accuracy degree is high, the installation alignment is accurate, and the safety is high.
The tower crane disclosed by the invention has multiple functions, can greatly improve the safety of operation and construction of the tower crane, has extremely high safety operation efficiency, and has extremely high popularization value.
Drawings
FIG. 1 is a schematic diagram of the structure of the ultra-large intelligent tower crane of the invention;
FIG. 2 is a schematic diagram of the arrangement structure of the dynamic sensing unit in the operation safety area;
FIG. 3 is a schematic view of the first and second hazardous areas of the present invention;
FIG. 4 is a side view of the spreader construction of the present invention;
FIG. 5 is a front view of the spreader construction of the present invention;
FIG. 6 is a flow chart of the construction method of the present invention;
The device comprises a 101-tower crane, a 102-boom, a 103-trolley, a 104-hoisting winch, a 105-luffing winch, a 106-rotary motor, a 107-hoisted object, a 108-first encoder, a 109-second encoder, a 110-third encoder, a 111-safety camera, a 112-control room, a 113-wireless module, a 114-audible and visual alarm, a 115-total station, a 116-safety helmet, a 117-boom crane, a 118-attaching frame and a 119-tower crane lifting hook;
201-lifting appliance, 202-first cross beam, 203-frame body, 204-second cross beam, 205-rotating shaft, 206-lifting hook, 207-first oil cylinder, 208-second oil cylinder, 209-first pin shaft, 210-second pin shaft, 211-gear, 212-rotating motor, 213-mounting seat and 214-third oil cylinder.
Detailed Description
Embodiments of the present invention are described in detail below, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
The invention will now be described in further detail with reference to the drawings and to specific examples.
The application relates to an ultra-large intelligent tower crane, the main body part of the tower crane is the same as the existing tower crane, as shown in figure 1, the tower crane comprises a flat-head tower crane 101 and a movable arm crane 117, the flat-head tower crane 101 comprises a tower body, a tower head and a suspension arm 102, the tower body is positioned below the suspension arm 102, the tower head is positioned above the suspension arm 102, the movable arm crane 117 is arranged on the tower head, the movable arm crane 117 can rotate around the tower head through a slewing mechanism so as to adjust the direction when lifting heavy objects, the movable arm crane 117 and the flat-head tower crane 101 do not work simultaneously, and the movable arm crane 117 is mainly used for overhauling and mounting and dismounting an attachment frame 118.
The crane boom 102 of the flat-head crane 101 is provided with a control room 112, a crane winch 104, a crane trolley 103, an amplitude winch 105 and a rotary motor 106, a controller, a computer, a wireless module and an audible and visual alarm are arranged in the control room 112, the wireless module is connected with the controller through an Ethernet, the crane winch 104, the crane trolley 103, the amplitude winch 104 and the rotary motor 106 are all arranged on the crane boom 102 of the crane and are electrically connected with the controller for controlling the movement of the crane, and encoders are respectively arranged on the rotating shafts of the crane winch 104, the amplitude winch 105 and the rotary motor 106 for monitoring the movement condition of the crane and are electrically connected with the control room controller. The control room controller is electrically connected with the computer and is used for intensively displaying the safety condition of the tower crane to be monitored, and when abnormal conditions occur, an instruction is sent out to enable the audible and visual alarm to alarm.
The application is characterized in that a tower crane is provided with a wind field environment monitoring unit, a diagonal-draw inclined crane monitoring unit, an operation safety area 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 collecting wind field information and tower crane state information under the working environment of the tower crane, the diagonal-draw inclined crane monitoring unit is used for identifying the position of a tower crane lifting hook so as to obtain the diagonal-draw inclined crane angle of the tower crane lifting hook, the operation safety area dynamic sensing unit is used for obtaining the relative positions of a lifting arm, a lifting object and constructors in the tower crane operation area, the group tower anti-collision unit is used for obtaining the position deviation of the current tower crane and surrounding tower crane, the hoisting auxiliary guiding unit is used for collecting the position coordinates of the lifting object, the target position coordinates and the position coordinates of the tower body, the lifting appliance is connected to the tower crane lifting hook and used for adjusting the air posture of the lifting object, and the control unit is used for receiving the wind field environment monitoring unit, the diagonal-draw inclined crane monitoring unit, the operation safety area dynamic sensing unit, the group tower anti-collision unit and the parameter information collected by the hoisting auxiliary guiding unit and the lifting appliance, processing the data, and displaying key parameters of the tower crane operation and the simulated state to operators through a display unit.
