CN116443749A - Anti-top-rushing method, anti-top-rushing protection system and crane - Google Patents
Anti-top-rushing method, anti-top-rushing protection system and crane Download PDFInfo
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- CN116443749A CN116443749A CN202310314724.2A CN202310314724A CN116443749A CN 116443749 A CN116443749 A CN 116443749A CN 202310314724 A CN202310314724 A CN 202310314724A CN 116443749 A CN116443749 A CN 116443749A
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- Prior art keywords
- distance value
- lifting hook
- distance
- trolley
- hook
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 60
- 230000002265 prevention Effects 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 6
- 238000011217 control strategy Methods 0.000 claims description 5
- 238000002372 labelling Methods 0.000 claims description 3
- 238000004080 punching Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
Abstract
The invention provides a top-impact prevention method, a top-impact prevention protection system and a crane, wherein the method comprises the following steps: detecting a first distance value of the distance between the trolley and the lifting hook through a first detection system; detecting a second distance value of a distance between the trolley and the lifting hook by a second detection system, wherein the second detection system comprises a cam limiter, and the first detection system and the second detection system are different; and controlling the movement state of the lifting hook according to the first distance value and the second distance value. The embodiment of the invention can reduce the possibility of the occurrence of the accident of the lifting hook pushing.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a top-impact prevention method, a top-impact prevention protection system and a crane.
Background
In the running process of the tower crane, the lifting height limiter fails, and a driver cannot stop the lifting movement of the lifting hook in time, so that the collision between the top of the lifting hook device and the lower part of the trolley, namely the top rushing, is formed.
In the prior art, the cam limiter is generally adopted to realize lifting limit of the lifting hook, namely, the coaxial cam limiter is driven to indirectly measure through lifting winch, when the lifting hook reaches a calibration position, the cam limiter is triggered to act, the lifting speed of the lifting hook is limited, and the lifting hook is prevented from being pushed. In the technology, limit control is performed according to the calibration position, so that when the calibration position is improperly set or the cam limiter fails, a jacking accident is easy to happen.
Disclosure of Invention
The invention aims to solve the problem of how to reduce the probability of a punch-top accident.
In view of the above, embodiments of the present invention are directed to providing an anti-knock method, an anti-knock protection system, and a crane, where the anti-knock method can reduce the probability of an occurrence of an anti-knock accident when a hook calibration position is improperly set or a cam limiter fails.
In order to solve the above problems, in a first aspect, the present invention provides an anti-collision method, comprising the steps of:
detecting a first distance value of the distance between the trolley and the lifting hook through a first detection system;
detecting a second distance value of a distance between the trolley and the lifting hook by a second detection system, wherein the second detection system comprises a cam limiter, and the first detection system and the second detection system are different;
and controlling the movement state of the lifting hook according to the first distance value and the second distance value.
In some embodiments, the detecting, by the first detection system, a first distance value of a distance between the trolley and the hook comprises:
acquiring image information of the lifting hook;
determining an inclination angle of a connecting line between the lifting hook and a reference position by using the image information;
acquiring position information of the trolley;
and calculating the distance between the lifting hook and the trolley according to the inclination angle and the position information of the trolley to be used as the first distance value.
In some embodiments, the determining the inclination of the line between the hook and the reference position using the image information includes:
acquiring image information of the lifting hook in the moving process by using an image acquisition device, wherein the image acquisition device is configured to deflect and track the lifting hook towards the moving range of the lifting hook so that the lifting hook is positioned at a preset position in an image acquired by the image acquisition device;
and determining the inclination angle according to the deflection angle of the image acquisition device.
In some embodiments, the determining the inclination of the line between the hook and the reference position using the image information includes:
receiving image information of the lifting hook in the lifting process by using an image acquisition device, wherein the deflection angle of the image acquisition device is a fixed value;
and determining the inclination angle according to the labeling information of the image acquisition range of the image acquisition device and the position of the lifting hook in the image information.
In some of these embodiments, the controlling the movement state of the hook according to the first distance value and the second distance value includes:
controlling the motion state of the lifting hook according to the second distance value under the condition that the first distance value is not smaller than the second distance value;
and under the condition that the first distance value is smaller than the second distance value, the difference value between the first distance value and the second distance value is not smaller than a preset distance threshold value, and the first distance value is smaller than a preset safety distance threshold value, the lifting hook is controlled to stop.
