CN116692678A - Automatic operation method of tower crane - Google Patents

Abstract

The invention discloses an automatic operation method of a tower crane, which is characterized in that an RTK mobile station is additionally arranged at a mobile trolley, a hand-held RTK dotting mode is utilized for acquiring positioning data of a hook point and an unhook point, the inclination angle of goods during lifting is automatically detected, the inclination direction and the amplitude are provided, if the inclination angle exceeds an inclination safety threshold, the system automatically adjusts the direction and the amplitude of a suspension arm to adjust the suspension hook to be right above the goods, and then the lifting is carried out; whether the goods are rocked or not is detected, if the rocking exceeds a rocking safety threshold, the rocking control is automatically carried out, various production safety accidents caused by the problems of insufficient data acquisition and acquisition modes in the prior art can be solved, the material taking/unloading alignment operation of the goods can be accurately and automatically controlled, the rocking is automatically controlled in the transferring process, and unmanned automatic operation is realized on the premise of ensuring the operation safety and the operation efficiency.

Description

Automatic operation method of tower crane

Technical Field

The invention relates to the technical field of tower crane control, in particular to an automatic operation method of a tower crane.

Background

In building construction operation, the RTK (Real-Time Kinematic) carrier phase difference technology is increasingly used for unmanned operation of building construction tower cranes due to the characteristics of high positioning precision, safe and reliable use, low cost and the like. However, because the tower crane operation is high in safety risk, the lifting hook and the heavy object are in flexible connection through the steel wire rope, and the control is complex, the requirements of the automatic control system on the acquisition rate and the acquisition method of RTK positioning data are strict, otherwise, unmanned full-automatic operation of the tower crane operation is difficult to truly achieve.

The Chinese patent 202010147095.5 discloses an automatic control method (hereinafter referred to as comparison document) for a tower crane, which adopts an RTK technology to automatically control the tower crane, and comprises the steps of: the O point is a datum point mounting point, the B point is a ground loading point (cargo hook point) RTK mounting point, the C point is a material unloading point (floor unhooking point) RTK mounting point, and problems exist due to insufficient acquisition of RTK positioning data and an acquisition method, and the method specifically comprises the following steps:

1) The system automatically sets the serious deviation of the hook point and the actual hook point

As shown in fig. 1, the automatically set hooking point of the system is point B, and under the unmanned automatic operation condition, the hooking automatically reaches the hooking point B (WB line in the figure) for the span worker to hook, but the actual hooking point is on the unloading vehicle (BB point), that is, an inclined angle (+_bwbb) is generated after hooking, which is caused by the improper data acquisition mode. The problem of improper data collection also exists at the discharge point C (floor load unhooking point).

2) After the cargo is lifted, the system cannot automatically identify the shaking inclination angle

As shown in fig. 2, in the transferring process after the cargo is lifted, since the RTK is only set at the hook for collecting real-time three-dimensional positioning data of the hook, the system cannot identify the real-time shaking angle (θ) generated by shaking in the cargo transferring process, namely +.a in the drawing, which is caused by insufficient positioning data collection.

3) In the technical scheme, due to the lack of real-time coordinate data required for automatically calculating the inclination angle (& ltBWBB) and the shaking angle (theta), the system cannot automatically control the inclination angle (& ltBWBB) and the shaking angle theta generated in the cargo lifting and transferring processes through modeling, configuration and programming by an automatic control function.

The above problems will lead to the following serious consequences

1) Serious consequences of sloshing runaway:

sloshing control is a fundamental requirement for driver operation during cargo transportation, i.e., sloshing is certain unless the transportation is very slow. When the tower crane height reaches 50 meters of operation height, the gravity center of the tower crane can fall on the four supporting structures completely. When the swinging angle exceeds 300 degrees, the gravity center of the tower crane is upwards deviated, the direction of deviation is an upward supporting rod, and when the gravity center of the supporting rod exceeds four supporting structures, the tower crane collapses, so that a serious accident of machine destruction and death is caused.

2) When the cargo hook is lifted, the automatic control system cannot identify the inclination angle of the cargo rope, so that illegal operation of 'oblique pulling and oblique pulling' which is strictly prohibited in 'ten-out-of-crane' in the tower crane operation can occur. One type of hazard generated by the oblique pulling is shaking hazard, and the other type of hazard is damage to the truck and other goods.