In practice, the control unit of the application is integrated on a controller of the control room, a display unit is arranged in the control room and used for presenting control content to operators, the control unit of the application collects information of the units (the collected information is sent to the control unit through a wireless module), the control unit carries out data processing on the collected information, firstly, the collected information is compared with a set safety threshold value to judge whether the safety setting is exceeded, an instruction is sent to an alarm unit when the safety setting is exceeded, and the alarm unit sends an alarm prompt, secondly, the collected information is sent to the display unit after being processed, the display unit displays the processed information to the operators, thus being convenient for the operators to carry out corresponding operation, and the collected information can be processed in data, and the simulation state information of the operation of the tower crane is transmitted to the display unit, thereby further facilitating the lifting operation of the operators.
When the wind power generation system is used, a high-voltage cable is connected to a tower crane to prepare for work, a wind field environment monitoring unit starts to monitor wind field environment information and tower crane state information, a control unit judges whether the current wind field environment and the tower crane state meet set safety conditions after receiving corresponding information, if not, an alarm instruction is sent to an alarm unit, the alarm unit sends an alarm prompt to prohibit operation, and an operator can enter a tower crane control room only when the set safety conditions are met;
After entering a tower crane control room, an operator operates the tower crane, firstly, fault self-checking is carried out on the tower crane, the tower crane is ensured to normally operate, and if the fault occurs, the fault is removed in time;
the method comprises the steps that lifting of a lifting object is started, dangerous areas are divided in a construction operation area of the tower crane, a control unit monitors the relative position relation between the position of constructors and the dangerous areas in real time, and once the constructors are in the dangerous areas, the control unit sends an instruction to an alarm unit to remind operators, and the operators adjust in time;
When no constructor exists in the dangerous area, the tower crane lifting hook 119 is identified, the diagonal crane monitoring unit identifies the position of the tower crane lifting hook 119, the diagonal crane angle of the tower crane lifting hook 119 is obtained, the control unit compares the diagonal crane angle with a set safety angle after receiving the diagonal crane angle of the current tower crane lifting hook 119, and if the diagonal crane angle is larger than the set safety angle, the condition that the diagonal crane exists in the current tower crane lifting hook 119 is judged, and the condition needs to be adjusted, so that the dangerous condition is eliminated;
After the condition of oblique-pulling inclined hanging is eliminated, connecting a lifting appliance with a lifting object, lifting the lifting object to a set height (the distance from the ground is 2 m), and adjusting the lifting object in the air by the lifting appliance to ensure that the lifting object reaches the set posture, and controlling the tower crane to continue lifting by an operator after the adjustment is completed;
In the lifting process, the group tower anti-collision unit detects the relative positions of the tower crane and surrounding tower cranes, and when the relative positions are smaller than the set safety distance, the control unit gives an instruction to an alarm unit room to prompt an operator so as to avoid the problem of tower crane collision;
In the process of lifting the lifting object, the auxiliary lifting guiding unit acquires the position coordinates of the lifting object, the target position coordinates and the position coordinates of the tower body in real time, the coordinates are sent to the control unit, the control unit sends coordinate information to the display unit for display, the lifting object moves to the installation position for installation under the condition of guiding the coordinates, and after the installation accuracy reaches the set requirement, the lifting of the lifting object is completed.
In some embodiments of the present application, the wind field environment monitoring unit is optimized, 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 a 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 a wind speed and a wind direction in an environment where a tower crane is located, the attachment frame stress acquisition module is installed on an attachment frame of the tower body and is used for acquiring a stress of the attachment frame, and the boom inclination angle acquisition module is installed on a boom and is used for acquiring a boom inclination angle (the boom inclination angle refers to an angle of deflection of the boom along the 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 attaching frame and the inclination angle of the suspension arm reflect the operation state of the tower crane, and the operation of the tower crane can be performed only when the state of the wind field environment and the operation state of the tower crane meet the safety setting requirements, otherwise, the operation and the construction of the tower crane cannot be performed as long as a certain item does not meet the requirements. The above operation information can be monitored by installing sensors on the corresponding structures.
In other embodiments of the present application, the present embodiment enriches the above-mentioned diagonal-hanging monitoring unit, and specifically, the camera of the diagonal-hanging monitoring unit of the present embodiment and the angle acquisition module, where the camera of the present embodiment is a binocular camera installed at the lower end of the trolley, and is used for acquiring image information of the lifting hook below, and the angle acquisition module is used for processing the image information and acquiring an included angle between the lifting hook sling and the vertical direction as a diagonal-hanging angle.
Specifically, when the tower crane is in hoisting operation, the high-definition binocular camera on the trolley captures the reflective paste on the lifting hook of the tower crane in real time, the shooting interval is 0.5s once, and the image signals are transmitted to the angle acquisition module, and the angle acquisition module identifies the coordinates of the reflective paste of the lifting hook through the image identification intelligent algorithm, and transmits the identified data to the control unit. The optical centers of the two cameras have a fixed distance d, assuming that the coordinate system of the right camera C 1 is O 1X1Y1 Z1, the coordinate system of the left camera C 2 is O 2X2Y2 Z2, the focal lengths are f, the coordinate of the cursor point P is (x 1,y1,z1) under C 1, the coordinate of the cursor point P is (x 2,y2,z2) under C 2, the coordinate of the image point in the left camera is (u 1,v1), and the coordinate of the image point in the right camera is (u 2,v2).