In some of these embodiments, the method of deriving the first distance value comprises:
and determining the first distance value according to a scanning result of the lifting hook by the radar arranged on the tower body.
In some of these embodiments, the method of deriving the first distance value comprises:
and determining the first distance value according to detection results of the matched receiver and emitter arranged on the trolley and the lifting hook.
In some embodiments, the taking a control strategy to limit the lifting action of the lifting hook according to the comparison result includes:
when the difference value between the first distance value and the second distance value is in a set range, the lifting action of the lifting hook is executed according to the instruction sent by the second detection system;
and when the difference value between the first distance value and the second distance value exceeds the set range, the lifting hook decelerates or brakes.
In a second aspect, embodiments of the present invention provide an anti-pop protection system, comprising,
a trolley;
the lifting hook is hung at the bottom of the trolley;
the first detection system comprises an image acquisition device and a first detection device, wherein the image acquisition device is used for detecting a first distance value of the distance between the trolley and the lifting hook;
the second detection system comprises a cam limiter and is used for detecting a second distance value of the distance between the trolley and the lifting hook;
and the processing system is used for receiving and comparing the first distance value and the second distance value and controlling the movement state of the lifting hook according to the first distance value and the second distance value.
In a third aspect, an embodiment of the present invention provides a crane, including the anti-impact roof protection system described above.
Through the arrangement, the lifting hook is tracked in the lifting process by arranging the first detection system and the second detection system, the acquired information is processed and compared with the processing result, and the lifting action of the lifting hook is limited by adopting a control strategy according to the processing result, so that the occurrence of a top-punching accident can be effectively avoided when the second detection system fails, and the occurrence probability of the top-punching accident is effectively reduced.
Drawings
FIG. 1 is a schematic flow chart of an anti-collision method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an operating principle of an anti-collision method according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For a better understanding of the present invention, the present invention will be described below with reference to specific examples and drawings.
The embodiment of the invention provides a method for preventing top collision. The anti-collision method can be applied to a tower crane, but is not limited to the tower crane, for example, the anti-collision method can also be applied to a fixed column type cantilever crane.
As shown in fig. 1, in one embodiment, the method comprises the steps of:
step 101: a first distance value of the distance between the trolley and the hook is detected by a first detection system.
In the embodiment of the invention, a first distance value of the distance between the trolley and the lifting hook is detected through a first detection system.
As shown in fig. 2, in some embodiments, the first detection system may include an image acquisition device 1, and in practice, determine a first distance value of a distance between the trolley 3 and the hook 2 according to an image acquired by the image acquisition device 1.
In other embodiments, the first distance value of the distance between the trolley 3 and the hook 2 may be determined by other means, and the distance between the trolley 3 and the hook 2 may be detected by means of radar (including, for example and without limitation, lidar, etc.), a distance sensor, etc., as examples.
Step 102: a second distance value of the distance between the trolley 3 and the hook 2 is detected by a second detection system.
The second detection system in this embodiment includes a cam limiter, and the first detection system and the second detection system are different.
The second detection system in this embodiment refers to an original detection system of the crane, and it should be understood that, in order to determine the working state of the crane, the crane generally detects the movement state of the wire rope by using a detection system including a cam limiter, and calculates the position of the hook 2 according to the detection result. It should be understood that the cam limiter may fail due to a fault or the like, so that the position of the hook 2 cannot be correctly identified, and at this time, a control strategy for the position and the speed of the hook 2 may fail, so that the hook 2 may collide with the trolley 3 during the lifting process.
Step 103: and controlling the movement state of the lifting hook 2 according to the first distance value and the second distance value.
According to the method and the device for detecting the distance between the lifting hook and the trolley, after the first distance value and the second distance value are determined, the movement state of the lifting hook is controlled according to the first distance value and the second distance value, and as the distance between the lifting hook and the trolley is identified and detected in different modes, the movement state of the lifting hook can be controlled more accurately, and the situation that the movement state of the lifting hook cannot be controlled accurately when an original detection system fails is avoided, so that the lifting hook is bumped with the trolley.
