CN1323512C - Safety intelligent protecting observing controller of tower crane crossing operation - Google Patents
Safety intelligent protecting observing controller of tower crane crossing operation Download PDFInfo
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- CN1323512C CN1323512C CNB2006100418323A CN200610041832A CN1323512C CN 1323512 C CN1323512 C CN 1323512C CN B2006100418323 A CNB2006100418323 A CN B2006100418323A CN 200610041832 A CN200610041832 A CN 200610041832A CN 1323512 C CN1323512 C CN 1323512C
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Abstract
The present invention discloses a safety intelligent protecting testing instrument of tower crane group crossing operation, which is composed of a plurality of terminal appliances and a ground control station, wherein the terminal appliances are arranged on each operation tower crane. The testing instrument has the advantages of low manufacturing cost, powerful function, high precision, high speed and convenient operation and is suitable for the safety protection of the translational type tower crane group crossing operation. The present invention has the six functions of collision preventing control among the crossing operation tower cranes, the control of the number of the working tower cranes in an operation area, collision preventing control among the tower cranes and peripheral buildings, the restriction of the range of the working area of the tower cranes, the speed limiting control of the work of the tower cranes, the protection of the torque of the tower cranes, etc. and simultaneously provides the status display and the long-distance observing and controlling service of the real-time running state and the working parameter of a tower crane group. The number of the tower cranes in the group can reach 10, the number of the points of the restriction area and building protection in the operation area of each single tower crane can reach 5, and the time of system response is from 50 ms to 500 ms and can be further shortened with the enhancement of station baud rate as required.
Description
Technical field
The invention belongs to Embedded Real-Time measurement and control area, relate to a cover measurement and control instrument, further relate to the safety intelligent detecting instrument of a kind of tower crane flock-mate fork operation based on wireless self-organization network.
Background technology
A kind of construction form that the operation of tower crane flock-mate fork is extensively adopted as the Contemporary Architecture industry, its reliability and high efficiency directly influenced job site personnel personal safety and the duration progress etc. of whole project.Since the tower crane number of large-scale job site cross-operation is huge and surrounding enviroment to the complex limitation of tower crane job area, influenced the result of use of tower crane flock-mate fork operation inevitably.Be carrying out of ensuring safety in production, can only when laying tower crane, reduce the generation of cross-operation situation as far as possible.The obvious like this efficiency of construction that reduces whole building site makes the bottleneck that the tower crane operation becomes influences the duration; And, can only rely on ground staff's dispatch control to coordinate for owing to be subjected to the cross-operation environment of working area restriction, and it is unusual difficult and heavy that this work will become, and fail safe and high efficiency all are difficult to be protected.For the large-scale tower crane group under running up, can't carry out by artificial commander.Therefore, how when guaranteeing fail safe, further improving whole tower crane group's operating efficiency, shorten the project duration, is whole construction industry urgent problem.In countries such as France, Italy, Singapore, this kind equipment is installed on the tower crane of cross-operation as the pressure safeguard of national regulation, finishes the safety guarantee work of tower crane group operation.Domestic in the backward greatly developed country of research aspect this; although domestic colleague carried out many-sided exploratory development; but rest on spacing, the limited amplitude protection of single tower crane more; almost not to the research of tower crane group anti-collision under the cross-operation, the relevant report and the product of at present still manque tower crane flock-mate fork job safety safeguard come out.
Summary of the invention
Defective or deficiency at above-mentioned prior art existence, the objective of the invention is to, the safety intelligent measurement and control instrument of a kind of tower crane flock-mate fork operation is provided, this instrument adopts the embedded of wireless self-organization network, have reliable operation, the tower crane of observing and controlling in real time group, with finish the operation of tower crane flock-mate fork down security protection and increase work efficiency, and cost is low, prepares simply.