3) The consequences of the discharge point C are two-fold. On the one hand, when goods automatically navigate to the position above the C station at the unloading point, the RTK equipment is protected and cannot drop down to cause unloading, and if the goods fall down forcefully, the C station is damaged. On the other hand, the discharging point range of floor operation is very large, and the C point is arranged at a fixed position to severely limit the operation range of stacking, so that the problems of manual transfer workload and operation efficiency are solved.

The technical difficulties to be solved are to dynamically track and position lifting hooks/cargos, rotation, amplitude variation, cargo hooking points and unhooking points in the operation of the tower crane in real time, automatically control the amplitude variation and rotation of the tower crane to accurately and automatically control the material taking/unloading alignment operation of cargos after a data model is built, automatically control shaking in the transportation process, and realize unmanned automatic operation on the premise of ensuring operation safety and operation efficiency.

Disclosure of Invention

Therefore, the invention provides a method for realizing full-automatic accurate control by utilizing positioning data to track and position hooks/cargoes in real time, dynamically and high precision in the operation process of the tower crane, and unmanned automatic operation is realized on the premise of ensuring operation safety and operation efficiency.

In order to achieve the above object, the present invention provides the following technical solutions:

the automatic operation method of the tower crane comprises the following steps:

1) Three-dimensional coordinate data of a station A, a station B, a station C, a station G and a station K are collected and sent to a data automatic analyzer, wherein the station A is positioned at the lower end of a gantry crane, the station B is positioned on a mobile trolley, the station C is positioned on a lifting hook, the station G is a vehicle-mounted unloading hook point, and the station K is an unhooking point;

2) A starting instruction is sent out through the handheld remote controller;

3) Automatically entering an unmanned full-automatic safe operation program by the system;

wherein step 3) comprises the steps of:

301 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the descending height data of the tower crane from the standby point to the hooking point;

302 Automatically controlling the rotation, amplitude variation and lifting mechanism to operate the empty hook to the hook position;

303 A remote control empty hook stops and sends out an operation starting signal after hooking;

304 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the lifting height data of the tower crane from the hook point to the unhooking point;

305 Automatically controlling the rotation, amplitude variation and lifting mechanism to drive the goods to the unhooking position;

306 Automatically reaching the unhooking point position, stopping remotely, unhooking;

in step 304), automatically detecting the inclination angle of the cargo during lifting by the three-dimensional coordinate data of the C station and the G station, providing an inclination direction and an amplitude, and automatically adjusting the direction and the amplitude of the suspension arm to adjust the lifting hook to be right above the cargo and then lifting the cargo if the inclination angle exceeds an inclination safety threshold value by the system;

in step 305), during the cargo transferring process, detecting whether the cargo is swayed or not according to the three-dimensional coordinate data of the station a, the station B and the station C, and if the swaying exceeds the swaying safety threshold, automatically performing swaying control.

Further, it is also automatically detected by the weight sensor after step 303) whether the system is overloaded.

Further, in the step 305), a collision avoidance safety parameter threshold is set, and whether the cargo position exceeds various preset collision avoidance safety parameter thresholds in the transferring process is automatically detected according to the three-dimensional coordinate data of each station.

Further, the vehicle-mounted unloading hook point and the unloading unhooking point acquire three-dimensional positioning coordinates through handheld RTK dotting;

and an RTK mobile station is arranged on the mobile trolley, the RTK mobile station is hinged at the lifting hook, and three-dimensional coordinate data of the mobile trolley and the lifting hook are acquired through the RTK mobile station.

Further, a network differential reference station and a server are also arranged, the network differential reference station is installed at a fixed place with known coordinates on a construction site, the network differential reference station receives Beidou real-time positioning data of an installation point through a position real-time data network port and compares the Beidou real-time positioning data with real position data to obtain error values of the Beidou real-time positioning data and the real position data, and the error values are transmitted to the server in a 4G mode;

the server transmits error data to RTK mobile stations of the B station, the C station, the G station and the K station in a 4G mode, the mobile stations of the B station, the C station, the G station and the K station can acquire high-precision positioning data after eliminating error values from the server for the respectively received Beidou real-time positioning data, and the differential positioning data is transmitted to the data automatic analyzer through a 4G network.

Further, the method for detecting shake in step 305) is as follows:

calculating a real-time azimuth angle B of the mobile trolley in a horizontal plane, a real-time azimuth angle C of the lifting hook in the horizontal plane, a horizontal straight line distance F between a station A and a station C, and a real-time horizontal straight line distance M between a station B and a station A;

calculating the value of C-B and the value of F-M;

when the angle C-angle B is a positive value, the azimuth deviation value is positioned on the right side, the value is required to be adjusted by rotating leftwards, and otherwise, the azimuth deviation value is adjusted rightwards; when F-M is a positive value, the distance deviation value is positioned at the outer side of the amplitude variation mechanism, the value is required to be adjusted by contracting the amplitude variation mechanism, otherwise, the value is adjusted by stretching the amplitude variation mechanism until +.C- +.B=0 and F-M=0.