According to the photographic proportion relation, the coordinates are processed, and the three-dimensional coordinates of the space point P can be obtained as follows:
The camera is arranged on the trolley, wherein the relative positions of the rope outlet point on the trolley and the camera are fixed, at any moment, the rope outlet point on the 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 arm is taken as the positive direction of the X axis, the vertical direction of the crane arm is taken as the positive direction of the Z axis, the world coordinate system is established according to the principle of the right hand, the person stands on the tower head and is right against the direction of the crane arm, the right hand position of the person is right, and the left hand position of the person is left. 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:
Since the matrix R, T is related to coordinate selection, as a known quantity, the image coordinates (u 1,v1) and (u 2,v2) are obtained by image recognition, and the diagonal angle θ is:
The control unit compares the calculated oblique-pulling angle theta with preset thresholds theta 1 and theta 2, wherein theta 1<Θ2 is used for starting different alarm prompts and motion instructions according to the comparison of the oblique-pulling angle theta with different preset thresholds, and the oblique-pulling angle is prevented from being overlarge. Specifically, when theta is smaller than or equal to theta 1, the display unit prompts 'the inclined hanging angle to be normal' in a green character mode, when theta 1＜θ＜Θ2 is larger, the display unit prompts 'please pay attention to' in a red character flickering mode, when theta is larger than or equal to theta 2, the control unit sends a switch control signal to control the audible and visual alarm, the display unit prompts 'please pay attention to' the inclined hanging angle to be too large 'in a red character mode, when theta is larger than theta 1, the display unit gives a motion indication, including prompting' please increase the amplitude 'on the display screen when theta is larger than or equal to x w', prompting 'please decrease the amplitude' when x w is smaller than 0, prompting 'please turn left' on the display screen when y w is larger than 0, prompting 'please turn right' on the display screen when y is smaller than w, the specific size of the amplitude is measured by a coder on the winch, and the amplitude is set to be 20 DEG by a coder on a rotary motor (the implementation of the encoder is 35 DEG theta is set to be 35 DEG) on the rotary motor.
In the tower crane inclined-pulling inclined-hanging detection process, the control unit transmits alarm information and inclined-pulling inclined-hanging angle conditions to the cloud end through the wireless module so as to be used for remote monitoring.
In a further embodiment of the present application, the operation safety area dynamic sensing unit is optimized in this embodiment, and the operation safety area dynamic sensing unit in this embodiment specifically includes a boom dangerous area acquiring module, a hoisted object dangerous area acquiring module, a constructor position acquiring module and a safety warning module, where the boom dangerous area acquiring module is configured to acquire, in real time, a first dangerous area covered under a boom in a moving state or a static state, the hoisted object dangerous area acquiring module is configured to acquire, in real time, a second dangerous area covered under a hoisted object in a moving state or a static state, the constructor position acquiring module is configured to acquire, in real time, constructor position information of the constructor, and the safety warning module is configured to receive, in real time, constructor position information of the constructor and send a safety warning signal when the constructor enters the first dangerous area or the second dangerous area.
As shown in fig. 2, the tower crane 101 of the application comprises a boom 102, a hoisting winch 104, an amplitude winch 105, a rotary motor 106 and a hoisting trolley 103 which are arranged on the boom 102, wherein the boom 102 is arranged on the tower crane 101 and can rotate around a vertical axis (a rotary center), namely, the boom 102 is driven to rotate around the vertical axis through the rotary motor 106 on the tower crane 101, and the hoisting trolley 103 can move on the boom 102 along the length direction of the boom 102 through the amplitude winch 105, so as to realize amplitude adjustment. The lifting trolley 103 is provided with a lifting rope, and the lifting rope is controlled by the lifting winch 104 to realize the vertical movement of a lifting object.
In order to realize the identification of the dangerous areas of the suspension arm 102 and the lifted object 107, the application further comprises a suspension arm dangerous area acquisition module, a lifted object dangerous area acquisition module, a constructor position acquisition module and a safety warning module, wherein the suspension arm dangerous area acquisition module is used for acquiring a first dangerous area covered under the suspension arm in a moving state or a static state in real time, the lifted object dangerous area acquisition module is used for acquiring a second dangerous area covered under the lifted object in the moving state or the static state in real time, the constructor position acquisition module is used for acquiring the constructor position in real time, the constructor position acquisition module can be realized in a mode that constructors carry position coordinate acquisition devices, or can be realized in a mode that constructors are provided with image acquisition devices in an operation area of a tower crane to carry out constructor identification so as to acquire constructor coordinate information of the constructors, and the safety warning module is used for receiving the constructor position information in real time and sending a safety warning signal when the constructors enter the first dangerous area or the second dangerous area.
