CN116177427A - Anti-toppling control method, system and storage medium for tower crane - Google Patents

Abstract

The application discloses a tower crane anti-toppling control method, a system and a storage medium. The anti-toppling control method of the tower crane comprises the following steps: s1, in hoisting operation, acquiring an operation dip angle data set, wherein the operation dip angle data set comprises operation dip angle data of a plurality of different height positions on a tower body of a tower crane; s2, comparing the size relation between the operation dip angle data set and the test dip angle data set; the test inclination angle data set is inclination angle data of the plurality of different height positions when the tower crane is in the rated load and the idle load under the test condition. And S3, when at least one operation inclination angle data is larger than the maximum test inclination angle data, sending out an alarm indication. After the scheme of the application is implemented, anti-toppling early warning and limitation suitable for specific operation conditions can be provided outside the original operation standard of the tower crane, so that a driver can more sharply perceive or earlier perceive the toppling hazard, and the operation accords with the safety strategy more.

Description

Anti-toppling control method, system and storage medium for tower crane

Technical Field

The application relates to the technical field of tower cranes, in particular to a method, a system and a storage medium for controlling anti-toppling of a tower crane.

Background

In the fields of industry, production, construction and the like, a tower crane (tower crane) is often required to be used in high-altitude operation, and the tower crane is a rotary crane with a movable arm arranged at the upper part of a high-rise tower body, so that the working range is large, and the tower crane is mainly used for vertical transportation of materials and component installation in the multi-layer, high-rise building and high-altitude hoisting processes. The device mainly comprises three parts of a metal structure, a working mechanism and an electric system, wherein the metal structure comprises a base, a tower body (standard section), a suspension arm, a counterweight arm (bearing the counterweight), a lifting hook, a jacking mechanism, a cab, an attachment rod and the like; the working mechanism comprises four parts of lifting, amplitude changing, rotation and walking; the electric system comprises a motor, a controller, a power distribution frame, a connecting line, a signal and lighting device and the like.

Because the working position of the tower crane is high, variable amplitude, rotatable and liftable, certain safety risks exist during operation, generally, when the installation is completed before the tower crane leaves a factory or is put into use, the basic safety and performance requirements are checked and confirmed, and the basic safety and performance requirements are correspondingly embodied on corresponding control configuration of the tower crane and in corresponding operation specifications and product specifications. However, in the actual use process, the crane performance of the tower crane varies along with the perpendicularity between the foundation (where the tower body is installed) and the standard section (where the tower body is formed), the temperature, the humidity and the wind speed around the work, which means that the crane performance of the tower crane cannot reach the preset performance under many working conditions.

For example: when the wind speed reaches a certain degree, the wind speed exceeds the wind speed required by the lifting performance of the tower crane, so that the tower crane cannot bear the wind speed and cannot work normally. However, the detection equipment is used for detecting the change of the working environment of the tower crane, the acquired data cannot be well matched with the data required by the lifting performance of the tower crane, the detected data easily show that the tower crane works without danger, but the tower crane is in practice inclined, collapsed and tilted, so that the danger coefficient in the working process of the tower crane is relatively large, and the safety performance is relatively low.

Particularly, the method is applied to occasions with severe conditions, for example, with the continuous increase of large buildings and high-rise buildings, the installation position and the use position of the tower crane are also increased, and the high-altitude wind speed is easy to be too high, so that the wind load borne by the tower crane is also larger. According to the operation standard of the tower crane, when the wind speed is too high, the hoisting operation of the tower crane is forbidden, but when the wind speed is too high, the actual operation suddenly starts with strong wind, and the tower crane can be stopped after continuing to operate until a hoisted object is placed in a safe position. If the instantaneous wind speed is too high, the weight of the suspended matter is too light or no-load, if the suspension arm is just in the windward direction, the wind load is larger than the dead weight of the suspension arm, and even if the operation amplitude moves forwards, the amplitude can not move due to the excessive horizontal wind load. If the driver does not find the condition that the instantaneous wind speed is too high, the amplitude is still operated to move forwards, the hidden danger of amplitude winch idling exists, and the suspension arm can be caused to suddenly drop down, so that safety accidents are caused.