Further, in step 305), the absolute swing angle θ of the hook is also detected, and an alarm is given after the absolute swing angle θ exceeds the swing safety threshold.

Further, the method for calculating the absolute swing angle θ is as follows:

θ=arccoss (h+h5)/(l+h5), where H is the real-time difference in height between B and C stations, L is the difference in height between B and C stations when the hook is vertical, and H5 is the design safety margin constant.

The invention has the following advantages:

according to the invention, by additionally arranging the RTK mobile station at the mobile trolley and utilizing the handheld RTK dotting mode for collecting positioning data for the hooking point and the unhooking point, various production safety accidents caused by the problems of insufficient data collection and collection mode in the prior art can be solved.

The empty hook/goods, rotation, amplitude variation, goods hooking points and unhooking points in the tower crane operation are dynamically tracked and positioned in real time, multidimensional shaking tracks are established, the amplitude variation and rotation of the tower crane are automatically controlled, the material taking/unloading alignment operation of the goods can be accurately and automatically controlled, shaking is automatically controlled in the transferring process, and unmanned automatic operation is realized on the premise of ensuring operation safety and operation efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.

The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.

FIG. 1 is a schematic diagram of a prior art tower crane data acquisition location;

FIG. 2 is a diagram of sloshing after cargo lifting;

FIG. 3 is a schematic diagram of a data acquisition position of an automated tower crane operation method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a data transmission network architecture according to an embodiment of the present invention;

FIG. 5 is a flow chart of a control method according to an embodiment of the invention;

FIG. 6 is a schematic diagram of the coordinate transformation between A and B stations;

FIG. 7 is a schematic diagram of coordinate transformation between A and C stations;

FIG. 8 is a diagram illustrating a wobble deviation value distribution point;

FIG. 9 is a diagram of a shake automatic control logic according to an embodiment of the invention;

Detailed Description

Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, 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. The terms such as "upper", "lower", "left", "right", "middle" and the like are also used in the present specification for convenience of description, but are not intended to limit the scope of the present invention, and the changes or modifications of the relative relationship thereof are considered to be within the scope of the present invention without substantial modification of the technical content.

Referring to fig. 3-4, the equipment used in the automatic operation method of the tower crane comprises an RTK reference station, a server, an RTK mobile station, a network switch, an automatic analysis module, 5G communication and a battery. The data transmission of the data transmission network architecture adopts 4G, wherein the three-dimensional position of the station A is the central bottom of the gantry crane, and the station A does not need to be accessed into the data transmission network.

The automatic operation method of the tower crane is characterized in that RTK data acquisition stations are arranged as follows:

the three-dimensional position of the station A is the bottom of the central line of the portal crane, and no mobile station is needed to be additionally arranged, so that the point is unchanged in the operation process of the tower crane, and the point is only needed to be used as a permanent coordinate to be sent to a data analyzer to be used as a reference point for calculating the plane distance and the azimuth of the amplitude, the rotation, the cargo inclination angle, the hooking point and the unhooking point after the point is acquired through a handheld RTK positioning instrument during engineering installation;

the station B is arranged at the position of the mobile trolley;

the station C is arranged at the lifting hook in a hinged mode, and a replaceable battery is adopted as a power supply;

the G station uses the handheld RTK to dott the hook points through the span worker to acquire three-dimensional coordinate data and sends the three-dimensional coordinate data to the data automatic analyzer;

the K station uses the handheld RTK to dott the unhooking point through the span worker to acquire three-dimensional coordinate data and sends the three-dimensional coordinate data to the data automatic analyzer.

The network differential reference station is arranged at a fixed place with known coordinates on a construction site, receives Beidou real-time positioning data of an installation point through a position real-time data network port, compares the Beidou real-time positioning data with real position data, obtains error values of the Beidou real-time positioning data and the real position data, and transmits the error values to the server in a 4G mode.

The server transmits error data to the B, C, G and K station RTK mobile stations in 4G.