The safety warning module is a control module of the whole perception system and is used for processing data acquired by the boom dangerous area acquisition module, the lifting 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 is part of the control unit and the alarm unit, and is attributed to the operation safety zone dynamic sensing unit for the convenience of understanding.
When the crane is in actual use, the crane boom dangerous area acquisition module can identify a first dangerous area under the current condition, the lifting object dangerous area acquisition module can identify a second dangerous area, the constructor position acquisition module acquires the position coordinates of constructors entering the crane working area, the position coordinates of the constructors are compared with the position coordinates of the first dangerous area and the second dangerous area, if the constructors have the first dangerous area or the second dangerous area, warning information is immediately sent out for reminding, the warning information can be sent out to the crane working personnel, and the warning information can also be sent out to constructors entering the dangerous area at the same time.
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 a suspension arm coverage area according to the length and the width of a suspension arm and a set first safety distance, the suspension arm rotation angle acquisition module comprises a first encoder arranged on a rotation motor and used for acquiring the rotation angle of the suspension arm, and the first dangerous area determination module determines a first dangerous area according to the suspension arm coverage area and the suspension arm rotation angle.
The length, width and first safety distance of the boom stored by the boom coverage acquisition module in this embodiment are preset, the length and width of the boom are directly obtained according to the structure of the boom, the first safety distance is obtained by extending the distance in the horizontal direction in the two directions of the length and width of the boom, the generally extending distance is 500 mm-1000 mm (the distance adjusted in the length direction is d, the distance adjusted in the width direction is c, as shown in fig. 3, c and d can be identical or different and are set according to actual requirements), the area of the boom vertical projection on the ground can be obtained through the length and width of the boom, the first safety distance is set to avoid the safety problem caused by falling of components on the boom, and the potential safety hazard caused by falling of the inclination is avoided by expanding 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, and in the using process of the tower crane, the suspension arm rotates around the vertical axis, so that the rotation angle of the suspension arm needs to be confirmed to be perceived dynamically, namely, the specific position of the current suspension arm is confirmed. In this embodiment, the first encoder 108 is mounted 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 (measured by the total station 115, as shown by an O point in fig. 3, the origin of the tower crane measured by the total station 115 is directly input into the controller, the 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, the rotation angle of the rotation motor 106 can be obtained by the first encoder 108, and thus the rotation angle of the boom can be obtained, which corresponds to the angle between the coverage area of the boom and the X axis or the Y axis, so that the position in the XY plane (the XY plane is actually the ground) of the coverage area of the boom can be obtained, and the combination of the coverage area of the boom and the position is actually the first dangerous area, as shown by an area a in fig. 3.
The lifting object dangerous area acquisition module comprises a lifting object position acquisition module, a lifting object coverage area acquisition module and a second dangerous area determination module, wherein the lifting object position acquisition module is used for acquiring the current position of a lifting object relative to the origin of coordinates of the tower crane, the lifting object coverage area acquisition module is used for determining the lifting object coverage area according to the projection area of the lifting object on the ground, and the second dangerous area determination module is used for determining the second dangerous area according to the lifting object coverage area, the lifting object position and the set second safe distance, as shown in a region B in figure 3.
In practice, the first dangerous area corresponding to the suspension arm is determined in the same manner as the second dangerous area corresponding to the hoisted object, namely, the coverage area of the suspension arm or the hoisted object is determined, then the position of the suspension arm or the hoisted object is determined, and the specific dangerous area can be obtained by combining the coverage area and the position. The difference is that the length and width of the boom are determined, the structure of the boom is unchanged, but the structure of the lifted object is different, and the structure of the lifted object cannot be input into the control system in advance. In this embodiment, a dedicated hoisted object coverage area acquisition module is set to acquire the hoisted object coverage area.
In the preferred embodiment of the present application, the above-mentioned lifting object coverage acquiring module is optimized, and the specific lifting object coverage acquiring module includes a safety camera 111, a lifting object height acquiring module and a coverage extracting module, where the safety camera 111 is installed on the lifting trolley 103 and is used for acquiring image information of a lifting object below, the lifting object height acquiring module includes a third encoder 110 installed on the lifting winch 104 and is used for acquiring a distance between the lifting object 107 and the lifting trolley 103 as the height of the lifting object 107, and the coverage extracting module determines the projection area of the lifting object 107 on the ground according to the image information and the lifting object height so as to obtain the lifting object coverage.
