CN116002536A - Anti-collision operation method, device, control equipment and storage medium based on tower crane - Google Patents

Anti-collision operation method, device, control equipment and storage medium based on tower crane Download PDF

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Publication number
CN116002536A
CN116002536A CN202111232026.5A CN202111232026A CN116002536A CN 116002536 A CN116002536 A CN 116002536A CN 202111232026 A CN202111232026 A CN 202111232026A CN 116002536 A CN116002536 A CN 116002536A
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China
Prior art keywords
tower
positioning module
tower crane
hook
crane
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CN202111232026.5A
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Chinese (zh)
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李志铭
胡谦谦
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Priority to CN202111232026.5A priority Critical patent/CN116002536A/en
Publication of CN116002536A publication Critical patent/CN116002536A/en
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Abstract

The invention relates to the field of building construction, and discloses an anti-collision operation method, device, control equipment and storage medium based on tower cranes, which are used for measuring the distance between the tower cranes through a positioning module, so that the positioning precision between the tower cranes is improved, and the response speed and the safety of tower groups are improved. The method comprises the following steps: sending a first broadcast message through a first tower arm positioning module; acquiring a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module; measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measurement distances; judging whether collision risks exist between the first tower crane and the second tower crane according to the plurality of measured distances; and if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane.

Description

Anti-collision operation method, device, control equipment and storage medium based on tower crane
Technical Field
The invention relates to the technical field of building tower crane management, in particular to an anti-collision operation method, device, control equipment and storage medium based on a tower crane.
Background
Along with the development of intelligent technology, the concept of smart cities is popularized, and the concept of smart sites is derived, and the tower crane system is an important point of the smart sites. According to construction requirements of the site tower crane and internal data interaction requirements thereof, the tower crane is intelligent in the future, and finally the intelligent hoisting system is landed. In this process, collision prevention between tower groups becomes the most urgent problem to be solved.
Most of the prior anti-collision systems are realized by adopting a centralized control mode, a plurality of tower cranes realize the self-organizing network, the coordinate systems of the tower cranes are organized into a central control system, and then the central control system realizes unified scheduling and management, thereby bringing the problems that the number of tower group self-organizing networks is limited, the construction of large-scale tower groups can not be realized, the centralized control is realized, and the time delay is relatively high.
Disclosure of Invention
The invention provides an anti-collision operation method, device, control equipment and storage medium based on tower cranes, which are used for measuring the distance between the tower cranes through a positioning module, so that the positioning precision between the tower cranes is improved, the flexibility of tower group construction is increased, the data transmission time delay is reduced, the dangerous area is pre-judged in advance, and the response speed and the safety of the tower group are improved.
A first aspect of an embodiment of the present invention provides an anti-collision operation method based on a tower crane, including: a first broadcast message is sent through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of a first tower crane; acquiring a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of a second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane; measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measurement distances; judging whether collision risks exist between the first tower crane and the second tower crane according to the measured distances; and if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane.
In a possible implementation manner, the measuring distances between the positioning modules according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measured distances includes: extracting a first sending time from the first broadcast message; determining a first tower inner distance according to the first sending time and the first tower hook response message, wherein the first tower inner distance is the distance between the first tower arm positioning module and the first tower hook positioning module; determining a first inter-tower distance according to the first sending time and the second tower hook response message, wherein the first inter-tower distance is the distance between the first tower arm positioning module and the second tower hook positioning module; determining a second inter-tower distance according to the first sending time and the tower arm response message, wherein the second inter-tower distance is the distance between the first tower arm positioning module and the second tower arm positioning module; extracting a third inter-tower distance and a second intra-tower distance from the tower arm response message, wherein the third inter-tower distance is the distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance is the distance between the second tower arm positioning module and the second tower hook positioning module; and combining the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance into a plurality of measured distances.
In a possible implementation manner, the determining the first intra-tower distance according to the first sending time and the first tower hook response message includes: recording a first receiving time of the first tower hook response message, and extracting a first difference value from the first tower hook response message, wherein the first difference value is used for indicating a difference value between the time of the first tower hook positioning module receiving the first broadcast message and the time of sending the first tower hook response message; and determining a first tower inner distance between the first tower arm positioning module and the first tower hook positioning module according to the first sending moment, the first receiving moment and the first difference value.
In a possible implementation manner, the determining the first inter-tower distance according to the first sending time and the second tower hook response message includes: recording a second receiving time of the second tower hook response message, and extracting a second difference value from the second tower hook response message, wherein the second difference value is used for indicating a difference value between the time of the second tower hook positioning module receiving the first broadcast message and the time of sending the second tower hook response message; and determining a first tower-to-tower distance between the first tower arm positioning module and the second tower hook positioning module according to the first sending moment, the second receiving moment and the second difference value.
In a possible implementation manner, the determining the second inter-tower distance according to the first sending time and the tower arm response message includes: recording a third receiving time when the tower arm response message is received, and extracting a third difference value from the tower arm response message, wherein the third difference value is used for indicating a difference value between the time when the first broadcast message is received by the second tower arm positioning module and the time when the tower arm response message is sent; and determining a second tower-to-tower distance between the first tower arm positioning module and the second tower arm positioning module according to the first sending time, the third receiving time and the third difference value.
In a possible implementation manner, the determining whether the first tower crane and the second tower crane have collision risk according to the measured distances includes: determining a triangular measurement area of the first tower crane according to the plurality of measurement distances and determining an angle parameter corresponding to the triangular measurement area; judging whether collision risks exist between the first tower crane and the second tower crane according to the angle parameters.