And a mobile station. And the B station, the C station, the G station and the K station mobile stations can acquire high-precision positioning data after eliminating the error value from the server for the respectively received Beidou real-time positioning data, and then the differential positioning data is transmitted to the data automatic analyzer through the 4G network. The system comprises a G station and a K station, wherein the G station and the K station are handheld dotting mobile stations, the coordinates of the A station are obtained through handheld dotting after error value data are eliminated in the installation stage, and the C station assembles a data converter (DTU) and a battery into a module convenient to install. The battery can be used for the C station and the DTU module to continuously work for more than 10 days, and is easy to replace.

And the data automatic analysis module. The module receives high-precision real-time positioning data of the mobile stations through the RTK network switch, then automatically processes and analyzes the data, transmits analysis results to the industrial personal computer through the super 5-class optical fibers, and automatically adjusts and controls the tower crane through sequential control logic and AI control programs arranged in the industrial personal computer, so that a safe, efficient and stable full-automatic unmanned operation mode of tower crane operation is realized.

A hand-held remote control. The remote control device is used for a span worker to send out a remote control signal for lifting or stopping. For example, when the span worker hooks and notifies the hoisting operation, a manual hoisting signal is sent out through the remote controller, and the tower crane PLC automatically starts the hoisting operation after receiving the hoisting signal. The remote control transmits wireless signals by radio frequency.

In addition, a weight sensor is also arranged for detecting the weight of the lifted goods in real time.

The data automatic analysis module transmits control parameters of the super-class 5 optical fibers and the network switch to the industrial personal computer, and the industrial personal computer automatically adjusts control operations of the luffing mechanism, the rotating mechanism and the lifting mechanism of the tower crane in real time according to PLC automatic control and HMI configuration programs, so that various unmanned operation purposes set by the automatic control programs are realized.

The configuration software is utilized to carry out configuration programming on the PLC automatic control and the HMI, so that the tower crane automatically runs to the hooking point from any position through amplitude variation, rotation and lifting, and automatically runs to the unhooking point from the hooking point after goods are hooked, and meanwhile, the safe, stable and efficient full-automatic unmanned operation function of the tower crane is realized through shaking the automatic control program in the transferring process.

The main self-control safety program through configuration and programming is as follows:

(1) Automatic data analysis module

The module models and automatically calculates the real-time three-dimensional coordinates of the fixed point coordinates of the point A and the movable trolley, the lifting hook, the material taking point and the material discharging point, and can realize the amplitude variation, the rotation angle, the lifting height and the lifting hook inclination posture required from the material taking point to the material discharging point through coordinate conversion, thereby providing positioning data for unmanned operation and swing and cable staying control of the crane.

(2) Handheld RTK dotting auxiliary positioning module

In order to send a three-dimensional position signal of the hooking/unhooking point to the intelligent control system, the intelligent control system adopts a handheld high-precision differential positioning instrument, and a span worker acquires coordinates of the hooking point and the unhooking point and sends the signals to a tower crane PLC through wireless transmission.

(3) Manual auxiliary start/stop signal module

The module is used for a span worker to send out a remote control signal for lifting or stopping. For example, when the span worker hooks and notifies the hoisting operation, a manual hoisting signal is sent out through the remote controller, and the tower crane PLC automatically starts the hoisting operation after receiving the hoisting signal. The remote control transmits wireless signals by radio frequency.

(4) Lifting/turning/luffing AI safety operation program

The program is used for automatically controlling the sequence of lifting, turning and amplitude variation. The two actions of lifting and turning of the luffing jib crane can be performed simultaneously, but the luffing can only be performed independently. Allowing the loaded luffing to be at or near full load, and not allowing luffing; the program can automatically control lifting, rotation, amplitude variation and lifting capacity through the limit signal, so that the equipment can not be operated off-side.

(5) Working speed AI safety operation program

The program is used for controlling the working speeds of lifting, rotating and luffing. The program is designed according to the 'two-slow one-fast' speed control, namely slow in starting, slow before reaching the end point and fast in the middle, meanwhile, the situation that the gear-crossing acceleration or the beam reduction cannot occur, the working cycle time is shortened as much as possible on the premise of ensuring the safety, and the working efficiency is improved.

(6) Safe operation program for controlling AI by hoisting/lifting moment

According to the performance graphs of different tower cranes, the program automatically calculates the safety amplitude corresponding to the weights of different weights when the weights are just lifted off the ground through the weight sensor. When the horizontal distance of the weight transfer exceeds the safety amplitude value specified by the performance curve graph, the system automatically drops the weight to the original position after alarming and stops working through the interlocking function. The function is also applicable to safety protection of rated lifting capacity.