The safety camera 111 is installed on the lifting trolley 103 through a bolt structure and is used for acquiring image information of a lifting object right below, namely acquiring image information of the lifting object right below, and the acquired image information is converted into a gray level diagram, gaussian filtering, edge detection, expansion corrosion, boundary searching and width measuring, so that the outline, length and width of the lifting object can be obtained. The image processing is to combine the distance between the hoisted object and the trolley to determine, and during the image processing, the outline, the length and the width of the hoisted object can be obtained through the relation between the number of pixel points of the image information of the hoisted object and the distance (namely, after the image information is processed, the distance between the outline and the image edge can be obtained, then the unit length corresponding to each pixel point can be obtained according to the distance between the hoisted object and the trolley, and the length, the width and other information of the hoisted object can be obtained through the mode). And then expanding the profile of the hoisted object by a second safety distance (as shown in fig. 3, expanding the profile of the hoisted object by a distance e, wherein the value of e is 500-1000 mm), namely expanding the profile of the hoisted object by the second safety distance along the horizontal direction, and forming an area, namely the coverage area of the hoisted object.
In this embodiment, the distance between the hoisted object and the trolley is obtained through 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 extending length of the hoisting rope on the hoisting winch 103 is recorded, so that the distance between the hoisted object 107 and the trolley 103 can be obtained, the height between the boom 102 and the ground is determined, and the distance between the hoisted object 107 and the trolley 103 can be obtained, so that the height between the hoisted object 107 and the ground can be obtained.
The lifting object position acquisition module comprises a lifting object amplitude variation distance determination module, and the lifting object amplitude variation distance determination module comprises a second encoder 109 arranged on the amplitude variation winch 105 and is used for acquiring the amplitude variation distance of the lifting winch 105 as the horizontal distance of the lifting object 107 relative to the origin of coordinates of the tower crane 101.
The second encoder 109 is mounted on the luffing winch 105 and is a length sensor for recording the luffing length of the hoisting winch 103, in practice the extension of the pulling rope of the luffing winch 105.
After the coverage of the hoisted object is determined, the amplitude variation 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 hoisted object in the tower crane operation area can be determined according to the rotation angle and the amplitude variation distance, and the second dangerous area corresponding to the hoisted object can be determined according to the specific position of the hoisted object in the tower crane operation area and the coverage of the hoisted object, as shown in a B area in fig. 3.
The constructor position acquisition module comprises a positioning module which is carried on the constructor body and comprises a GPS positioning module and a wireless signal generation module, and is used for sending constructor position signals to the safety warning module in real time. The positioning module of this embodiment is a device carried on the body of the constructor, and can be installed on the safety helmet 116 (as shown in fig. 2) of the constructor, and also can be installed on the work clothes, so long as the requirements can be satisfied.
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 of the tower crane operation safety zone in the embodiment is carried out according to the following steps:
a1, acquiring the rotation angle of the suspension arm in real time, and determining a first dangerous area projected on the ground by the suspension arm;
A2, acquiring a coverage area of the hoisted object, the height of the hoisted object, a distance relative to a coordinate origin of the tower crane and a rotation angle of the suspension arm in real time, and determining a second dangerous area of the hoisted object projected on the ground;
a3, acquiring position coordinates of constructors relative to the coordinate origin of the tower crane in real time, judging whether the constructors are in the first dangerous area or the second dangerous area, and sending out warning signals when the constructors are in the first dangerous area or the second dangerous area.
In some embodiments of the present application, the foregoing cluster-tower anti-collision unit is optimized, and the cluster-tower anti-collision unit specifically 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 configured to acquire a relative position relationship between a tower crane and a surrounding tower crane, and the tower crane position deviation acquisition module is configured to acquire a position deviation between the tower crane and the surrounding tower crane.
The group tower anti-collision unit comprises six laser radars and four anti-collision cameras, wherein the laser radars and the anti-collision cameras are respectively arranged at four corners of the joint of the suspension arm and the tower body, the laser radars are respectively arranged at the head and the tail of the suspension arm to obtain the relative position relation between the current tower crane and the surrounding tower crane, the laser radars and the anti-collision cameras are connected with the control unit to output the position deviation between the current tower crane and the surrounding tower crane and used for preventing the current tower crane from touching other construction tower cranes, when the laser radars monitor that the distance between the current tower crane and other construction tower cranes is smaller than a safe 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 guiding unit is optimized, and the specific hoisting auxiliary guiding unit includes a hoisting object position acquisition module, a target position acquisition module and a tower body position acquisition module, where the hoisting object position acquisition module is used to acquire current hoisting object position coordinate information, the target position acquisition module is used to acquire target position coordinate information, and the tower body position acquisition module is used to acquire tower body position coordinate information. In practice, there are various ways of obtaining the position coordinate information of the hoisted object, the position coordinate information of the target and the position coordinate information of the tower body, and this embodiment adopts two modes, one is to measure the above coordinates by the Beidou or GPS mode, and the other is to obtain the above coordinates by installing UWB on the hoisted object, the installation position and the tower body.