To achieve these goals, the technical scheme that the present invention takes is that described terminal equipment comprises:
1) terminal control unit, built-in terminal software is used for the setting of the relevant every running parameter of tower crane group, the collection of state information and calculating, the operation of anti-collision algorithm, the real-time graph demonstration of tower crane group running status;
2) wireless communication module, this module has the RS232 standard interface, possesses the above baud rate of 9.6Kbps, is used to finish the related data transmission between the tower crane;
3) 1 to 3 AB phase incremental encoder is used to gather the tower revolution of arm, moving of car, the relative position information that suspension hook promotes;
4) 2 to 8 positive-negative-positives are used to gather the tower crane revolution near switch, the rectification information of moving of car, and gather the tower revolution of arm, moving of car, the relative position information that suspension hook promotes;
5) 2 slide rheostats are used to gather moving of car, the positional information that suspension hook promotes;
6) pressure sensor of 1 4mA～20mA output is used to measure the lift heavy of tower crane;
7) circuit breaker of 12 24VDC or the following rated insulation voltage of 110VAC is used to control the totally 12 groups of outputs of tower crane 2 gears 6 directions;
Above-mentioned AB phase encoder, link to each other with the input interface that terminal control unit provides as the detecting unit of instrument near switch, slide rheostat, pressure sensor, circuit breaker is with after output interface that terminal control unit provides is connected, be connected in series to each in motor control loop, wireless communication module is connected with terminal control unit by the RS232 interface;
Described ground control cabinet comprises:
1) computer, built-in monitoring software based on Design of Virtual Instrument, be used for the ground staff to the long-range setting of tower crane group, in real time the monitoring and manual dispatching;
2) wireless communication module, this module has the RS232 standard interface, possesses the above baud rate of 9.6Kbps, is used to finish the transfer of data between ground control cabinet and terminal measuring and controlling equipment; Wireless communication module is connected with computer by the RS232 interface.
The safety intelligent measurement and control instrument of tower crane flock-mate fork of the present invention operation; be applicable to the security protection of flatly moving type tower crane flock-mate fork operation; comprising: the anti-collision control between the cross-operation tower crane; the number control of work tower crane in the cross-operation district; the anti-collision control of tower crane and peripheral building; the scope of tower crane working region limits, the Control for Speed Limitation of tower crane work and 6 kinds of functions such as force moment protection of tower crane.Also provide the scene of tower crane group real-time running state and running parameter to show and the remote monitoring service simultaneously, the tower crane number can reach 10 in the group, restricted area in every separate unit tower crane operation area and building protection can reach 5 places, system response time is 50ms～500ms (response time can further shorten with the raising of radio station baud rate as required).The key technical indexes and its general technical index all reach the industry advanced level.
Description of drawings
Fig. 1 is a system hardware structure block diagram of the present invention;
Fig. 2 is a software function structure chart of the present invention;
Fig. 3 is an anti-collision algorithm function structure chart of the present invention
Fig. 4 is the circuit block diagram of terminal control unit of the present invention;
Fig. 5 is the realization of anti-collision algorithm of the present invention;
For a more clear understanding of the present invention, below in conjunction with the instantiation that accompanying drawing and inventor provide, the present invention is described in further detail and explanation.
Embodiment
As shown in Figure 1, the safety intelligent detecting instrument of a kind of tower crane flock-mate fork operation is characterized in that this instrument is made of a many locking terminals equipment and a tread control desk, and terminal equipment is arranged on every operation tower crane;
Described terminal equipment comprises:
1) a station terminal controller includes controller and coherent signal conditioning unit based on the ARM7 platform, built-in terminal firmware, be used for the setting of the relevant every running parameter of tower crane group, the collection of state information and calculating, the operation of anti-collision algorithm, the real-time graph demonstration of tower crane group running status;
2) provide RS232 standard interface, possess one of the wireless communication module of the above baud rate of 9.6Kbps, be used to finish the related data transmission between the tower crane.
3) 1 to 3 AB phase incremental encoder is used to gather the tower revolution of arm, moving of car, the relative position information that suspension hook promotes.
4) 2 to 8 positive-negative-positives are used to gather the tower crane revolution near switch, the rectification information of moving of car, and gather the tower revolution of arm, moving of car, the relative position information (alternative input mode) that suspension hook promotes.
5) 2 slide rheostats are used to gather moving of car, the absolute location information (alternative input mode) that suspension hook promotes
6) pressure sensor of 1 4ma to 20mA output is used to measure the lift heavy of tower crane.