(7) Shaking control AI safety operation program

The program is used for controlling the swing of the heavy object transferring process, ensuring the stability of heavy object transferring and avoiding damage to the tower crane structure and collision danger.

(8) Drag control AI safety operation program

The program is used for automatically calculating the inclination angle posture of the heavy object when the heavy object is lifted (before the heavy object is separated from the bottom) and eliminating the inclination angle state of the heavy object by automatically adjusting the amplitude and the rotation angle when the heavy object is lifted and dragged when the heavy object is generated due to the fact that the inclination posture of the heavy object exceeds an allowable range, so that the function of vertical lifting is achieved.

(8) Anti-collision control AI safety operation program

The program constructs an autonomous collision prevention safe operation mode of the adjacent tower crane or the weight and the construction in the operation process through modeling by means of real-time three-dimensional data of the weight, the safety distance between the adjacent tower crane and the weight and the construction and an algorithm. In the procedure, when crossing an obstacle, the bottom of the weight is higher than the obstacle by more than 0.5 meter, and the distance between any adjacent parts (including the lifted weight) between the two machines is kept to be not less than 5 meters; the other preset rotation, lifting and amplitude limiting set values of the machine are set values for avoiding collision in the program.

(9) AI safety operation program for non-working wind power working condition

Various tower cranes are prohibited from operating under non-operating wind forces. The general tower crane has six or more stages, the wind speed of 11-13 m/s and the wind pressure of about 10 ⁵ N/M ² Is a non-working wind force.

In order to meet the safety operation requirement of the non-working wind power working condition, when the wind speed is monitored to reach the non-working wind power working condition, the system automatically alarms and automatically enters the operation stopping AI safety operation program.

(10) AI alarm and emergency interlock program

The system sets corresponding threshold values for the monitored objects according to normal, abnormal and emergency states, and automatically analyzes and diagnoses the data through comparison of real-time values (PV values), set values (SP) and threshold values (OP), and obtains which state of the system operation working conditions is in the normal, abnormal and emergency states according to analysis results. Once the PV value of the monitored object reaches the SP value of the alarm, the system automatically alarms, and when the PV value reaches the emergency interlocking value, the system stops the operation in an emergency interlocking mode.

(11) Operation stop AI safety operation program

After the operation is finished, through the program, the arm rod rotates to the downwind direction, the rotary controller is loosened, the trolley and the counterweight are required to move to the non-working state position, the lifting hook is lifted to the position 2-3 meters away from the arm end, each operation gear is automatically reset, and the power supply is automatically cut off.

Referring to fig. 5, the automatic operation method of the tower crane specifically comprises the following steps:

1) Three-dimensional coordinate data of a station A, a station B, a station C, a station G and a station K are collected and sent to a data automatic analyzer, wherein the station A is positioned at the lower end of a gantry crane, the station B is positioned on a mobile trolley, the station C is positioned on a lifting hook, the station G is a vehicle-mounted unloading hook point, and the station K is an unhooking point; the ground span worker clicks a vehicle-mounted unloading hook point G station through the handheld RTK to acquire three-dimensional positioning coordinates and sends the three-dimensional positioning coordinates to the data automatic analyzer, and the ground span worker clicks a floor unloading unhooking point K station through the handheld RTK to acquire three-dimensional positioning coordinates and sends the three-dimensional positioning coordinates to the data automatic analyzer;

2) The ground span worker sends out a starting instruction through the handheld remote controller;

3) The system automatically enters an unmanned full-automatic safe operation program.

Wherein step 3) comprises the steps of:

301 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the descending height data of the tower crane from the standby point to the hooking point;

302 The lifting/turning/amplitude-changing AI safety operation program automatically controls the turning, amplitude-changing and lifting mechanism to operate the empty hook to the hook;

303 A ground span worker remotely controls the empty hook to stop and sends out an operation starting signal after hooking;

304 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the lifting height data of the tower crane from the hook point to the unhooking point;

305 The lifting/turning/luffing AI safety operation program automatically controls the turning, luffing and lifting mechanism to run the goods to the unhooking position;

in the process of the drag control AI safety operation, the three-dimensional coordinate data of the C station and the G station are used for automatically detecting the inclination angle of the cargo during lifting, providing an inclination direction and an amplitude, and if the inclination angle exceeds an inclination safety threshold, automatically adjusting the direction and the amplitude of the suspension arm by the system to adjust the lifting hook to be right above the cargo for lifting;

the lifting/lifting moment control AI safety operation program automatically detects whether the system is overloaded or not through a weight sensor;

in the cargo transferring process, a shaking control AI safety operation program detects whether the cargo is shaking or not through three-dimensional coordinate data of the station A, the station B and the station C, and once the shaking exceeds a shaking safety threshold value, shaking control is automatically carried out;

the collision prevention control AI safety operation program automatically detects various preset collision prevention safety parameter thresholds in the transfer process;

the AI alarm and emergency interlocking program automatically adopts alarm or emergency interlocking actions for various monitoring parameters reaching alarm or interlocking thresholds, so that safe operation of the operation is ensured;