The auxiliary guiding unit for hoisting in this embodiment includes two stages, firstly coarse positioning before the hoisted object reaches the set height, and secondly fine positioning after the hoisted object reaches the set height, wherein the set height in this embodiment refers to a position 5m above the installation position of the hoisted object, the coarse positioning can obtain position coordinate information of the hoisted object, target position coordinate information and position coordinate information of the tower body in a Beidou or GPS mode, and the fine positioning can obtain position coordinate information of the hoisted object, target position coordinate information and position coordinate information of the tower body in a UWB mode. The coarse positioning considers the hoisting speed and improves the hoisting transfer efficiency. When the precise positioning is implemented, the hoisted object is very close to the installation position, and the installation precision needs to be considered.
After the lifting object position acquisition module, the target position acquisition module and the tower body position acquisition module acquire corresponding coordinate information, the relevant coordinate information is transmitted to the control unit through the wireless module, and after the control unit processes the data of the coordinate information, the data are fed back to the display unit to be presented to operators, so that the operators can conveniently lift the lifting operation.
In a further embodiment of the present application, the foregoing lifting appliance is optimized in this embodiment, and the lifting appliance in this embodiment is a smart lifting appliance, which is used for adjusting an aerial posture of a lifting object, as shown in fig. 4 to 5, the lifting appliance 201 includes a first beam 202, a frame body 203, a second beam 204, an inclination angle adjusting structure, a lifting hook 206, and a lifting hook adjusting structure, where the first beam 202 is connected to the tower crane lifting hook 119, the frame body 203 is connected to the first beam 202 by a hinge that can rotate about a vertical axis through a vertical rotation shaft 205, and the second beam 202 is connected to the frame body 203. The inclination angle adjusting structure is arranged on the frame 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 are used for connecting the hoisted objects, in this embodiment, four hooks 206 are disposed on the second beam 204, the four hooks 206 comprise two components disposed at two ends of the second beam 204, and each component comprises 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. 4-5, the tilt angle adjusting structure of the present embodiment includes a first oil cylinder 207 and a second oil cylinder 208, wherein a housing of the first oil cylinder 207 is hinged to a rotation shaft 205, a pushing end is hinged to a frame 203 for driving the frame 203 to rotate around a longitudinal axis, the frame 203 is hinged to a lower end of the rotation shaft 205 through a first longitudinal pin 209, and the first oil cylinder 207 pushes the frame 203 to rotate, so as to actually push the frame 203 to rotate around the first pin 209.
The shell of the second oil cylinder 210 is hinged to the frame 203, and the pushing end is hinged to the second beam 204 and is used for driving the second beam 204 to rotate around the transverse axis. The second beam 204 is rotatably hinged to the frame 203 through a second transverse pin 210, and the second cylinder 210 drives the second beam 204 to rotate, which in effect pushes the second beam 204 to rotate around the second pin 210. Both ends of the frame 203 are connected to 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. 4-5, 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 beam 202 and is in transmission connection with the gear 212. When the vertical axis of the hoisted object needs to be rotated and adjusted, the rotating motor 212 is driven, the rotating motor 212 drives the gear 211 to rotate, the gear 211 drives the rotating shaft 205 to rotate, the frame 203 arranged on the rotating shaft 205 can rotate along with the rotating shaft 205, and the adjustment of the vertical rotating angle of the hoisted object is achieved.