In a possible implementation manner, the determining the triangular measurement area of the first tower crane according to the plurality of measurement distances and determining the angle parameter corresponding to the triangular measurement area includes: determining the first intra-tower distance, the second inter-tower distance, and the third inter-tower distance of the plurality of measured distances as a first side length, a second side length, and a third side length; forming a triangular measurement area of the first tower crane based on the first side length, the second side length and the third side length; and calculating the size of each angle in the triangle measurement area according to the first side length, the second side length and the third side length to obtain corresponding angle parameters.
In a possible implementation manner, the determining whether the first tower crane and the second tower crane have collision risk according to the angle parameter includes: judging whether the first tower crane and the second tower crane are at the same height; if the first tower crane and the second tower crane are at the same height, judging whether the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value, determining that the first tower crane and the second tower crane have no collision risk; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is smaller than or equal to a threshold value, determining that collision risk exists between the first tower crane and the second tower crane; if the first tower crane and the second tower crane are not at the same height, judging whether the first side length, the second side length and the third side length in the triangle measurement area meet a first preset condition, and judging whether the first included angle, the second included angle and the third included angle in the angle parameters meet a second preset condition; if the first preset condition and the second preset condition are met at the same time, determining that the first tower crane and the second tower crane have no collision risk; and if the first preset condition is not met or the second preset condition is not met, determining that collision risk exists between the first tower crane and the second tower crane.
In a possible implementation manner, the controlling and adjusting the first tower crane and the second tower crane includes: when the first tower crane and the second tower crane are at the same height and the second tower crane stops moving, controlling the first tower crane to rotate; when the first tower crane and the second tower crane are at the same height and the second tower crane does not stop moving, adjusting the tower hook height and the rotation rate of the first tower crane and the tower hook height and the rotation rate of the second tower crane; when the first tower crane and the second tower crane are at different heights, the height of the tower hook of the first tower crane is adjusted to a preset height.
A second aspect of an embodiment of the present invention provides an anti-collision working apparatus based on a tower crane, including: the information sending unit is used for sending a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane; the information acquisition unit is used for acquiring a first tower hook response message sent by the first tower hook positioning module, a second tower hook response message sent by the second tower hook positioning module and a tower arm response message sent by the second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of the second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane; the distance measuring unit is used for measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measured distances; the risk judging unit is used for judging whether collision risks exist between the first tower crane and the second tower crane according to the plurality of measured distances; and the tower crane control unit is used for controlling and adjusting the first tower crane and the second tower crane if collision risk exists between the first tower crane and the second tower crane.
In one possible embodiment, the distance measuring unit comprises: a first extraction subunit, configured to extract a first sending time from the first broadcast message; the first determining subunit is configured to determine a first tower inner distance according to the first sending time and the first tower hook response message, where the first tower inner distance is a distance between the first tower arm positioning module and the first tower hook positioning module; the second determining subunit is used for determining a first inter-tower distance according to the first sending moment and the second tower hook response message, wherein the first inter-tower distance is the distance between the first tower arm positioning module and the second tower hook positioning module; a third determining subunit, configured to determine a second inter-tower distance according to the first sending time and the tower arm response message, where the second inter-tower distance is a distance between the first tower arm positioning module and the second tower arm positioning module; the second extraction subunit is used for extracting a third inter-tower distance and a second intra-tower distance from the tower arm response message, wherein the third inter-tower distance is the distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance is the distance between the second tower arm positioning module and the second tower hook positioning module; and a combining subunit configured to combine the first intra-tower distance, the second intra-tower distance, the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance into a plurality of measured distances.
In one possible embodiment, the first determining subunit is configured to: recording a first receiving time of the first tower hook response message, and extracting a first difference value from the first tower hook response message, wherein the first difference value is used for indicating a difference value between the time of the first tower hook positioning module receiving the first broadcast message and the time of sending the first tower hook response message; and determining a first tower inner distance between the first tower arm positioning module and the first tower hook positioning module according to the first sending moment, the first receiving moment and the first difference value.
In a possible embodiment, the second determining subunit is specifically configured to: recording a second receiving time of the second tower hook response message, and extracting a second difference value from the second tower hook response message, wherein the second difference value is used for indicating a difference value between the time of the second tower hook positioning module receiving the first broadcast message and the time of sending the second tower hook response message; and determining a first tower-to-tower distance between the first tower arm positioning module and the second tower hook positioning module according to the first sending moment, the second receiving moment and the second difference value.
In a possible embodiment, the third determining subunit is specifically configured to: recording a third receiving time when the tower arm response message is received, and extracting a third difference value from the tower arm response message, wherein the third difference value is used for indicating a difference value between the time when the first broadcast message is received by the second tower arm positioning module and the time when the tower arm response message is sent; and determining a second tower-to-tower distance between the first tower arm positioning module and the second tower arm positioning module according to the first sending time, the third receiving time and the third difference value.
In one possible embodiment, the risk judging unit includes: the angle determining subunit is used for determining a triangular measuring area of the first tower crane according to the plurality of measuring distances and determining angle parameters corresponding to the triangular measuring area; and the risk determination subunit is used for judging whether collision risk exists between the first tower crane and the second tower crane according to the angle parameter.
In a possible embodiment, the angle determination subunit is specifically configured to: determining the first intra-tower distance, the second inter-tower distance, and the third inter-tower distance of the plurality of measured distances as a first side length, a second side length, and a third side length; forming a triangular measurement area of the first tower crane based on the first side length, the second side length and the third side length; and calculating the size of each angle in the triangle measurement area according to the first side length, the second side length and the third side length to obtain corresponding angle parameters.