In the embodiment of the invention, the first distance value and the second distance value are different results obtained by the same distance between the lifting hook 2 and the trolley 3 detected by the first detection system and the second detection system respectively.
In some embodiments, the first detection system includes an image acquisition device 1, where the image acquisition device 1 uses a camera to acquire images of the hook 2 and the trolley 3, where the image acquisition device is implemented by first determining a scaling factor according to the size of the hook 2 in the acquired images and the known actual size of the hook 2, and then determining the actual distance between the trolley 3 and the hook 2 according to the scaling factor determined by combining the length between the trolley 3 and the hook 2 acquired by the image acquisition device 1.
In yet another embodiment, the step 101 includes:
acquiring image information of the lifting hook 2;
determining an inclination angle alpha of a connecting line between the lifting hook 2 and a reference position by using the image information;
acquiring position information of the trolley 3;
and calculating the distance between the lifting hook 2 and the trolley 3 according to the inclination angle alpha and the position information of the trolley 3 to be used as the first distance value.
Referring to fig. 2, the tower crane 4 has a tower body 42 and a boom 41 perpendicular to each other, the boom 41 includes a boom 411 and a balance arm located at a side of the tower body 42 away from the boom 411, the trolley 3 is mounted on the boom 411 and movable in a length direction of the boom 411, and the hook 2 is provided at a bottom of the trolley 3 and movable in a vertical direction, that is, can be raised or lowered.
In one embodiment, the first detection system includes an image acquisition device 1 disposed at the tower 42 and a trolley distance detector mounted at the junction of the boom 411 and the tower 42, wherein the image acquisition device 1 may be a camera.
As shown in fig. 2, the distance L0 between the trolley 3 and the tower 42 is readable, and when the inclination angle α is determined, the distance between the hook 2 and the trolley 3 and the first distance value can be calculated by trigonometric function operation, and if the first distance value is L1, l1=l0×tan α.
In another embodiment, the method for obtaining the inclination angle alpha of the lifting hook 2 relative to the image acquisition device 1 by using the image information comprises the following steps:
acquiring image information of the lifting hook 2 in the moving process by using an image acquisition device 1, wherein the image acquisition device 1 is configured to deflect and track the lifting hook 2 towards the moving range of the lifting hook 2, so that the lifting hook 2 is positioned at a preset position in an image acquired by the image acquisition device 1;
the inclination angle α is determined from the deflection angle of the image acquisition device 1.
It will be understood that in the technical solution of this embodiment, the image capturing device 1 is deflectable up and down, and in practice, the image capturing device 1 is configured to deflect according to the rising and falling of the hook 2. Further, the control hook 2 is located in a preset area in the image acquired by the image acquisition device 1, for example, in a central position of the image acquired by the image acquisition device 1, so that the deflection angle of the image acquisition device 1 is equal to the inclination angle α of the hook 2.
In yet another embodiment, the step 101 includes:
receiving image information of the lifting hook 2 in the lifting process by using an image acquisition device 1, wherein the deflection angle of the image acquisition device 1 is a fixed value;
the inclination angle alpha is determined according to the labeling information of the image acquisition range of the image acquisition device 1 and the position of the lifting hook 2 in the image information.
In this embodiment, the image acquisition device 1 is used to receive the image information of the lifting hook 2 in the lifting process, in this process, the deflection angle of the image acquisition device 1 is fixed, and the lifting hook 2 is always located in the viewing angle range of the image acquisition device 1. When the image of the lifting hook 2 is acquired, the inclination angle of the lifting hook 2 at the moment is determined according to the position of the lifting hook 2 in the image.
In other embodiments, the first detection system includes a plurality of cameras, in this embodiment, two are taken as an example, where one camera is disposed at the top of the tower 42, and the other camera is disposed at the middle of the tower 42, and when implemented, according to the length between the trolley 3 and the hook 2 collected by the two cameras, in combination with the known distance between the two cameras, the distance between the trolley 3 and the hook 2 is calculated according to the distance of "binocular ranging".