The hook adjusting structure of this embodiment includes a mounting seat 213 and a third oil cylinder 214, the mounting seat 213 is slidably connected to a chute on the second beam 204, and the upper end of the hook 206 passes through the chute and is fixedly connected with the mounting seat 213. The shell of the third oil cylinder 214 is fixed on the second beam 204, and the pushing end is connected to the mounting seat 213 and used for driving the mounting seat 213 to move along the sliding groove. The chute 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 beam 204, and when in use, an operator can send a control instruction to the controller through the handheld control device, adjust the position of the lifting hook 206, make the lifting hook 206 correspond to the lifting points on the lifting object one by one, and then connect the lifting hook 206 with the lifting object. After connection is completed, lifting the lifting object to a set adjusting height, acquiring an X-direction inclination angle and a Y-direction inclination angle of the lifting appliance through a gyroscope on the lifting appliance, adjusting the X-direction inclination angle and the Y-direction inclination angle of the lifting object by utilizing a first oil cylinder 207 and a second oil cylinder 208 on the lifting appliance, and adjusting the vertical rotation angle of the lifting object by utilizing a rotating motor 212 on the lifting appliance until the air posture of the lifting object reaches a 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:
The method comprises the steps that S1, a10 KV high-voltage wire is connected into a tower crane control room, voltage loss is avoided, the wind field environment of the tower crane is monitored, the wind speed, the wind direction, the stress condition of a tower crane attaching frame, the tower body inclination angle and the boom inclination angle from the bottom of the tower to the top of the tower crane are included, collected information is transmitted to a cloud end, an operator holds a control terminal device to judge the collected information, whether the current environment and the state of the tower crane meet construction requirements or not, if the safety construction requirements are not met, namely, detection data exceed a preset safety threshold value, alarm prompt and alarm of a boom are carried out, the tower crane is locked, the operation of the tower crane is forbidden, 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 ladder, operating the tower crane, carrying out fault detection on the tower crane, if the tower crane is in fault, sending out corresponding alarm prompt until the tower crane normally operates, operating the tower crane under the condition that the tower crane is free of fault, carrying out lifting operation of the tower crane, including the operations of lifting hook lowering of the tower crane, lifting hook adjustment of a lifting hook, lifting hook hanging and the like, inputting the target position of a lifting object, the target posture of a heavy object and the like into a control unit, and when the lifting hook is detected to lift the lifting object, starting to carry out safe operation dynamic sensing on an operation area of the tower crane, including combining information such as the position of the tower body of the tower crane, rotation, amplitude variation, lifting height and the like of the tower crane with the positions of constructors around the tower crane, judging whether personnel intrude into the construction range of the tower crane or not, if the personnel intrude into the construction range of the tower crane, ringing of an audible and visual alarm, and the alarm unit carrying out alarm prompt;
S3, identifying the tower crane lifting hook, wherein the control unit compares the acquired inclined lifting angle with a set threshold value, judges whether the inclined lifting condition exists in the tower crane lifting hook, if the inclined lifting angle exceeds the set threshold value, the alarm unit sends out an alarm prompt, and if the inclined lifting angle is smaller than the set threshold value, the condition that the inclined lifting condition does not exist at present is proved, and the lifting object is lifted to the set height, namely lifted 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 air posture, continuously hoisting after the posture adjustment is completed, monitoring the relative positions of the tower crane and surrounding tower cranes in real time, and sending out an audible and visual alarm prompt when the relative positions of the tower crane boom and the surrounding tower cranes are smaller than the set distance, so that collision is avoided;
s5, coarse positioning guidance is carried out, position coordinates of the hoisted object, target position coordinates and tower body position coordinates are obtained through Beidou or GPS, a path planning guiding algorithm is adopted, the tower crane is automatically controlled to carry out rotation, amplitude variation and lifting movement until the hoisted object reaches the position 5m above the target position, fine positioning guidance is started, the position coordinates of the hoisted object, the target position coordinates and the tower body position coordinates are obtained through UWB (ultra wide band) installed on the hoisted object, the target position and the tower body, the path planning guiding algorithm is adopted, the tower crane is automatically controlled to carry out rotation, amplitude variation and lifting movement until the current hoisted object position coincides with the target position or reaches the allowable error range, and hoisting construction of the hoisted object is completed.
The foregoing has shown and described the basic 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, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. An ultra-large intelligent tower crane comprises a flat head tower crane, wherein the flat head tower crane comprises a suspension arm, a tower body below the suspension arm and a tower head above the suspension arm, a control room, a hoisting winch, a hoisting trolley, an amplitude winch and a rotary motor are arranged on the suspension arm,
It is characterized in that the utility model also comprises,
The wind field environment monitoring unit is used for collecting wind field information and tower crane state information under the working environment of the tower crane;
the cable-stayed oblique hanging monitoring unit is used for identifying the position of the tower crane lifting hook so as to acquire the cable-stayed oblique hanging angle of the tower crane lifting hook;
The operation safety area dynamic sensing unit is used for acquiring the relative positions of the suspension arm, the hoisted object and constructors in the tower crane operation area;
The tower group anti-collision unit is used for acquiring the position deviation of the current tower crane and surrounding tower cranes;
The hoisting auxiliary guiding unit is used for collecting position coordinates of a hoisted object, target position coordinates and tower body position coordinates;
the lifting appliance is connected to the lifting hook of the tower crane and is used for adjusting the air posture of the lifting object;
The control unit receives parameter information collected by the wind field environment monitoring unit, the inclined crane monitoring unit, the operation safety area dynamic sensing unit, the group tower anti-collision unit, the hoisting auxiliary guiding unit and the hoisting tool, processes the data and displays key parameters of tower crane operation and simulation states of the tower crane operation to operators through the display unit;
The spreader comprises a spreader which is adapted to be coupled to the spreader,
The first cross beam is connected with the 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 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 hoisted object;
The lifting hook adjusting structure is arranged between the lifting hook and the second cross beam and used for adjusting the position of the lifting hook;
the tilt angle adjustment structure comprises a plurality of tilt angle adjustment structures,
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;
The shell of the second oil cylinder is hinged to the frame body, and the pushing end is hinged to the second cross beam and used for driving the second cross beam to rotate around the transverse axis;
The spreader may further comprise a spreader which is adapted to be coupled to the spreader,
A gear fixed to the rotation shaft;
the rotating motor is arranged on the first cross beam and is in transmission connection with the gear;
The lifting hook adjusting structure comprises a mounting seat and a third oil cylinder, wherein the mounting seat is connected with a sliding groove on a second cross beam in a sliding way, and the upper end of the lifting hook is fixedly connected with the mounting seat through the sliding groove;
and a gyroscope is arranged on the second cross beam, and the X-direction dip angle and the Y-direction dip angle of the lifting appliance are obtained through the gyroscope on the lifting appliance.