7) circuit breaker of 12 24VDC or the following rated insulation voltage of 110VAC, may command tower crane 2 gears 6 directions totally 12 groups of outputs at most.
Ground control cabinet comprises:
1) computer is one, built-in monitoring software based on Design of Virtual Instrument.Be used for the ground staff to the long-range setting of tower crane group, in real time the monitoring and manual dispatching.
2) provide RS232 standard interface, possess one of the wireless communication module of the above baud rate of 9.6Kbps, be used to finish the transfer of data between ground control cabinet and terminal measuring and controlling equipment.
Wherein, select suitable input mode according to the specific requirement of tower crane at encoder, near switch, slide rheostat, pressure sensor, the input interface that provides as the detecting unit and the terminal control unit of system links to each other.Circuit breaker is connected in series to each in motor control loop with after output interface that terminal control unit provides is connected.Wireless communication module is connected with terminal control unit by the RS232 interface.Every tower crane need be equipped with this terminal equipment one cover.
Ground control cabinet is connected and composed by RS232 interface and computer by wireless communication module.But root is got needs, is that unit is configured with the construction site.
The aligning information of the positional information that collecting unit promotes this machine tower crane tower revolution of arm, moving of car, suspension hook, lift heavy, tower revolution of arm and the moving of car of tower crane, signal condition, digital quantization, photoelectricity through the input collecting unit are isolated the input terminal controller.The real-time status data of other tower cranes receive by wireless communication module, and input to terminal control unit by the RS232 interface.In conjunction with the model parameter of setting by the keyboard input of site operation personnel by terminal control unit, the break-make of carrying out of 12 kinds of self-movement modes of this machine is judged.The result of decision is converted into control action by photoelectricity isolation, relay control, the circuit breaker that seals in electric motor loop is controlled, to finish the security protection work of tower crane flock-mate fork operation.To tower crane group's the real-time status information and the execution action of terminal control unit, on screen, graphically show simultaneously.Tower crane group's real-time status information is input in the computer of ground control cabinet by wireless communication module, finishes the ground monitoring of tower crane group working order.Ground maneuvers personnel also can set tower crane group's model parameter by the virtual instrument interface, and the tower crane group is carried out manual dispatching.
As Fig. 2; shown in terminal software be divided into and be four module; wireless self-organization network module (the Authentication mechanism that comprises access point; the fault-tolerant control of transfer of data; the service that the Qos control of wireless network and dynamic access are withdrawed from); the human-computer interaction interface module (comprises graphical demonstration in real time; menu management; the keyboard typing and the status lamp of parameter; the control of alarming devices such as buzzer); data management module (comprises the data acquisition of analog and digital signal; the decoding of incremental encoder signal realizes; storage of this machine data and recovery; the Compress softwares of teledata and the backup of historical data and inquiry), output control module (comprises the anti-collision control between the cross-operation tower crane; the number control of work tower crane in the cross-operation district; the anti-collision control of tower crane and peripheral building; the scope of tower crane working region limits; the Control for Speed Limitation of tower crane work and the force moment protection of tower crane).Each task is dispatched by embedded real-time operating system.Ground control cabinet software is by the wireless self-organization network module, and database management module and virtual instrument module constitute, and finish the long-range setting of tower crane swarm parameter, the functions such as ground maneuvers of the ground monitoring of tower crane group operating state and tower crane group work.
As Fig. 3, wherein Fig. 3 (A) is depicted as the anticollision situation between the cross-operation tower crane.Said collision comprises: prevent the collision of tower arm between the contour tower crane, prevent the collision of low tower crane tower arm and high tower crane lifting rope and goods, prevent the collision of this machine tower arm, goods and the other side's body of the tower, prevent the inertial collision of tower arm and goods etc.The force moment protection that Fig. 3 (B) topples over when being depicted as the tower crane lift heavy.(C) be depicted as the area limiting of tower crane operation.Comprising, the building site restriction of lift heavy scope, dodge in the zone (as road, the sky of house owed by a citizen) in the lift heavy scope.Wherein also comprise tower crane tower arm and building, the collision situation of goods and building.