In a possible embodiment, the risk determination subunit is specifically configured to: judging whether the first tower crane and the second tower crane are at the same height; if the first tower crane and the second tower crane are at the same height, judging whether the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value, determining that the first tower crane and the second tower crane have no collision risk; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is smaller than or equal to a threshold value, determining that collision risk exists between the first tower crane and the second tower crane; if the first tower crane and the second tower crane are not at the same height, judging whether the first side length, the second side length and the third side length in the triangle measurement area meet a first preset condition, and judging whether the first included angle, the second included angle and the third included angle in the angle parameters meet a second preset condition; if the first preset condition and the second preset condition are met at the same time, determining that the first tower crane and the second tower crane have no collision risk; and if the first preset condition is not met or the second preset condition is not met, determining that collision risk exists between the first tower crane and the second tower crane.
In a possible embodiment, the tower crane control unit is specifically configured to: when the first tower crane and the second tower crane are at the same height and the second tower crane stops moving, controlling the first tower crane to rotate; when the first tower crane and the second tower crane are at the same height and the second tower crane does not stop moving, adjusting the tower hook height and the rotation rate of the first tower crane and the tower hook height and the rotation rate of the second tower crane; when the first tower crane and the second tower crane are at different heights, the height of the tower hook of the first tower crane is adjusted to a preset height.
A third aspect of an embodiment of the present invention provides a control apparatus including: a memory and at least one processor, the memory having instructions stored therein; and the at least one processor calls the instruction in the memory so that the control equipment executes the tower crane-based anti-collision operation method.
A fourth aspect of the present invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the tower crane based anti-collision method described above.
In the technical scheme provided by the embodiment of the invention, a first broadcast message is sent through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of a first tower crane; acquiring a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of a second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane; measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measurement distances; judging whether collision risks exist between the first tower crane and the second tower crane according to the plurality of measured distances; and if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane. According to the embodiment of the invention, the distance between the tower cranes is measured through the positioning module, so that the positioning accuracy between the tower cranes is improved, the flexibility of tower group construction is improved, the data transmission delay is reduced, the dangerous area is prejudged in advance, and the response speed and the safety of the tower group are improved.
Drawings
FIG. 1 is a schematic view of an embodiment of a tower crane-based anti-collision operation method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another embodiment of a tower crane-based anti-collision method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of one embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of a tower crane-based anti-collision work apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic view of another embodiment of a tower crane-based anti-collision work apparatus according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an embodiment of a control device according to an embodiment of the present invention.
Detailed Description
The invention provides an anti-collision operation method, device, control equipment and storage medium based on tower cranes, which are used for measuring the distance between the tower cranes through a positioning module, so that the positioning precision between the tower cranes is improved, the flexibility of tower group construction is increased, the data transmission time delay is reduced, the dangerous area is pre-judged in advance, and the response speed and the safety of the tower group are improved.
It will be appreciated that the present invention may be applied to a tower crane based anti-collision work apparatus, which may be, by way of example and not limitation, a server or a control apparatus, as described herein by way of example.
Referring to fig. 1, a flowchart of an anti-collision operation method based on a tower crane according to an embodiment of the present invention specifically includes:
101. and sending a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane.
Specifically, the control device sends a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane. The first tower arm positioning module adopts a polling broadcast and receiving mode to send a first broadcast message to the surrounding, and can also receive response messages sent by other positioning modules while sending the first broadcast message, wherein the response messages comprise tower arm response messages sent by the tower arm positioning module and tower hook response messages sent by the tower hook positioning module. For example, the tower arm response message sent by the second tower arm positioning module, for example, the first tower hook response message sent by the first tower hook positioning module, the second tower hook response message sent by the second tower hook positioning module, if the third tower hook positioning module exists, the response message sent by the third tower hook positioning module may be named as a third tower hook response message, which is not described in detail herein.
It should be noted that the terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein.
As an example and not by way of limitation, the positioning module in the embodiment of the present application may use Ultra Wideband (UWB) technology, or may use WIFI ranging technology, and in the embodiment of the present application, the UWB positioning module or the WIFI positioning module may be selected according to the accuracy requirement, which is not limited herein.
102. The method comprises the steps of obtaining a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of a second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane.
Specifically, the control device obtains a first tower hook response message sent by the first tower hook positioning module, a second tower hook response message sent by the second tower hook positioning module, and a tower arm response message sent by the second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of the second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane.
It should be noted that, the tower hook positioning module (the first tower hook positioning module and the first tower hook positioning module) is disposed on the tower hook (i.e. the hook) of the corresponding tower crane, and the tower hook positioning module may send a tower hook response message to the tower arm positioning module. Each tower hook response message carries a time difference value between the time when the tower hook positioning module receives the first broadcast message and the time when the tower hook response message is sent.
It will be appreciated that in this embodiment, the first tower crane is provided with two positioning modules, one of which is mounted at the end of the tower arm of the first tower crane (i.e. the end of the tower arm of the first tower crane furthest from the tower crane control room), and the other of which is mounted on the tower hook of the first tower crane. Similarly, two positioning modules are arranged on the second tower crane, one positioning module is arranged at the tail end of the tower arm of the second tower crane, and the other positioning module is arranged on the tower hook of the second tower crane.
103. And measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measurement distances.
Specifically, the control device performs inter-module distance measurement according to the received multiple tower hook response messages, the tower arm response message and the first broadcast message, so as to obtain multiple measurement distances. Firstly, reading two processing moments of each carried tower hook positioning module through a plurality of tower hook response messages, wherein the two processing moments comprise a receiving moment for receiving a first broadcast message and a transmitting moment for transmitting a response first broadcast message, and calculating a moment difference value according to the two processing moments, namely the loss time length of the tower hook positioning module. The tower arm response message is obtained by broadcasting the second tower arm positioning module to the surrounding or responding to the first broadcasting message, and the tower arm response message also carries the distance to the tower hook positioning module, which has been measured by the second tower arm positioning module.