In yet another embodiment, a method of deriving a first distance value includes: a distance sensor is arranged on the trolley 3 to obtain a first distance value. The distance sensor may be one or more of a laser sensor and an ultrasonic sensor, and of course, other types of distance sensors may be used.
In yet another embodiment, the method for obtaining the first distance value includes determining the first distance value according to the scanning result of the radar disposed on the tower 42 on the hook 2, where, for example, the radar may select different types of radars such as a laser radar and a millimeter wave radar.
Yet another embodiment provides a radar on the tower 42 to continually scan the position of the hooks 2. This enables higher accuracy to be achieved. Optionally, the radar employs a lidar to further improve detection accuracy.
In a further embodiment the method of deriving the first distance value comprises providing a receiver and a transmitter on the trolley 3 and the hook 2 that are matched to each other, deriving the first distance value. When this is done, power needs to be supplied to the trolley 3 and the hook 2 to enable the receiver and transmitter to function properly. The power supply mode can adopt a battery or solar power supply mode, and can adopt other modes to supply power.
In yet another embodiment, taking a control strategy to limit the lifting action of the hook 2 according to the comparison result of the first distance value and the second distance value includes: when the difference value of the first distance value and the second distance value is in a set range, the lifting action of the lifting hook 2 is executed according to the instruction sent by the second detection system; when the difference between the first distance value and the second distance value exceeds the set range, the hook 2 decelerates or brakes. Therefore, if the second detection system adopts the cam limiter to limit the lifting height of the lifting hook 2, when the cam limiter fails or the calibration position is set improperly, the difference value between the first distance value and the second distance value exceeds the set range, and the lifting hook 2 is decelerated or braked, so that the top-punching can be prevented. The invention also provides an anti-collision protection system. In one embodiment, the anti-collision protection system comprises a lifting hook 2, a trolley 3, a first detection system, a second detection system and a processing system, wherein the lifting hook 2 is hung at the bottom of the trolley 3; the first detection system comprises an image acquisition device 1, wherein the image acquisition device 1 is used for detecting a first distance value of the distance between the trolley 3 and the lifting hook 2; the second detection system comprises a cam limiter, wherein the cam limiter is used for detecting a second distance value of the distance between the trolley 3 and the lifting hook 2; the processing system receives and compares the first distance value and the second distance value, and controls the movement state of the lifting hook 2 according to the first distance value and the second distance value.
The anti-scour protection system has the technical advantages of the anti-scour method, and is not described herein.
To further illustrate the present invention, a brief description of the operation of an anti-surge protection system according to one embodiment of the present invention is provided below.
The anti-collision protection system is arranged on a tower crane. In this embodiment, the first detection system includes an image capturing device 1 and a trolley distance detector, the image capturing device 1 employs a camera, a first distance value can be obtained by using the first detection system, and the second detection system employs a cam limiter to obtain a second distance value l2.
The image acquisition device 1 is arranged on the slewing mechanism between the arm support 41 and the tower body 42, so that the detection direction of the image acquisition device 1 faces the direction of the lifting hook 2. In the working process of the lifting hook 2, the image acquisition device 1 continuously detects the position of the lifting hook 2, and the image acquisition device 1 can acquire a two-dimensional image. In the two-dimensional image obtained by the detection, the hooks 2 may be located at different heights when the hooks 2 are located at specific positions in the two-dimensional image, and at this time, the inclination angle α of the hooks 2 with respect to the image pickup device 1 is constant.
In the present embodiment, the position of the trolley 3 is first read, and then the position of the hook 2 is calculated based on the inclination angle α and the position of the trolley 3, so that the distance between the hook 2 and the trolley 3 can be determined and recorded as the first distance value.
Next, the distance between the hook 2 and the trolley 3 measured by the cam limiter is recorded as a second distance value.
The magnitudes of the first distance value and the second distance value are then compared.
When the deviation of the first distance value and the second distance value is in the allowable range, carrying out anti-top-impact control on the lifting hook 2 according to the detection result of the cam limiter; if the deviation of the first distance value and the second distance value is greater than the allowable range, the hook 2 is controlled to slow down or stop so as to avoid the occurrence of a punch-top accident.
The invention provides a crane, which comprises the anti-collision top protection system. The crane has the technical advantages of the anti-collision protection system, and the technical advantages are not repeated here.