Fig. 4 is the circuit block diagram of the terminal control unit that provides of inventor.The core of controller is the S3C44B0X chip based on the ARM7TDMI framework.The K4S166432 memory chip of cooperation 8MB and the 39VF1601 flash chip of 2MB constitute the minimum system of controller.The UART interface that S3C44B0X provides externally provides 5 line serial ports of one group of band hardware flow control by the level conversion of MAX3232, and power supply platform transmission data are used.One group of LCD interface that S3C44B0X provides directly drives 5.7 inches liquid crystal display screen by keyset, finishes the demonstration of figure and data.ZLG7290 finishes keyboard scan work, and key assignments is sent into S3C44B0X by iic bus.S3C44B0X finishes the data acquisition of system and exports control by the register that the EMIF interface reads in the CPLDEPM7128.Incremental encoder and isolate by the photoelectricity of TLP521 near the digital signal of switch and to send into EPM7128 and decode.The 4-20mA current signal of pressure transmitter output is by a RCV420 conversion position voltage signal, together with the pressure drop on the slide rheostat, undertaken finishing the multi-channel A conversion by TLV2544 after signal leaves under order by amplifier LM324 respectively.Transformation result is carried out the photoelectricity isolation via 6N139, by the SN74ALV164245 level conversion, sends in the EPM7128.System's output is carried out photoelectricity by TIL113 and is isolated after EPM7128 process SN74ALV1 64245 level conversion.12 tunnel outputs are via controlling circuit breaker behind the relay, 4 tunnel outputs will directly drive warning lamp and buzzer operate as normal.
Referring to Fig. 5, Fig. 5 is the main implementation procedure of anti-collision algorithm.The real-time status normalizing of cross-operation tower crane is the set that becomes with Points And lines section element.Restricted area so that the selection of minimum range rule obtains by decomposition model, also becomes line segment aggregate.The dotted line set of the other side's tower crane is adopted the recent renewal rule and is entered cross-operation district rule and selects.With result and line segment aggregate, enter the dotted line rotating model successively with after this machine real-time status information combination.Through collision detection and anticollision decision-making, produce court verdict.Export control by related output model.
Instrument cost of the present invention is low, function is strong, precision is high, and speed is exceedingly fast, and is easy to operate, has highly intellectuality and automation function.
The present invention has finished the development of model machine, and through the field adjustable in building site, and to drop into trial run in Singapore, operation result shows that working stability is reliable, can substitute the foreign same type product fully.
The safety intelligent measurement and control instrument of tower crane flock-mate fork of the present invention operation; be applicable to the security protection of flatly moving type tower crane flock-mate fork operation; comprising: the anti-collision control between the cross-operation tower crane; the number control of work tower crane in the cross-operation district; the anti-collision control of tower crane and peripheral building; the scope of tower crane working region limits, the Control for Speed Limitation of tower crane work and 6 kinds of functions such as force moment protection of tower crane.Also provide the scene of tower crane group real-time running state and running parameter to show and the remote monitoring service simultaneously, the tower crane book can reach 10 in the group, restricted area in every separate unit tower crane operation area and building protection can reach 5 places, system response time is that (response time can be as required for 50ms～500ms, further shorten with the raising of radio station baud rate), the key technical indexes and its general technical index all reach the industry advanced level.