It should be noted that, in this embodiment, the distance measurement is performed on each positioning module in the tower crane by adopting the two-party triangulation technique, so as to improve the measurement accuracy.
104. Judging whether collision risks exist between the first tower crane and the second tower crane according to the measured distances.
The control equipment judges whether collision risks exist between the first tower crane and the second tower crane according to the measured distances. Specifically, the control device calculates the measurement distance between each positioning module by adopting a bidirectional flight time method formula, then calculates the angle parameters in the triangular measurement area formed by each three positioning modules according to the calculated measurement distances, so as to judge the states of the first tower crane and the second tower crane, determine whether the first tower crane and the second tower crane have a risk of collision, and if the first tower crane and the second tower crane have a risk, the control adjustment is needed, and then the operation is carried out, or the operation of the tower crane is stopped and the warning is carried out.
105. And if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane.
Specifically, if collision risk exists between the first tower crane and the second tower crane, the control equipment controls and adjusts the first tower crane and the second tower crane.
It should be noted that, in this embodiment, the distance and angle of the positioning module in the two tower cranes are calculated by using the two-party triangulation ranging, the real position of each tower crane is determined, whether the tower crane passes through or not is realized by a preset threshold value, meanwhile, data can be exchanged in the ranging process, and full-automatic management of the lifting of the tower crane can be realized.
According to the embodiment of the invention, the distance between the tower cranes is measured through the positioning module, so that the positioning accuracy between the tower cranes is improved, the flexibility of tower group construction is improved, the data transmission delay is reduced, the dangerous area is prejudged in advance, and the response speed and the safety of the tower group are improved.
Referring to fig. 2, another flowchart of a tower crane-based anti-collision operation method according to an embodiment of the present invention specifically includes:
201. and sending a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane.
Specifically, the control device sends a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane. The first tower arm positioning module adopts a polling broadcast and receiving mode to send a first broadcast message to the surrounding, and can also receive response messages sent by other positioning modules while sending the first broadcast message, wherein the response messages comprise tower arm response messages sent by the tower arm positioning module and tower hook response messages sent by the tower hook positioning module. For example, the tower arm response message sent by the second tower arm positioning module, for example, the first tower hook response message sent by the first tower hook positioning module, the second tower hook response message sent by the second tower hook positioning module, if the third tower hook positioning module exists, the response message sent by the third tower hook positioning module may be named as a third tower hook response message, which is not described in detail herein.
It should be noted that the terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein.
As an example and not by way of limitation, the positioning module in the embodiment of the present application may use Ultra Wideband (UWB) technology, or may use WIFI ranging technology, and in the embodiment of the present application, the UWB positioning module or the WIFI positioning module may be selected according to the accuracy requirement, which is not limited herein.
202. The method comprises the steps of obtaining a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of a second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane.
Specifically, the control device obtains a first tower hook response message sent by the first tower hook positioning module, a second tower hook response message sent by the second tower hook positioning module, and a tower arm response message sent by the second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of the second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane.
It should be noted that, the tower hook positioning module (the first tower hook positioning module and the first tower hook positioning module) is disposed on the tower hook (i.e. the hook) of the corresponding tower crane, and the tower hook positioning module may send a tower hook response message to the tower arm positioning module. Each tower hook response message carries a time difference value between the time when the tower hook positioning module receives the first broadcast message and the time when the tower hook response message is sent.
It will be appreciated that in this embodiment, the first tower crane is provided with two positioning modules, one of which is mounted at the end of the tower arm of the first tower crane (i.e. the end of the tower arm of the first tower crane furthest from the tower crane control room), and the other of which is mounted on the tower hook of the first tower crane. Similarly, two positioning modules are arranged on the second tower crane, one positioning module is arranged at the tail end of the tower arm of the second tower crane, and the other positioning module is arranged on the tower hook of the second tower crane.
203. The first transmission time is extracted from the first broadcast message.
Specifically, the control device extracts the first transmission time from the first broadcast message.
204. And determining a first tower inner distance according to the first sending time and the first tower hook response message, wherein the first tower inner distance is the distance between the first tower arm positioning module and the first tower hook positioning module.
Specifically, the control device records a first receiving time when the first tower hook response message is received, and extracts a first difference value from the first tower hook response message, wherein the first difference value is used for indicating a difference value between a time when the first tower hook positioning module receives the first broadcast message and a time when the first tower hook response message is sent; the control device determines a first tower inner distance between the first tower arm positioning module and the first tower hook positioning module according to the first sending time, the first receiving time and the first difference value.
For example, as shown in FIG. 3, a first tower arm positioning module A on a first tower crane 1 First tower hook positioning module B on first tower crane 1 The distance between them is a 1 The distance a 1 In the first column, fig. 3 is a schematic diagram only, and does not show strict proportional relationships and length relationships.
205. And determining a first tower-to-tower distance according to the first sending time and the second tower hook response message, wherein the first tower-to-tower distance is the distance between the first tower arm positioning module and the second tower hook positioning module.
Specifically, the control device records a second receiving time when the second tower hook response message is received, and extracts a second difference value from the second tower hook response message, where the second difference value is used to indicate a difference value between a time when the second tower hook positioning module receives the first broadcast message and a time when the second tower hook response message is sent; the control device determines a first inter-tower distance between the first tower arm positioning module and the second tower hook positioning module according to the first sending time, the second receiving time and the second difference value.
