CN201397393Y - Tower crane anti-collision online monitoring and pre-warning device based on ultrasound sensor network - Google Patents
Tower crane anti-collision online monitoring and pre-warning device based on ultrasound sensor network Download PDFInfo
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- CN201397393Y CN201397393Y CN2009200330186U CN200920033018U CN201397393Y CN 201397393 Y CN201397393 Y CN 201397393Y CN 2009200330186 U CN2009200330186 U CN 2009200330186U CN 200920033018 U CN200920033018 U CN 200920033018U CN 201397393 Y CN201397393 Y CN 201397393Y
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Abstract
The utility model discloses a tower crane anti-collision pre-warning device based on the ultrasound sensor, uses multi-ultrasound sensor fusion technique to monitor the obstacle around the tower crane. The collision pre-warning information can be obtained through the location and identification of the obstacle, the track prediction and the prior ultrasound map data anti-collision model calculation. The possible collision state can be noticed to the driver of the tower crane in time. The device comprises a main controller model and a monitoring point model. The main controller model and the monitoring point model are communicated through a wireless network form. The monitoring point model uses the ultrasound sensor to monitor the obstacle around the tower crane. The device solves the activeanti-collision monitoring problem of the tower crane, has the characteristics of strong anti-interference ability, good real time property and simple and easy use, effectively reduces the labor intensity of the tower crane driver, improves the anti-collision and monitoring level of the tower crane, reduces the happening of the collision accident of the tower crane, and ensures the safe and high efficient operation of the tower crane.
Description
Technical field
The utility model relates to a kind of tower crane safety monitoring assembly, relates in particular to a kind of tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network.
Background technology
Tower crane (hereinafter to be referred as the tower machine) is the crane of building trade work space maximum, and sling height height, work range are big, belong to work high above the ground, is level and the vertical lifting hoisting and conveying machinery and equipment that generally uses on the present building ground.Along with the sustained and rapid development of China's economy, the building trade scale constantly enlarges, and the tower machine has been created good economic benefits and social benefit.
Along with the expansion of city fundamental construction scale, urban architecture density constantly increases.The tower machine operation of new construction site will be subjected to the influence of peripheral existed building or other barriers, in servicely exist more collision hidden danger.Therefore, to the intensive building ground of neighboring buildings, guarantee the security of operation in the construction of tower machine, reduce security incident, satisfying the construction needs again as much as possible simultaneously is major issues that tower machine collision avoidance system needs solve.
By to the existing Searches of Patent Literature, Chinese invention patent " the safety intelligent measurement and control instrument of tower crane flock-mate fork operation ", the patent No. 200610041832.3, this patent of invention discloses the safety intelligent detecting instrument of a kind of tower crane flock-mate fork operation, this instrument has a many locking terminals equipment and a tread controller to constitute, terminal device is arranged on every operation tower crane, and may collide between the tower crane group reported to the police; China's utility model patent " the anti-locality protection device that hits of tower machine ", the patent No. 01206182.4, this utility model patent discloses a kind of tower machine anti-collision and has hit the locality protection device.Foregoing invention and utility model patent all are to adopt Electronic Control, form by sensor, communication network and the cab display screen etc. that install at tower machine trolley body, pivoting part place, calculate the relative position between the tower machine after the motion over the ground by every tower machine of real-time monitoring horizontal arm, realize the anticollision function.There are many deficiencies in this method: at first the situation in engineering construction place is constantly to change constantly, the work of tower machine allows zone and work limit zone to change mutually with situation, work allows the zone can become the work limit zone, restricted area also can become the permission zone, and this sometimes variation is faster.Electronic control system this variation of reply particularly the variation of accident have weak point, dirigibility shortcoming.Tower machine staff often has to the parameter work according to prior division perform region and restricted area in next Electronic Control collision avoidance system, if want to allowing zone and restricted area to do suitable change then need recomputate the division setup parameter, take time and effort, limited tower machine operation personnel's subjective initiative.These difficulties mainly are because the principle of work that collision avoidance system is selected for use causes.What its anticollision principle adopted is a kind of passive type anticollision security model, and system just monitors the motion state of self and the situation of peripheral barrier is lacked perception.The collision of tower machine mainly occurs in the contact point and the surface of contact of tower arm and peripheral barrier (comprising peripheral tower machine), because the tower arm lengths is bigger, peripheral barrier form is varied, adopts active collision monitoring to become the difficult point of collision avoidance system research and development.