In view of the above-mentioned drawbacks and shortcomings, there is a need for technical improvements and solutions by those skilled in the art.

Disclosure of Invention

In view of the foregoing, the embodiments of the present application are directed to providing a method, a system and a storage medium for controlling anti-toppling of a tower crane, which can provide anti-toppling early warning and limitation applicable to specific operation conditions outside the original operation specification of the tower crane, so that a driver can more sharply perceive or earlier perceive the risk of toppling, and further, the operation is more in accordance with a safety policy.

In a first aspect, an anti-toppling control method for a tower crane provided in an embodiment of the present application includes the steps of: s1, in hoisting operation, acquiring an operation dip angle data set, wherein the operation dip angle data set comprises operation dip angle data of a plurality of different height positions on a tower body of a tower crane; s2, comparing the size relation between the operation dip angle data set and the test dip angle data set; the test inclination angle data set is inclination angle data of the plurality of different height positions when the tower crane is in the rated load and the idle load under the test condition. And S3, when at least one operation inclination angle data is larger than the maximum test inclination angle data, sending out an alarm indication.

Further, step S3 further includes: and limiting the load increasing operation of the tower crane when each operation dip angle data is smaller than the maximum test dip angle data and larger than a preset value.

Further, the predetermined value is the second or third largest test tilt data in the test tilt data set.

Further, the method further comprises the step between step S1 and step S2 of: and judging whether the current hoisting operation is in an idle state or not, if not, turning to the step S2, and if so, ending.

Further, the load increasing operation includes at least one of: the lifting hook descends, the lifting hook rises, the lifting arm rises, and the lifting arm rotates.

Further, the plurality of different height positions includes a first position at a lower middle portion of the tower body and a second position at an upper middle portion of the tower body.

Further, the first position is located at the top end of the first section of the tower body, the second position is located at the top end of the tower body, and the plurality of different height positions further include a third position located between the middle part of the tower body and the first position.

In a second aspect, an anti-toppling control system for a tower crane provided by an embodiment of the present application includes a controller and a tower body inclination sensor group, where the tower body inclination sensor group includes at least a first inclination sensor disposed at a middle lower portion of a tower body of the tower crane and a second inclination sensor disposed at a middle upper portion of the tower body; the controller is used for acquiring and storing a test inclination angle data set, wherein the test inclination angle data set is inclination angle data detected by the tower body inclination angle sensor group when the tower crane is in an excessive load or no load under a test condition; the controller is also used for acquiring an operation dip angle data set in hoisting operation, comparing the size relation between the operation dip angle data set and the test dip angle data set, and sending out an alarm indication when at least one operation dip angle data is larger than the maximum test dip angle data; the operation dip angle data set is operation dip angle data detected by the tower body dip angle sensing set.

Further, the controller may further include limiting the load boosting operation of the tower crane when each of the operational tilt angle data is less than the maximum test tilt angle data but greater than a predetermined value.

In a third aspect, an embodiment of the present application provides a computer storage medium having a computer program stored thereon, where the computer program when executed by a processor implements a method according to any of the preceding claims, or implements a function according to a controller in any of the preceding systems.

After the technical scheme of each embodiment of the application is adopted, the test inclination angle data set can be obtained in advance, namely under the test condition (corresponding to the non-severe normal working condition of the tower crane), the inclination angle data of the corresponding multiple positions in the two states of the rated load and the idle load of the tower crane are obtained through the multiple (at least two) inclination angle sensors on the tower crane, in hoisting operation, the operation inclination angle data set can be obtained in real time, the operation inclination angle data set and the test inclination angle data set are compared to determine the size relationship, when at least one operation inclination angle data is larger than the maximum test inclination angle data, an alarm instruction is sent, and an on-site operator, especially a driver, can timely obtain an alarm prompt.

Drawings

Fig. 1 is a schematic flow chart of a method for controlling anti-toppling of a tower crane according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an installation structure of one implementation of a tower tilt sensor according to an embodiment of the present application;

FIG. 3 is a schematic view of an installation structure of another implementation of a tower tilt sensor according to an embodiment of the present application;

fig. 4 is a block diagram of a controller in a tower crane anti-toppling control system according to an embodiment of the present application.