For example, as shown in FIG. 3, a first tower arm positioning module A on a first tower crane 1 Second tower hook positioning module B on second tower crane 2 The distance between them is a 2 The distance a 2 Is the first inter-tower distance. Fig. 3 is a schematic diagram only, and does not show strict proportional relationships and length relationships.
206. And determining a second inter-tower distance according to the first sending time and the tower arm response message, wherein the second inter-tower distance is the distance between the first tower arm positioning module and the second tower arm positioning module.
Specifically, the control device records a third receiving time when the tower arm response message is received, and extracts a third difference value from the tower arm response message, wherein the third difference value is used for indicating a difference value between the time when the first broadcast message is received by the second tower arm positioning module and the time when the tower arm response message is sent; and the control equipment determines a second tower-to-tower distance between the first tower arm positioning module and the second tower arm positioning module according to the first sending time, the third receiving time and the third difference value.
For example, as shown in FIG. 3, a first tower arm positioning module A on a first tower crane 1 Second tower arm positioning module A on second tower crane 2 The distance between the two towers is c, and the distance c is the distance between the two towers. Fig. 3 is a schematic diagram only, and does not show strict proportional relationships and length relationships.
207. And extracting a third inter-tower distance and a second intra-tower distance from the tower arm response message, wherein the third inter-tower distance is the distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance is the distance between the second tower arm positioning module and the second tower hook positioning module.
Specifically, the control device extracts a third inter-tower distance and a second intra-tower distance from the tower arm response message, the third inter-tower distance being a distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance being a distance between the second tower arm positioning module and the second tower hook positioning module.
For example, as shown in FIG. 3, a second tower arm positioning module A on a second tower crane 2 First tower hook positioning module B on first tower crane 1 The distance between them is b 2 The distance b 2 Is the third inter-tower distance; second tower arm positioning module A on second tower crane 2 Second tower hook positioning module B on second tower crane 2 The distance between them is b 1 The distance b 1 Is the second column inner distance. Fig. 3 is a schematic diagram only, and does not show strict proportional relationships and length relationships.
It can be understood that each tower arm response message or tower hook response message carries its own timestamp, and the purpose of two-way ranging is achieved by calculating the flight time of a broadcast signal (such as a pulse signal) between two modules. For example, s=c [ (Ta) can be calculated according to a preset formula 2 -Ta 1 )-(Tb 2 -Tb 1 )]Wherein C is the light speed, and a first tower arm positioning module A is calculated 1 And a second tower arm positioning module A 2 A measured distance between, wherein Ta 2 Positioning module A for first tower arm 1 Receive the first tower hook positioning module B 1 Ta of the first tower hook response message 1 Positioning module A for first tower arm 1 Time stamp of transmitting first broadcast message (i.e. first transmission time), tb 2 Positioning module B for first tower hook 1 Timestamp of sending first tower hook response message, tb 1 Positioning module B for first tower hook 1 Receive the first tower arm positioning module A 1 Timestamp of when the first broadcast message was sent.
208. The first intra-tower distance, the second intra-tower distance, the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance are combined into a plurality of measured distances.
Specifically, the control device combines the first intra-tower distance, the second intra-tower distance, the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance into a plurality of measured distances.
209. And determining a triangular measurement area of the first tower crane according to the plurality of measurement distances and determining angle parameters corresponding to the triangular measurement area.
Specifically, the control device determines a first intra-tower distance, a second inter-tower distance, and a third inter-tower distance among the plurality of measured distances as a first side length, a second side length, and a third side length; the control equipment forms a triangle measurement area of the first tower crane based on the first side length, the second side length and the third side length; and the control equipment calculates the size of each angle in the triangle measurement area according to the first side length, the second side length and the third side length to obtain corresponding angle parameters.
For example, as shown in FIG. 3, a first tower arm positioning module A 1 Second tower arm positioning module A 2 And a first tower hook positioning module B 1 Forming a triangular measuring area of the first tower crane, and then calculating the degrees of each included angle according to the cosine law, e.g. angle B 1 A 1 A 2 And +. 1 A 2 B 2 In the triangular measuring area DeltaB of the first tower crane 1 A 1 A 2 Will be less than B 1 A 1 A 2 Recorded as theta 1 Will be less than A 1 B 1 A 2 Recorded as theta 2 Will be less than A 1 A 2 B 1 Recorded as θ.
210. Judging whether collision risks exist between the first tower crane and the second tower crane according to the angle parameters.
Specifically, the control device judges whether the first tower crane and the second tower crane are at the same height; if the first tower crane and the second tower crane are at the same height, the control equipment judges whether the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value, the control equipment determines that the first tower crane and the second tower crane have no collision risk; if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is smaller than or equal to the threshold value, the control equipment determines that the first tower crane and the second tower crane have collision risk; if the first tower crane and the second tower crane are not at the same height, the control equipment judges whether the first side length, the second side length and the third side length in the triangle measurement area meet a first preset condition or not, and judges whether a first included angle, a second included angle and a third included angle in the angle parameters meet a second preset condition or not; if the first preset condition and the second preset condition are met at the same time, the control equipment determines that the first tower crane and the second tower crane have no collision risk; if the first preset condition is not met or the second preset condition is not met, the control equipment determines that the first tower crane and the second tower crane have collision risk.
For example, as shown in fig. 3, the control device determines whether the second tower crane is at risk of collision with the first tower crane by, for example, calculating the degree of each included angle in the triangular measurement area of the first tower crane, for example,
Figure BDA0003316359210000111
the first preset condition is: b 2 2 ＞a 1 2 +c 2 The second preset condition is: θ 1 ＞θ+θ 2 When the first preset condition and the second preset condition are met at the same time, it can be judged that the collision risk does not exist between the second tower crane and the first tower crane.