2. The ultra-large intelligent tower crane according to claim 1, wherein said wind farm environment monitoring unit comprises,
The tower body inclination angle acquisition module is arranged on the tower body and 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 attaching frame stress acquisition module is arranged on the tower body attaching frame and is used for acquiring attaching frame stress of the tower body attaching frame;
and the suspension arm inclination angle acquisition module is arranged on the suspension arm and used for acquiring the suspension arm inclination angle.
3. The ultra-large intelligent tower crane according to claim 1, wherein the cable-stayed inclined crane monitoring unit comprises,
The binocular camera is arranged on the trolley and used for collecting image information of the lifting hook of the lower tower crane;
the angle acquisition module is used for processing the image information and acquiring a vertical included angle between the tower crane lifting hook and the lifting trolley rope outlet point as a diagonal lifting angle.
4. The ultra-large intelligent tower crane according to claim 1, wherein said operation safety zone dynamic sensing unit comprises,
The suspension arm dangerous area acquisition module is used for acquiring a first dangerous area covered under the suspension arm in a moving state or a static state in real time;
The lifting object dangerous area acquisition module is used for acquiring a second dangerous area covered under the lifting object in a moving state or a static state in real time;
the constructor position acquisition module is used for acquiring the constructor position 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.
5. The ultra-large intelligent tower crane according to claim 1, wherein said tower collision preventing unit comprises,
The tower crane relative position acquisition module comprises cameras arranged at four corners of the joint of the suspension arm and the tower body and is used for acquiring the relative position relation between the tower crane and surrounding tower cranes;
The tower crane position deviation acquisition module comprises laser radars arranged at the four corners of the joint of the suspension arm and the tower body and used for acquiring the position deviation of the tower crane and surrounding tower cranes.
6. A construction method of an ultra-large intelligent tower crane is characterized by adopting the ultra-large intelligent tower crane as claimed in any one of claims 1-5, and comprising the following steps:
s1, connecting a high-voltage cable into a tower crane, monitoring the wind field environment of the tower crane, and allowing an operator to enter a control room of the tower crane when the wind field environment meets the safety setting requirement;
S2, performing fault detection on the tower crane, operating the tower crane under the condition that the tower crane has no fault, operating a tower crane lifting hook to drop a hanging object, and performing safe operation dynamic sensing on an operation area of the tower crane to ensure that no operator is in the working range of the hanging arm and the hanging object;
s3, identifying a tower crane lifting hook, judging whether the tower crane lifting hook has a diagonal inclined lifting condition, and lifting a lifting object to a set height when the tower crane lifting hook is in a safe angle range;
S4, adjusting the posture of the hoisted object, and continuously hoisting after the completion of the posture adjustment, and monitoring the relative positions of the tower crane and surrounding tower cranes in real time to avoid collision;
s5, acquiring position coordinates of the hoisted object, target position coordinates and tower body position coordinates, guiding hoisting of the tower crane, and completing hoisting of the hoisted object through amplitude variation of the tower crane, rotation of the tower crane and hoisting of the tower crane.
7. The construction method of the ultra-large intelligent tower crane according to claim 6, wherein in the step S2, the method for dynamically sensing the safety operation of the tower crane operation area comprises the following steps:
a1, acquiring the rotation angle of the suspension arm in real time, and determining a first dangerous area projected on the ground by the suspension arm;
A2, acquiring a coverage area of the hoisted object, the height of the hoisted object, a distance relative to a coordinate origin of the tower crane and a rotation angle of the suspension arm in real time, and determining a second dangerous area of the hoisted object projected on the ground;
a3, acquiring position coordinates of constructors relative to the coordinate origin of the tower crane in real time, judging whether the constructors are in the first dangerous area or the second dangerous area, and sending out warning signals when the constructors are in the first dangerous area or the second dangerous area.
CN202211041418.8A 2022-08-29 2022-08-29 Super large intelligent tower crane and construction method Active CN115448185B (en)

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