Because the contactless monitoring mode of sonac and good sensing characteristics, it has been successfully applied in reversing automobile collision avoidance system and the robot navigation system.Because tower machine working method and environment and the above two system's tools are very different, its monitoring technology directly can't be introduced the tower machine collision monitoring of tower machine, need to improve its monitoring technology and make it to be used for obtaining of tower machine collision monitoring and warning information.
Summary of the invention
Problem at above-mentioned prior art existence, the purpose of this utility model is, a kind of tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network is provided, peripheral barrier is discerned and located realizing, thereby solve the bottleneck problem of above-mentioned active collision avoidance system.
In order to realize above-mentioned task, the present invention adopts following technical scheme:
A kind of tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network is characterized in that this device comprises:
A main controller module, the real time data that is used to finish the barrier characteristic information that ultrasonic monitoring point surveys merges to be calculated, create ultrasonic map and real-time update, barrier is positioned and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man-machine interface notice tower machine driver and in time be taked effective preventive measure;
An above monitoring point module is arranged in the some positions of tower machine balance arm and lifting beam, is used to finish peripheral barrier is monitored, and the barrier reflected signal is measured, and obtains the characteristic information of barrier, uploads main controller module during with fructufy;
Main controller module communicates with wireless network mode and monitoring point module.
Described main controller module comprises: CPU processing unit, storage unit, wireless communication unit, man-machine interface unit and power supply etc.The barrier characteristic information that the CPU processing unit of main controller module is surveyed by wireless communication unit real-time collecting system monitoring point, carry out real time data and merge calculating, input anticollision Model Calculation draws the following safe condition value of tower machine, with its result's storage and by man-machine interface notice tower machine driver.
Described monitoring point module comprises: CPU processing unit, storage unit, wireless communication unit, ultrasonic sensing unit, compensating unit and power supply etc.The monitoring point module is carried out peripheral barrier perception by initiatively launching ultrasonic signal, calculates and obtain the characteristic information (shape, distance) of the barrier that monitors, and this information is uploaded main controller module in real time.
Tower machine anticollision prior-warning device based on ultrasonic sensing network of the present utility model has the advantages that antijamming capability is strong, real-time good, be simple and easy to usefulness.The beneficial effects of the utility model are: effectively reduce tower machine driver labour intensity, improve tower machine collision monitoring level, reduce the generation of tower machine collision accident, make tower machine safety, efficient operation.
Description of drawings
Fig. 1 is an on-line monitoring system composition frame chart of the present utility model;
Fig. 2 is a tower machine anti-collision monitoring workflow of the present utility model;
Fig. 3 is that ultrasonic monitoring point of the present utility model is arranged synoptic diagram;
Fig. 4 main controller module composition frame chart of the present utility model;
Fig. 5 is a monitoring point of the present utility model module composition frame chart;
Fig. 6 is a main controller module software architecture diagram of the present utility model;
Fig. 7 is a main controller module system supervisor workflow of the present utility model;
Fig. 8 is a monitoring point of the present utility model module workflow.
Below in conjunction with accompanying drawing and embodiment the utility model is described in further details.
Embodiment
As shown in Figure 1, the tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network of the present utility model is made up of main controller module and a plurality of monitoring points module two parts.
Main controller module is positioned at tower machine pilothouse, the real time data of mainly finishing the barrier characteristic information of system monitoring point detection merges to be calculated, create ultrasonic map and real-time update, carry out barrier location and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man-machine interface notice tower machine driver.
The monitoring point module is arranged on tower machine balance arm and the some monitoring points of lifting beam, finish the monitoring of peripheral barrier, the obstacle information that monitors is calculated the characteristic information (shape, distance) that obtains barrier, this information is uploaded main controller module in real time.
Main controller module and each monitoring point module all are respectively arranged with wireless communication unit, and the steering order between them, data message etc. transmit by the wireless network mode.
As shown in Figure 2, tower machine anti-collision monitoring workflow of the present utility model is as follows: the monitoring point module utilizes ultrasonic sensor to monitor the place ahead situation in real time, if barrier appears at the monitored area, the monitoring point module is carried out the obstacle information feature extraction, obtain the shape and the distance feature data of barrier, with data upload to main controller module.Main controller module carries out the real time data fusion at uploading data, creates the ultrasonic map of surrounding enviroment or upgrades map; In addition according to fusion results, on large scale, carry out barrier and discern once more and locate and carry out the barrier trajectory predictions.With ultrasonic map, barrier real-time information and information of forecasting input anticollision Model Calculation, obtain tower machine safe condition value, possible anti-collision warning information is informed tower machine driver according to danger classes by man-machine interface, takes effective preventive measure.