211. And if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane.
Specifically, when the first tower crane and the second tower crane are at the same height and the second tower crane stops moving, the control terminal controls the first tower crane to rotate; when the first tower crane and the second tower crane are at the same height and the second tower crane does not stop moving, the control terminal adjusts the tower hook height and the rotation rate of the first tower crane and the tower hook height and the rotation rate of the second tower crane; when the first tower crane and the second tower crane are at different heights, the control terminal adjusts the height of the tower hook of the first tower crane to a preset height, so that the first tower crane and the second tower crane do not collide.
It can be appreciated that the embodiment may be applied to different scenarios, for example, a scenario in which two tower cranes are in the same height range, or a scenario in which two tower cranes are at different heights and in a hoisting state, or a scenario in which three or a single tower crane stops running, and other tower cranes pass through the scenario.
Optionally, after adjustment is completed, the data may be reported to the central control system for backup and secondary monitoring, which is not limited herein.
According to the embodiment of the invention, the distance between the tower cranes is measured through the positioning module, so that the positioning accuracy between the tower cranes is improved, the flexibility of tower group construction is improved, the data transmission delay is reduced, the dangerous area is prejudged in advance, and the response speed and the safety of the tower group are improved.
The anti-collision operation method based on the tower crane in the embodiment of the present invention is described above, and the anti-collision operation device based on the tower crane in the embodiment of the present invention is described below, referring to fig. 4, and one embodiment of the anti-collision operation device based on the tower crane in the embodiment of the present invention includes:
a message sending unit 401, configured to send a first broadcast message through a first tower arm positioning module, where the first tower arm positioning module is disposed at a tower arm end of a first tower crane;
the message obtaining unit 402 is configured to obtain a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module, and a tower arm response message sent by a second tower arm positioning module, where the second tower arm positioning module is disposed at a tower arm end of a second tower crane, the first tower hook positioning module is disposed on a tower hook of the first tower crane, and the second tower hook positioning module is disposed on a tower hook of the second tower crane;
A distance measurement unit 403, configured to measure distances between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message, and the tower arm response message, so as to obtain a plurality of measured distances;
a risk judging unit 404, configured to judge whether a collision risk exists between the first tower crane and the second tower crane according to the plurality of measured distances;
and the tower crane control unit 405 is configured to control and adjust the first tower crane and the second tower crane if there is a collision risk between the first tower crane and the second tower crane.
According to the embodiment of the invention, the distance between the tower cranes is measured through the positioning module, so that the positioning accuracy between the tower cranes is improved, the flexibility of tower group construction is improved, the data transmission delay is reduced, the dangerous area is prejudged in advance, and the response speed and the safety of the tower group are improved.
Referring to fig. 5, another embodiment of a tower crane-based anti-collision device according to an embodiment of the present invention includes:
a message sending unit 401, configured to send a first broadcast message through a first tower arm positioning module, where the first tower arm positioning module is disposed at a tower arm end of a first tower crane;
The message obtaining unit 402 is configured to obtain a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module, and a tower arm response message sent by a second tower arm positioning module, where the second tower arm positioning module is disposed at a tower arm end of a second tower crane, the first tower hook positioning module is disposed on a tower hook of the first tower crane, and the second tower hook positioning module is disposed on a tower hook of the second tower crane;
a distance measurement unit 403, configured to measure distances between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message, and the tower arm response message, so as to obtain a plurality of measured distances;
a risk judging unit 404, configured to judge whether a collision risk exists between the first tower crane and the second tower crane according to the plurality of measured distances;
and the tower crane control unit 405 is configured to control and adjust the first tower crane and the second tower crane if there is a collision risk between the first tower crane and the second tower crane.
In one possible embodiment, the distance measurement unit 403 includes:
A first extraction subunit 4031, configured to extract a first sending time from the first broadcast message;
a first determining subunit 4032, configured to determine a first intra-tower distance according to the first sending time and the first tower hook response message, where the first intra-tower distance is a distance between the first tower arm positioning module and the first tower hook positioning module;
a second determining subunit 4033, configured to determine a first inter-tower distance according to the first sending time and the second tower hook response message, where the first inter-tower distance is a distance between the first tower arm positioning module and the second tower hook positioning module;
a third determining subunit 4034, configured to determine a second inter-tower distance according to the first sending time and the tower arm response message, where the second inter-tower distance is a distance between the first tower arm positioning module and the second tower arm positioning module;
a second extracting subunit 4035, configured to extract a third inter-tower distance and a second intra-tower distance from the tower arm response message, where the third inter-tower distance is a distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance is a distance between the second tower arm positioning module and the second tower hook positioning module;
A combining subunit 4036 configured to combine the first intra-tower distance, the second intra-tower distance, the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance into a plurality of measured distances.
In one possible implementation, the first determining subunit 4032 is specifically configured to:
recording a first receiving time of the first tower hook response message, and extracting a first difference value from the first tower hook response message, wherein the first difference value is used for indicating a difference value between the time of the first tower hook positioning module receiving the first broadcast message and the time of sending the first tower hook response message; and determining a first tower inner distance between the first tower arm positioning module and the first tower hook positioning module according to the first sending moment, the first receiving moment and the first difference value.
In one possible embodiment, the second determining subunit 4033 is specifically configured to:
recording a second receiving time of the second tower hook response message, and extracting a second difference value from the second tower hook response message, wherein the second difference value is used for indicating a difference value between the time of the second tower hook positioning module receiving the first broadcast message and the time of sending the second tower hook response message; and determining a first tower-to-tower distance between the first tower arm positioning module and the second tower hook positioning module according to the first sending moment, the second receiving moment and the second difference value.