Reference numerals:

1 tower body

2 suspension arm

11 first inclination sensor

12 second inclination sensor

13 third tilt sensor

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, based on the embodiments herein, which a person of ordinary skill in the art would obtain without undue burden from the person of ordinary skill in the art, are within the scope of protection of the present application. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be arbitrarily combined with each other.

The following description refers to fig. 1, 2, 3 and 4 at the same time. Considering that the embodiment of the application provides a method, namely a tower crane anti-toppling control method and a product, namely a tower crane anti-toppling control system, for easy understanding and description, the following description is inserted as required.

Referring to fig. 1, the method for controlling anti-toppling of a tower crane according to the embodiment of the present application may include:

step one, in hoisting operation, an operation inclination angle data set is obtained, wherein the operation inclination angle data set comprises operation inclination angle data of a plurality of different height positions on a tower body 1 of the tower crane. Specifically, corresponding to S101 and S102 in fig. 1, after the tower crane starts the hoisting operation, the tilt angle sensor group on the tower body 1, that is, the tower body tilt angle data detected by the sensors located at a plurality of different height positions on the tower body 1, is obtained in real time.

Judging whether the current hoisting operation is in an idle state or not, if not, turning to the next step, and if yes, ending. Specifically, corresponding to S103 in fig. 1, the hoisting operation is not loaded, if no load is applied, the risk is generally small (unless the external wind power is large enough), no intervention is required, the side turning risk is not required to be additionally prompted, and the driver can normally operate according to the original operation specification of the tower crane.

Step three, comparing the size relation between the operation dip angle data set and the test dip angle data set; the test inclination angle data set is inclination angle data of a plurality of different height positions when the tower crane is in the rated load and the idle load under the test condition. Specifically, corresponding to S104, S201, S202 and S203 in fig. 1, a set of tilt sensor groups may be set on the tower body 1 of the tower crane before the hoisting operation of the tower crane, where the tilt sensor groups include a plurality of tilt sensors located at a plurality of different heights, and then under test conditions (i.e. corresponding to a normal working environment, without severe weather such as strong wind, etc.), tilt data (forming test tilt data groups) of each tilt sensor in two states of overload and no load of the tower crane are collected respectively and stored in a database, so as to facilitate subsequent use; in this step, the test inclination angle data set can be called and compared with the operation inclination angle data set obtained by implementation to determine the size relationship.

Step four, when at least one operation dip angle data is larger than the maximum test dip angle data, sending out an alarm indication; and limiting the load increasing operation of the tower crane when each operation dip angle data is smaller than the maximum test dip angle data and larger than a preset value. Specifically, corresponding to S105 and S106 in fig. 1, if the two sets of data are compared, when at least one of the operation inclination data is greater than the maximum test inclination data in the test inclination data set, it indicates that the roll amplitude is greater, that is, greater than the roll amplitude in the normal condition, so that there is a risk of roll, and therefore, an alarm instruction needs to be sent to enable the external alarm to operate, so that a driver or a field operator can learn the roll and further release the load as soon as possible; if all the working inclination data are not larger than the maximum test inclination data, but are not particularly small, for example, if at least one working inclination data is larger than a preset value (the value can be preset in advance according to the requirement), no alarm is needed, but the load increasing operation can be limited, for example, the lifting hook is only allowed to ascend, the lifting hook is not allowed to ascend, namely, the lifting hook is allowed to run forwards (as the gravity center is more forward, the side turning risk is higher), or the lifting hook is not allowed to descend, and the lifting hook is only allowed to run backwards. In specific implementation, the load increasing operation may mainly be directed to the action of the hook or the boom 2, that is, may include at least one of the following: the lifting hook descends, the lifting hook rises, the lifting arm rises, and the lifting arm rotates.

The tower crane anti-toppling control system provided by the embodiment of the application can comprise a controller and a tower body inclination sensor group, wherein the tower body inclination sensor group at least comprises a first inclination sensor 1 arranged at the middle lower part of a tower body 1 of the tower crane and a second inclination sensor 2 arranged at the middle upper part of the tower body.