In the present invention, "a plurality of" means two or more.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is to be construed as including any modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. A method of preventing a roof from being bumped, said method comprising the steps of:
detecting a first distance value of the distance between the trolley and the lifting hook through a first detection system;
detecting a second distance value of a distance between the trolley and the lifting hook by a second detection system, wherein the second detection system comprises a cam limiter, and the first detection system and the second detection system are different;
and controlling the movement state of the lifting hook according to the first distance value and the second distance value.
2. The method of roof impact according to claim 1, wherein detecting a first distance value of a distance between the trolley and the hook by the first detection system comprises:
acquiring image information of the lifting hook;
determining an inclination angle of a connecting line between the lifting hook and a reference position by using the image information;
acquiring position information of the trolley;
and calculating the distance between the lifting hook and the trolley according to the inclination angle and the position information of the trolley to be used as the first distance value.
3. The method of roof impact prevention according to claim 2, wherein determining an inclination angle of a line between the hook and a reference position using the image information comprises:
acquiring image information of the lifting hook in the moving process by using an image acquisition device, wherein the image acquisition device is configured to deflect and track the lifting hook towards the moving range of the lifting hook so that the lifting hook is positioned at a preset position in an image acquired by the image acquisition device;
and determining the inclination angle according to the deflection angle of the image acquisition device.
4. The method of roof impact prevention according to claim 2, wherein determining an inclination angle of a line between the hook and a reference position using the image information comprises:
receiving image information of the lifting hook in the lifting process by using an image acquisition device, wherein the deflection angle of the image acquisition device is a fixed value;
and determining the inclination angle according to the labeling information of the image acquisition range of the image acquisition device and the position of the lifting hook in the image information.
5. The method of preventing a roof collision according to any one of claims 1 to 4, in which the controlling the movement state of the hook according to the first distance value and the second distance value includes:
controlling the motion state of the lifting hook according to the second distance value under the condition that the first distance value is not smaller than the second distance value;
and under the condition that the first distance value is smaller than the second distance value, the difference value between the first distance value and the second distance value is not smaller than a preset distance threshold value, and the first distance value is smaller than a preset safety distance threshold value, the lifting hook is controlled to stop.
6. The method of roof impact prevention according to claim 1, wherein the method of deriving the first distance value comprises:
and determining the first distance value according to a scanning result of the lifting hook by the radar arranged on the tower body.
7. The method of roof impact prevention according to claim 1, wherein the method of deriving the first distance value comprises:
and determining the first distance value according to detection results of the matched receiver and emitter arranged on the trolley and the lifting hook.
8. The method of claim 1, wherein the taking a control strategy to limit lifting of the hook based on the comparison comprises:
when the difference value between the first distance value and the second distance value is in a set range, the lifting action of the lifting hook is executed according to the instruction sent by the second detection system;
and when the difference value between the first distance value and the second distance value exceeds the set range, the lifting hook decelerates or brakes.
9. A roof protection system, characterized by comprising,
a trolley;
the lifting hook is hung at the bottom of the trolley;
the first detection system comprises an image acquisition device and a first detection device, wherein the image acquisition device is used for detecting a first distance value of the distance between the trolley and the lifting hook;
the second detection system comprises a cam limiter and is used for detecting a second distance value of the distance between the trolley and the lifting hook;
and the processing system is used for receiving and comparing the first distance value and the second distance value and controlling the movement state of the lifting hook according to the first distance value and the second distance value.
10. A crane comprising the anti-surge protection system of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310314724.2A CN116443749A (en) | 2023-03-28 | 2023-03-28 | Anti-top-rushing method, anti-top-rushing protection system and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310314724.2A CN116443749A (en) | 2023-03-28 | 2023-03-28 | Anti-top-rushing method, anti-top-rushing protection system and crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116443749A true CN116443749A (en) | 2023-07-18 |
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ID=87124805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310314724.2A Pending CN116443749A (en) | 2023-03-28 | 2023-03-28 | Anti-top-rushing method, anti-top-rushing protection system and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116443749A (en) |
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2023
- 2023-03-28 CN CN202310314724.2A patent/CN116443749A/en active Pending
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