In one possible embodiment, the third determining subunit 4034 is specifically configured to:
recording a third receiving time when the tower arm response message is received, and extracting a third difference value from the tower arm response message, wherein the third difference value is used for indicating a difference value between the time when the first broadcast message is received by the second tower arm positioning module and the time when the tower arm response message is sent;
and determining a second tower-to-tower distance between the first tower arm positioning module and the second tower arm positioning module according to the first sending time, the third receiving time and the third difference value.
Optionally, the risk judging unit 404 includes:
an angle determining subunit 4041, configured to determine a triangle measurement area of the first tower crane according to the plurality of measurement distances and determine an angle parameter corresponding to the triangle measurement area;
and a risk determination subunit 4042, configured to determine whether a collision risk exists between the first tower crane and the second tower crane according to the angle parameter.
Optionally, the angle determining subunit 4041 is specifically configured to:
determining the first intra-tower distance, the second inter-tower distance, and the third inter-tower distance of the plurality of measured distances as a first side length, a second side length, and a third side length;
Forming a triangular measurement area of the first tower crane based on the first side length, the second side length and the third side length;
and calculating the size of each angle in the triangle measurement area according to the first side length, the second side length and the third side length to obtain corresponding angle parameters.
Optionally, the risk determination subunit 4042 is specifically configured to:
judging whether the first tower crane and the second tower crane are at the same height;
if the first tower crane and the second tower crane are at the same height, judging whether the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value;
if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value, determining that the first tower crane and the second tower crane have no collision risk;
if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is smaller than or equal to a threshold value, determining that collision risk exists between the first tower crane and the second tower crane;
if the first tower crane and the second tower crane are not at the same height, judging whether the first side length, the second side length and the third side length in the triangle measurement area meet a first preset condition, and judging whether the first included angle, the second included angle and the third included angle in the angle parameters meet a second preset condition;
If the first preset condition and the second preset condition are met at the same time, determining that the first tower crane and the second tower crane have no collision risk;
and if the first preset condition is not met or the second preset condition is not met, determining that collision risk exists between the first tower crane and the second tower crane.
Optionally, the tower crane control unit 405 is specifically configured to:
when the first tower crane and the second tower crane are at the same height and the second tower crane stops moving, controlling the first tower crane to rotate;
when the first tower crane and the second tower crane are at the same height and the second tower crane does not stop moving, adjusting the tower hook height and the rotation rate of the first tower crane and the tower hook height and the rotation rate of the second tower crane;
when the first tower crane and the second tower crane are at different heights, the height of the tower hook of the first tower crane is adjusted to a preset height.
According to the embodiment of the invention, the distance between the tower cranes is measured through the positioning module, so that the positioning accuracy between the tower cranes is improved, the flexibility of tower group construction is improved, the data transmission delay is reduced, the dangerous area is prejudged in advance, and the response speed and the safety of the tower group are improved.
Fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present invention, where the control device 600 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) storing application programs 633 or data 632. Wherein the memory 620 and the storage medium 630 may be transitory or persistent storage. The program stored in the storage medium 630 may include one or more modules (not shown), each of which may include a series of instruction operations in the control device 600. Still further, the processor 610 may be configured to communicate with the storage medium 630 and execute a series of instruction operations in the storage medium 630 on the control device 600.
The control device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input/output interfaces 660, and/or one or more operating devices 631, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the control device structure shown in fig. 6 is not limiting of the control device and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
The invention also provides a computer readable storage medium, which can be a nonvolatile computer readable storage medium, and can also be a volatile computer readable storage medium, wherein the computer readable storage medium stores instructions which when run on a computer cause the computer to execute the steps of the tower crane-based anti-collision operation method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (12)

1. The anti-collision operation method based on the tower crane is characterized by comprising the following steps of:
a first broadcast message is sent through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of a first tower crane;
acquiring a first tower hook response message sent by a first tower hook positioning module, a second tower hook response message sent by a second tower hook positioning module and a tower arm response message sent by a second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of a second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane;
measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measurement distances;
judging whether collision risks exist between the first tower crane and the second tower crane according to the measured distances;
and if collision risk exists between the first tower crane and the second tower crane, controlling and adjusting the first tower crane and the second tower crane.
2. The tower crane-based anti-collision operation method according to claim 1, wherein the measuring distances between the positioning modules according to the first broadcast message, the first tower hook response message, the second tower hook response message, and the tower arm response message to obtain a plurality of measured distances includes:
extracting a first sending time from the first broadcast message;
determining a first tower inner distance according to the first sending time and the first tower hook response message, wherein the first tower inner distance is the distance between the first tower arm positioning module and the first tower hook positioning module;
determining a first inter-tower distance according to the first sending time and the second tower hook response message, wherein the first inter-tower distance is the distance between the first tower arm positioning module and the second tower hook positioning module;
determining a second inter-tower distance according to the first sending time and the tower arm response message, wherein the second inter-tower distance is the distance between the first tower arm positioning module and the second tower arm positioning module;
extracting a third inter-tower distance and a second intra-tower distance from the tower arm response message, wherein the third inter-tower distance is the distance between the second tower arm positioning module and the first tower hook positioning module, and the second intra-tower distance is the distance between the second tower arm positioning module and the second tower hook positioning module;
And combining the first inter-tower distance, the second inter-tower distance, and the third inter-tower distance into a plurality of measured distances.