306 Automatically reaching the unhooking point position, stopping the floor by a span worker in a remote control manner, and unhooking manually;

307 A working cycle is finished).

Algorithm pertaining to the present invention

(1) Design principle of control algorithm

In the process of cargo transferring operation, the dynamic track of the empty hook/cargo is subjected to the action of wind force, horizontal acting force and vertical acting force along the amplitude-changing direction output by the amplitude-changing mechanism, centrifugal force and tangential force along the amplitude-changing direction output by the rotating mechanism, and vertical acting force output by the lifting mechanism, and under the combined action of the forces, the empty hook/cargo performs complex three-dimensional dynamic motion. The design principle of the control algorithm is to eliminate acting force in the vertical direction which does not affect shaking, so that dynamic positioning data of empty hooks/cargoes in the amplitude horizontal direction and the rotation direction only need to be calculated and tracked, and digital modeling is carried out through a mapping relation.

(2) Plane coordinate parameters (distance, true azimuth) to be calculated

Referring to fig. 2, two horizontal dotted lines in the drawing are in the true north direction (0 °), a vertical dotted line is a lifting wire rope, and the lower end of the vertical dotted line is the goods.

(1) The plane coordinate parameter of the mobile trolley is that the real-time horizontal distance (set as M value) between the station B and the central line (corresponding to the station A) of the gantry crane is the true azimuth (set as < B).

(2) Real-time horizontal distance (set as F value) of empty hook or goods, namely C station, from the central line of door machine (corresponding to A station), true azimuth (set as < C).

(3) The real-time horizontal distance (set as G value) from the center line (corresponding to the A station) of the door machine to the hook point, namely the G station, and the true azimuth (set as < G).

(4) Unhooking points are real-time horizontal distances (set as K values) from the center line (corresponding to the station A) of the gantry crane to the station K, and true directions (set as < K).

Angle a = real-time sway angle of empty hook/cargo.

And b=real-time azimuth (true azimuth) of the amplitude variation mechanism, namely an included angle between a connecting line when the point B and the point A are virtually on the same horizontal plane and true north.

Angle c=real-time azimuth (true azimuth) of the empty hook/cargo point, i.e. the angle between the line when the point C and the point a are virtually on the same horizontal plane and true north.

Referring to fig. 6, after eliminating the influence of the vertical force on the sway angle and sway direction of the empty hook/cargo point, the point a and the point B are virtualized to the same horizontal plane, and the positional relationship between the point a and the point B is converted from the beidou coordinate (east longitude E, north latitude N) into the positional relationship of the plane azimuth and distance. Wherein: in the right angle Δadb, the latitude distance difference between ad= A, B points=n2—n1, the longitude distance difference between db= A, B points=e2—e1, the horizontal straight line distance between ab= A, B points=m, i.e. amplitude real-time data, and b=amplitude real-time azimuth.

Referring to fig. 7, after eliminating the influence of the vertical force on the sway angle and sway direction of the hook point, the point a and the point C are virtualized to the same horizontal plane, and the positional relationship between the point a and the point C is converted from the beidou coordinate (east longitude E, north latitude N) into the positional relationship of the plane azimuth and distance.

Wherein: in the right angle Δaec, the latitude distance difference between ae= A, C points=n3—n1, the longitude distance difference between ec= A, C points=e3—e1, and the horizontal straight line distance between ac= A, C points=f, i.e. the horizontal real-time data of the empty hook/cargo point from the central line of the tower crane, and the angle c=the real-time azimuth angle of the empty hook/cargo point.

Similarly, the conversion between the geodetic coordinates and the planar distance, azimuth coordinates between A-G, A-K refers to the conversion principle of FIG. 6 or FIG. 7.

And (3) an algorithm of real-time dynamic plane coordinates (M and B) of the station B of the mobile trolley.