The controller can comprise an acquisition unit, a first judgment unit, a second judgment unit, a storage unit, an alarm unit and a load increase limiting unit which are connected, wherein the acquisition unit is used for testing the dip angle data set and acquiring the operation dip angle data set in real time, and the storage unit is used for storing the test dip angle data set; the first judging unit is used for judging whether the current hoisting operation is in an idle state, if yes, ending, if not, further acting by the second judging unit, wherein the second judging unit is used for comparing the size relation between the operation inclination angle data set and the test inclination angle data set, and the alarm unit is used for sending an alarm instruction when at least one operation inclination angle data is larger than the maximum test inclination angle data; the load increase limiting unit is used for limiting the load increase operation of the tower crane when each operation dip angle data is smaller than the maximum test dip angle data and larger than a preset value.

In particular, the predetermined value may be set, for example, the second or third largest test tilt data in the test tilt data set. In addition, the tower inclination sensor group may further include a third inclination sensor 13 disposed on the tower between the first inclination sensor 11 and the second inclination sensor 12. Further, a first tilt sensor 11 is located at the top of the first section of the tower 1, a second tilt sensor 12 is located at the top of the tower 1, and a third tilt sensor 13 is located between the middle of the tower and the first tilt sensor (e.g. on the third section of the tower 1).

For a better understanding of the tower anti-toppling control method and system of the foregoing embodiments, the following description is given by way of example and with reference to specific conditions and fig. 2:

firstly, an inclination sensor group is deployed, an inclination sensor A is installed at the furthest point (the top end of the first section) of the tower body 1, an inclination sensor B is installed at the third section of the tower body 1, and a sensor C is installed at the tail end (the top end of the tower body) of the tower body.

And then respectively acquiring inclination angle data of the tower body 1 of the tower crane corresponding to a plurality of positions when the lifting hook is at the lowest point LOW and the highest point HIGH in the LOAD and no-LOAD of the tower crane, and establishing corresponding database information in a controller: LOAD { a (LOW, HIGH), B (LOW, HIGH), C (LOW, HIGH) }, no-LOAD { a (LOW, HIGH), B (LOW, HIGH), C (LOW, HIGH) }. As can be easily derived, load_a_low is the tilt angle maximum point; no-load_c_high is the dip minimum point. The inclination angle is from big to small: load_a_low > load_a_high > load_b_low > load_b_high > load_c_low > load_c_high > no-load_a_low > no-load_a_high > no-load_b_low > no-load_b_high > no-load_c_low > no-load_c_high.

When the operation is started, the sensors detect the data of the three tilt angle sensors A, B and C in real time, the controller acquires the tilt angle data of the operation in time, and simultaneously compares the tilt angle data with the 12 groups of data (test tilt angle data groups), no load is given out, the alarm can be determined before the comparison, and the alarm or the control intervention is carried out when the load is carried out. When load_b_low occurs, the hook is allowed to rise, but is not allowed to run forward (the more forward, the more forward the center of gravity, the more dangerous); when load_a_high occurs, the hook is not allowed to descend, but is allowed to travel back only. When LOAD_A_LOW occurs, an immediate alarm is given, requiring LOAD shedding, thereby preventing a rollover event.

According to the technical scheme, the test inclination angle data set can be obtained in advance, namely under the test condition, inclination angle data of corresponding multiple positions in the load state and the idle state of the tower crane are obtained through the multiple (at least two) inclination angle sensors on the tower crane, in the hoisting operation, the operation inclination angle data set can be obtained in real time, the operation data set and the test inclination angle data set are compared to determine the size relation, when at least one operation inclination angle data is larger than the maximum test inclination angle data, an alarm indication is sent out, and on-site operation personnel, especially drivers, can obtain alarm prompts in time.

In specific implementation, the controller 4 may be a control unit formed by constructing a PLC (Programmable Logic Controller ), a soft PLC or a single chip microcomputer, and is externally connected with each detector through a corresponding I/O, and is connected with each controlled object through a corresponding output driving circuit, and logic execution of the control unit may be implemented by configuring a corresponding program or code.