3. The tower crane-based anti-collision operation method according to claim 2, wherein the determining a first tower inner distance according to the first transmission time and the first tower hook response message comprises:
recording a first receiving time of the first tower hook response message, and extracting a first difference value from the first tower hook response message, wherein the first difference value is used for indicating a difference value between the time of the first tower hook positioning module receiving the first broadcast message and the time of sending the first tower hook response message;
and determining a first tower inner distance between the first tower arm positioning module and the first tower hook positioning module according to the first sending moment, the first receiving moment and the first difference value.
4. The tower crane-based anti-collision operation method according to claim 2, wherein the determining a first inter-tower distance according to the first transmission time and the second tower hook response message comprises:
Recording a second receiving time of the second tower hook response message, and extracting a second difference value from the second tower hook response message, wherein the second difference value is used for indicating a difference value between the time of the second tower hook positioning module receiving the first broadcast message and the time of sending the second tower hook response message;
and determining a first tower-to-tower distance between the first tower arm positioning module and the second tower hook positioning module according to the first sending moment, the second receiving moment and the second difference value.
5. The tower crane-based anti-collision operation method according to claim 2, wherein the determining a second inter-tower distance according to the first transmission time and the tower arm response message comprises:
recording a third receiving time when the tower arm response message is received, and extracting a third difference value from the tower arm response message, wherein the third difference value is used for indicating a difference value between the time when the first broadcast message is received by the second tower arm positioning module and the time when the tower arm response message is sent;
and determining a second tower-to-tower distance between the first tower arm positioning module and the second tower arm positioning module according to the first sending time, the third receiving time and the third difference value.
6. The tower crane-based anti-collision operation method according to claim 2, wherein the determining whether the first tower crane and the second tower crane have collision risk according to the plurality of measured distances comprises:
determining a triangular measurement area of the first tower crane according to the plurality of measurement distances and determining an angle parameter corresponding to the triangular measurement area;
judging whether collision risks exist between the first tower crane and the second tower crane according to the angle parameters.
7. The tower crane-based anti-collision operation method according to claim 6, wherein the determining a triangular measurement area of the first tower crane according to the plurality of measurement distances and determining an angle parameter corresponding to the triangular measurement area includes:
determining the first intra-tower distance, the second inter-tower distance, and the third inter-tower distance of the plurality of measured distances as a first side length, a second side length, and a third side length;
forming a triangular measurement area of the first tower crane based on the first side length, the second side length and the third side length;
and calculating the size of each angle in the triangle measurement area according to the first side length, the second side length and the third side length to obtain corresponding angle parameters.
8. The tower crane-based anti-collision operation method according to claim 7, wherein the determining whether the first tower crane and the second tower crane have collision risk according to the angle parameter comprises:
judging whether the first tower crane and the second tower crane are at the same height;
if the first tower crane and the second tower crane are at the same height, judging whether the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value;
if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is greater than a threshold value, determining that the first tower crane and the second tower crane have no collision risk;
if the distance between the tower arm of the first tower crane and the tower arm of the second tower crane is smaller than or equal to a threshold value, determining that collision risk exists between the first tower crane and the second tower crane;
if the first tower crane and the second tower crane are not at the same height, judging whether the first side length, the second side length and the third side length in the triangle measurement area meet a first preset condition, and judging whether the first included angle, the second included angle and the third included angle in the angle parameters meet a second preset condition;
If the first preset condition and the second preset condition are met at the same time, determining that the first tower crane and the second tower crane have no collision risk;
and if the first preset condition is not met or the second preset condition is not met, determining that collision risk exists between the first tower crane and the second tower crane.
9. The tower crane-based anti-collision work method according to any one of claims 1 to 8, wherein said performing control adjustment of the first tower crane and the second tower crane comprises:
when the first tower crane and the second tower crane are at the same height and the second tower crane stops moving, controlling the first tower crane to rotate;
when the first tower crane and the second tower crane are at the same height and the second tower crane does not stop moving, adjusting the tower hook height and the rotation rate of the first tower crane and the tower hook height and the rotation rate of the second tower crane;
when the first tower crane and the second tower crane are at different heights, the height of the tower hook of the first tower crane is adjusted to a preset height.
10. Anti-collision operation device based on tower crane, characterized by comprising:
The information sending unit is used for sending a first broadcast message through a first tower arm positioning module, wherein the first tower arm positioning module is arranged at the tail end of a tower arm of the first tower crane;
the information acquisition unit is used for acquiring a first tower hook response message sent by the first tower hook positioning module, a second tower hook response message sent by the second tower hook positioning module and a tower arm response message sent by the second tower arm positioning module, wherein the second tower arm positioning module is arranged at the tail end of a tower arm of the second tower crane, the first tower hook positioning module is arranged on a tower hook of the first tower crane, and the second tower hook positioning module is arranged on a tower hook of the second tower crane;
the distance measuring unit is used for measuring the distance between each positioning module according to the first broadcast message, the first tower hook response message, the second tower hook response message and the tower arm response message to obtain a plurality of measured distances;
the risk judging unit is used for judging whether collision risks exist between the first tower crane and the second tower crane according to the plurality of measured distances;
and the tower crane control unit is used for controlling and adjusting the first tower crane and the second tower crane if collision risk exists between the first tower crane and the second tower crane.
11. A control apparatus, characterized in that the control apparatus comprises: a memory and at least one processor, the memory having instructions stored therein, the memory and the at least one processor being interconnected by a line;
the at least one processor invoking the instructions in the memory to cause the control device to perform the tower crane based anti-collision job method of any of claims 1-9.
12. A computer readable storage medium storing instructions which when executed by a processor implement the tower crane based anti-collision method of any one of claims 1 to 9.
CN202111232026.5A 2021-10-22 2021-10-22 Anti-collision operation method, device, control equipment and storage medium based on tower crane Pending CN116002536A (en)

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