(1) Algorithm of M:

refer to fig. 6. In the rotation and amplitude changing process of the slewing mechanism, the virtual delta ADB changes dynamically correspondingly, but the right angle characteristic is always unchanged. Therefore, the functional relationship between the dynamic real-time data of M and the other two sides is a right triangle relationship, and is obtained by real-time calculation through the Pythagorean theorem formula, and the functional relationship is as follows:

(2) Algorithm of angle B:

the real-time azimuth angle of B station is DAB corresponding to the plane right angle delta ABC in true north direction 0 ⁰ The degree is taken as a starting point, and through a Pythagorean theorem formula, the angle B is a tangent inverse trigonometric function of DB and AD lines, and the formula is as follows:

algorithm of real-time dynamic plane coordinates (F, < C) of lifting hook:

(1) algorithm of F

Refer to fig. 7. The virtual right angle AEC changes dynamically around point a, but the right angle characteristics remain unchanged all the time. Therefore, the dynamic real-time distance of F, namely AC, is calculated in real time by the Pythagorean theorem formula, and the formula is as follows:

(2) algorithm of angle C:

the real-time azimuth angle of the empty hook/cargo point is corresponding to the angle EAC in the plane right angle delta AEC, which is in the true north direction 0 ⁰ The degree is taken as a starting point, and the < C is the positive of DE and CD line through Pythagorean theorem formula

The tangential inverse trigonometric function has the formula:

algorithm of hook point G station (G, < G) and unhooking point K station (K, < K):

similarly, the G station (G, < G) and the K station (K, < K) can be obtained by referring to the algorithm:

(1) the function of the plane coordinates (G, ++g) of the G station is known as:

(2) the functions of plane coordinates (K, < K) of the K station are shown as follows:

in step 305), the absolute swing angle θ of the hook is also detected, and after the absolute swing angle θ exceeds the swing safety threshold, an alarm is given, and the absolute swing angle θ is calculated first, and then the swing angle and amplitude are calculated. The absolute swing angle θ is calculated as follows:

θ=arccoss (h+h5)/(l+h5), where H is the real-time difference in height between B and C stations, L is the difference in height between B and C stations when the hook is vertical, and H5 is the design safety margin constant.

Empty hook or cargo height algorithm:

hoist cable length l=b mobile station height (H2) -C mobile station height (H3).

The data automatic analysis module automatically converts the geodetic coordinates (east longitude E and north latitude N) in the three-dimensional satellite real-time coordinates (east longitude E, north latitude N and height H) of the B station, the C station, the G station and the K station subjected to difference into plane azimuth and distance position coordinates taking the vertical central line of the tower crane as a datum line through the algorithm.

The method of detecting sloshing in step 305) is as follows:

referring to fig. 8-9, the real-time azimuth angle B of the mobile trolley in the horizontal plane, the real-time azimuth angle C of the lifting hook in the horizontal plane, the horizontal straight line distance F of the station a and the station C, and the real-time horizontal straight line distance M of the station B and the station a are calculated.

The data automatic analysis module automatically calculates the real-time deviation correction value and deviation correction direction of the control parameter through a built-in algorithm, namely a (< C- < B) value and an (F-M) value in the graph. When (< C- < B) is positive, it indicates that the azimuth deviation value is located on the right side, and the value is adjusted by rotating leftwards, otherwise, the azimuth deviation value is adjusted rightwards. When (F-M) is a positive value, the distance deviation value is positioned at the outer side of the amplitude variation mechanism, the value is required to be adjusted by contracting the amplitude variation mechanism, otherwise, the amplitude variation mechanism is adjusted by stretching, and only when C-B=0 and F-M=0, the inclination angle is eliminated and the shaking is controlled.

The positioning accuracy obtained by the carrier wave phase difference technology reaches within 10 cm, and the positioning accuracy requirement of unmanned automatic operation can be completely met.

The scheme of the invention has strong applicability and can be used for various hoisting equipment. The device is not only suitable for tower type lifting equipment, but also suitable for portal type and bridge type lifting equipment, is not only suitable for fixed type and flow type, and is not only suitable for trolley luffing type and luffing type. Compared with the fixed type lifting equipment in the technical scheme, the movable type lifting equipment is characterized in that an RTK movable station is only required to be installed at the position of an A station to replace a handheld RTK dotting point to serve as a permanent calculation reference point, and a movable arm amplitude is only required to be adopted, and a B movable station installed at a movable trolley in the technical scheme is only required to be installed at a lifting rope pulley at the front end of the movable arm.