It should be noted that, in the embodiment of the method described above, the second step may be omitted or put into the step after comparing the size relationship between the operation inclination angle data set and the test inclination angle data set, and the load increase operation is not required to be alerted or limited according to the idle load judgment result. In addition, when each of the work inclination data is smaller than a predetermined value, no intervention may be performed.

The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, and which, when being executed by a processor, is capable of implementing the method described in the previous embodiment or the function implemented by the controller in the previous system. Since the methods and functions described in the foregoing embodiments have the foregoing technical effects, the computer storage medium also has corresponding technical effects, which are not described herein.

It should be noted that, in the description of the present application and the embodiments thereof, the azimuth or positional relationship indicated by the terms "top", "bottom", "height", etc. are general expressions based on the azimuth or positional relationship shown in the drawings or actual field conditions, which are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.

In this application and in its embodiments, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly as they exist, e.g., as either a fixed connection, a removable connection, or as a unit, unless otherwise specifically defined and limited; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application and in the examples which follow, unless expressly stated and limited otherwise, a first feature being "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact by another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the present application. The components and arrangements of specific examples are described above in order to simplify the disclosure of this application. Of course, they are merely examples and are not intended to limit the present application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not in themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize the application of other processes and/or the use of other materials.

It should be noted that the computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

Additionally, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Additionally, program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

In addition, computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present application and are more fully described herein with reference to certain specific embodiments thereof, it being understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, alternatives, and improvements made within the spirit and principles of the present application.

Claims (10)

1. The anti-toppling control method for the tower crane is characterized by comprising the following steps of:

s1, in hoisting operation, acquiring an operation dip angle data set, wherein the operation dip angle data set comprises operation dip angle data of a plurality of different height positions on a tower body of a tower crane;

s2, comparing the size relation between the operation dip angle data set and the test dip angle data set; the test inclination angle data set is inclination angle data of the plurality of different height positions when the tower crane is in the rated load and the idle load under the test condition.

And S3, when at least one operation inclination angle data is larger than the maximum test inclination angle data, sending out an alarm indication.

2. The tower crane anti-toppling control method according to claim 1, wherein step S3 further comprises: and limiting the load increasing operation of the tower crane when each operation dip angle data is smaller than the maximum test dip angle data and larger than a preset value.

3. The tower crane anti-toppling control method according to claim 2, wherein the predetermined value is the second or third largest test inclination data in the test inclination data set.

4. The tower crane anti-toppling control method according to claim 1, further comprising the steps between step S1 and step S2: and judging whether the current hoisting operation is in an idle state or not, and if not, turning to the step S2.

5. The tower crane anti-toppling control method according to claim 2, wherein the load increasing operation includes at least one of: the lifting hook descends, the lifting hook rises, the lifting arm rises, and the lifting arm rotates.

6. A method of controlling anti-toppling of a tower crane according to any one of claims 1 to 5, wherein the plurality of different height positions includes a first position at a lower middle portion of the tower and a second position at a upper middle portion of the tower.

7. The method of claim 6, wherein the first location is at a top end of the first section of the tower, the second location is at a top end of the tower, and the plurality of different height locations further comprises a third location between a middle of the tower and the first location.

8. The tower crane anti-toppling control system is characterized by comprising a controller and a tower body inclination angle sensor group, wherein the tower body inclination angle sensor group at least comprises a first inclination angle sensor arranged at the middle lower part of a tower body of the tower crane and a second inclination angle sensor arranged at the middle upper part of the tower body; the controller is used for acquiring and storing a test inclination angle data set, wherein the test inclination angle data set is inclination angle data detected by the tower body inclination angle sensor group when the tower crane is in an excessive load or no load under a test condition; the controller is also used for acquiring an operation dip angle data set in hoisting operation, comparing the size relation between the operation dip angle data set and the test dip angle data set, and sending out an alarm indication when at least one operation dip angle data is larger than the maximum test dip angle data; the operation dip angle data set is operation dip angle data detected by the tower body dip angle sensing set.

9. The tower crane anti-tip-out control system of claim 8, wherein the controller further comprises limiting the load-up operation of the tower crane when each of the operational tilt angle data is less than the maximum test tilt angle data but greater than a predetermined value.

10. A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 7 or the functionality of the controller of claim 8 or 9.

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