Claims (2)
1. the safety intelligent detecting instrument of tower crane flock-mate fork operation is characterized in that it is characterized in that, this instrument is made of a many locking terminals equipment and a tread control desk, and terminal equipment is arranged on every operation tower crane;
Described terminal equipment comprises:
1) terminal control unit, built-in terminal software is used for the setting of the relevant every running parameter of tower crane group, the collection of state information and calculating, the operation of anti-collision algorithm, the real-time graph demonstration of tower crane group running status;
2) wireless communication module, this module has the RS232 standard interface, possesses the above baud rate of 9.6Kbps, is used to finish the related data transmission between the tower crane;
3) 1 to 3 AB phase incremental encoder is used to gather the tower revolution of arm, moving of car, the relative position information that suspension hook promotes;
4) 2 to 8 positive-negative-positives are used to gather the tower crane revolution near switch, the rectification information of moving of car, and gather the tower revolution of arm, moving of car, the relative position information that suspension hook promotes;
5) 2 slide rheostats are used to gather moving of car, the positional information that suspension hook promotes;
6) pressure sensor of 1 4mA to 20mA output is used to measure the lift heavy of tower crane;
7) circuit breaker of 12 24VDC or the following rated insulation voltage of 110VAC is used to control the totally 12 groups of outputs of tower crane 2 gears 6 directions;
Above-mentioned AB phase encoder, link to each other with the input interface that terminal control unit provides as the detecting unit of instrument near switch, slide rheostat, pressure sensor, circuit breaker is with after output interface that terminal control unit provides is connected, be connected in series to each in motor control loop, wireless communication module is connected with terminal control unit by the RS232 interface;
Described ground control cabinet comprises:
1) computer, built-in monitoring software based on Design of Virtual Instrument, be used for the ground staff to the long-range setting of tower crane group, in real time the monitoring and manual dispatching;
2) wireless communication module, this module has the RS232 standard interface, possesses the above baud rate of 9.6Kbps, is used to finish the transfer of data between ground control cabinet and terminal measuring and controlling equipment; Wireless communication module is connected with computer by the RS232 interface.
2. the safety intelligent detecting instrument of tower crane flock-mate fork as claimed in claim 1 operation, it is characterized in that, the core of described terminal control unit is the S3C44B0X chip based on the ARM7TDMI framework, and the K4S166432 memory chip of cooperation 8MB and the 39VF1601 flash chip of 2MB constitute the minimum system of controller; Wherein the UART interface that provides of S3C44B0X externally provides 5 line serial ports of one group of band hardware flow control by the level conversion of MAX3232, and power supply platform transmission data are used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100418323A CN1323512C (en) | 2006-02-27 | 2006-02-27 | Safety intelligent protecting observing controller of tower crane crossing operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100418323A CN1323512C (en) | 2006-02-27 | 2006-02-27 | Safety intelligent protecting observing controller of tower crane crossing operation |
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| Publication Number | Publication Date |
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| CN1819521A CN1819521A (en) | 2006-08-16 |
| CN1323512C true CN1323512C (en) | 2007-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100418323A Expired - Fee Related CN1323512C (en) | 2006-02-27 | 2006-02-27 | Safety intelligent protecting observing controller of tower crane crossing operation |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167264B (en) * | 2011-04-14 | 2012-11-21 | 北京航空航天大学 | Advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for tower crane |
| CN105836642B (en) * | 2016-06-03 | 2017-09-29 | 徐州华控机电科技有限公司 | A kind of tower crane anti-collision safety system and control strategy with rotary braking function |
| CN108169769B (en) * | 2017-12-29 | 2021-11-23 | 中国建筑第五工程局有限公司 | Method for preventing collision of grouped towers |
| CN110963405B (en) * | 2020-01-09 | 2021-01-15 | 济南大学 | Movement method for cooperative operation of three tower cranes |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01275870A (en) * | 1988-04-25 | 1989-11-06 | Fujikura Ltd | Construction of steel tower or the like and tower crane device |
| KR0130368Y1 (en) * | 1995-11-21 | 1998-12-01 | 최훈 | Apparatus of remote controller for tower crane |
| CN2371733Y (en) * | 1999-05-10 | 2000-03-29 | 张明亮 | Remote group network monitoring controlling measuring device for fire control |
| CN2622148Y (en) * | 2003-06-10 | 2004-06-30 | 孔红忠 | Safety operation device for high building construction tower crane |
-
2006
- 2006-02-27 CN CNB2006100418323A patent/CN1323512C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01275870A (en) * | 1988-04-25 | 1989-11-06 | Fujikura Ltd | Construction of steel tower or the like and tower crane device |
| KR0130368Y1 (en) * | 1995-11-21 | 1998-12-01 | 최훈 | Apparatus of remote controller for tower crane |
| CN2371733Y (en) * | 1999-05-10 | 2000-03-29 | 张明亮 | Remote group network monitoring controlling measuring device for fire control |
| CN2622148Y (en) * | 2003-06-10 | 2004-06-30 | 孔红忠 | Safety operation device for high building construction tower crane |
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| CN1819521A (en) | 2006-08-16 |
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