While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (8)

1. An automatic operation method of a tower crane is characterized by comprising the following steps:

1) Three-dimensional coordinate data of a station A, a station B, a station C, a station G and a station K are collected and sent to a data automatic analyzer, wherein the station A is positioned at the lower end of a gantry crane, the station B is positioned on a mobile trolley, the station C is positioned on a lifting hook, the station G is a vehicle-mounted unloading hook point, and the station K is an unhooking point;

2) A starting instruction is sent out through the handheld remote controller;

3) Automatically entering an unmanned full-automatic safe operation program by the system;

wherein step 3) comprises the steps of:

301 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the descending height data of the tower crane from the standby point to the hooking point;

302 Automatically controlling the rotation, amplitude variation and lifting mechanism to operate the empty hook to the hook position;

303 A remote control empty hook stops and sends out an operation starting signal after hooking;

304 The automatic data analysis module automatically provides the rotation direction, the amplitude distance and the lifting height data of the tower crane from the hook point to the unhooking point;

305 Automatically controlling the rotation, amplitude variation and lifting mechanism to drive the goods to the unhooking position;

306 Automatically reaching the unhooking point position, stopping remotely, unhooking;

in step 304), automatically detecting the inclination angle of the cargo during lifting by the three-dimensional coordinate data of the C station and the G station, providing an inclination direction and an amplitude, and automatically adjusting the direction and the amplitude of the suspension arm to adjust the lifting hook to be right above the cargo and then lifting the cargo if the inclination angle exceeds an inclination safety threshold value by the system;

in step 305), during the cargo transferring process, detecting whether the cargo is swayed or not according to the three-dimensional coordinate data of the station a, the station B and the station C, and if the swaying exceeds the swaying safety threshold, automatically performing swaying control.

2. The automated tower crane operation method according to claim 1, wherein step 303) is followed by automatically detecting whether the system is overloaded by a weight sensor.

3. The automated tower crane operation method according to claim 1, wherein in step 305) a collision avoidance safety parameter threshold is set, and whether the cargo position exceeds various preset collision avoidance safety parameter thresholds during the transfer process is automatically detected according to the three-dimensional coordinate data of each station.

4. The automated tower crane operation method according to claim 1, wherein the vehicle-mounted unloading hook point and the unloading unhooking point acquire three-dimensional positioning coordinates through handheld RTK dotting;

and an RTK mobile station is arranged on the mobile trolley, the RTK mobile station is hinged at the lifting hook, and three-dimensional coordinate data of the mobile trolley and the lifting hook are acquired through the RTK mobile station.

5. The automatic operation method of the tower crane according to claim 1 or 4, further comprising a network differential reference station and a server, wherein the network differential reference station is installed at a fixed place with known coordinates on a construction site, receives Beidou real-time positioning data of an installation point through a position real-time data network port and compares the Beidou real-time positioning data with real position data to obtain error values of the two data, and transmits the error values to the server in a 4G mode;

the server transmits error data to RTK mobile stations of the B station, the C station, the G station and the K station in a 4G mode, the mobile stations of the B station, the C station, the G station and the K station can acquire high-precision positioning data after eliminating error values from the server for the respectively received Beidou real-time positioning data, and the differential positioning data is transmitted to the data automatic analyzer through a 4G network.

6. The automated tower crane operation method according to claim 1, wherein the method for detecting sloshing in step 305) is as follows:

calculating a real-time azimuth angle B of the mobile trolley in a horizontal plane, a real-time azimuth angle C of the lifting hook in the horizontal plane, a horizontal straight line distance F between a station A and a station C, and a real-time horizontal straight line distance M between a station B and a station A;

calculating the value of C-B and the value of F-M;

when the angle C-angle B is a positive value, the azimuth deviation value is positioned on the right side, the value is required to be adjusted by rotating leftwards, and otherwise, the azimuth deviation value is adjusted rightwards; when F-M is a positive value, the distance deviation value is positioned at the outer side of the amplitude variation mechanism, the value is required to be adjusted by contracting the amplitude variation mechanism, otherwise, the value is adjusted by stretching the amplitude variation mechanism until +.C- +.B=0 and F-M=0.

7. The automated tower crane operation method according to claim 1, wherein in step 305) the absolute swing angle θ of the hook is also detected, and an alarm is given after the absolute swing angle θ exceeds a swing safety threshold.

8. The automated tower crane operation method according to claim 7, wherein the absolute swing angle θ is calculated as follows:

θ=arccoss (h+h5)/(l+h5), where H is the real-time difference in height between B and C stations, L is the difference in height between B and C stations when the hook is vertical, and H5 is the design safety margin constant.