Fig. 3 provides a specific embodiment of the present utility model, and in an embodiment, the layout of monitoring point of the present utility model module on lifting beam as shown in the figure.Xoy is made as absolute coordinate system over the ground among the figure, and x ' y ' is made as relative coordinate system, and choosing tower revolution of arm center is true origin, and the tower arm is an ox ' axle.Barrier might fall in the field angle θ of single-sensor, also might fall in the field angle θ of two or more sensors, promptly in the overlay region, carves at this moment, and main controller module carries out barrier Spatial Dimension Multi-sensor Fusion.When the tower arm turns round with angular velocity omega, sensor i t constantly the distance of detecting obstacles thing P be S
i(t), the distance that constantly detects barrier P at (t+1) is S
i(t+1), main controller module carries out barrier dimension positioning time Multi-sensor Fusion.
Fig. 4 provides a specific embodiment of the present utility model, in an embodiment, main controller module core processor of the present utility model adopts the S3C2440 processor of ARM920T series, and ARM920T has MMU, instruction and data Cache and the high speed AMBA bus interface of full performance.As the CPU core of S3C2440 chip, 16/32 ARM920T risc microcontroller adopts 0.13um CMOS standard block structure, and having independently, 16kB refers to modern buffer memory and 16kB metadata cache.The peripheral expansion storer adopts the NAND Flash of 64M, is used for storing boot, kernel program, file system and application program.Keyboard display module adopts touch LCD display, carries out system parameter setting demonstration and the ultrasonic map of tower machine surrounding enviroment and shows in real time.USB interface is by inserting movable flashing disk storage tower machine collision Monitoring Data.Wireless communication unit adopts the cc2480 chip with 802.15.4 communication protocol, forms the Mesh net with other wireless communication units, and this unit is connected with processor by serial ports.The audio frequency output module is used for exporting tower machine possibility risk of collision information, reminds tower machine driver safe operation.Jtag interface is used for non-intrusion type debugging main controller module.
Fig. 5 provides a specific embodiment of the present utility model, in an embodiment, monitoring point of the present utility model module is made up of CPU processing unit, Flash storage unit, wireless communication module, ultrasonic sensing module, temperature compensation module, jtag interface and power supply etc.The CPU processing unit is selected the C8051F330 processor for use, this processor has CIP-51 microcontroller kernel, CIP-51 and MCS-51 instruction set are compatible fully, the C8051F330 device is fully-integrated mixed signal SOC (system on a chip) type MCU, aboundresources in the C8051F330 single-chip microcomputer sheet, comprise 1 full speed, non-intrusion type at system debug interface (in the sheet), 16 passages of 10 200ksps are single-ended/difference ADC, band simulation Port Multiplier, 10 digit currents output DAC, the 25MHz internal oscillator of high-precision programmable, but the Flash storer of 8KB in-system programming, 768 byte ram in slice, hard-wired SMBus/I
2C, enhancement mode UART and enhancement mode SPI serial line interface, 17 port I/O (allowing the 5V input).Jtag interface is with non-intrusion type debugging monitoring point modular program.Wireless communication unit adopts the cc2480 chip with 802.15.4 communication protocol, and forms the Mesh net with other wireless communication units.The Flash storer is used for preserving monitoring point module running parameter.The ultrasonic sensing module is made up of ultrasonic sensor (waterproof transceiver type), power driving circuit, amplifying circuit and filtering circuit, is used for receiving in real time the ultrasonic distance signal of monitoring point.Temperature detecting module is made up of temperature sensor, modulate circuit, and the monitoring of environmental temperature is carried out ultrasonic range measurement accuracy compensation.The monitoring point module sends in real time and receives the ultrasonic pulse formation by the ultrasonic sensing module carries out peripheral barrier perception, utilizes reflected ultrasonic to handle profile and the range data of obtaining barrier, and uploads main controller module by wireless communication unit.
Fig. 6 provides a specific embodiment of the present utility model, in an embodiment, the main controller module software configuration is divided into three layers, bottom is a driver layer, comprise serial port drive program, USB driver, LCD driver, audio driver, touch-screen driver and Flash driver, these drivers provide corresponding bottom hardware operation-interface for system software.The middle layer is a built-in Linux operating system, in the present embodiment, has selected for use cutting to cross Linux 2.6.13 kernel, removes unwanted functional module, effectively reduces system scale, and the real-time of system is provided.The superiors are application software layers, comprise system supervisor, anticollision model program, system calibration program, wireless network transmissions program and yaffs file system.System supervisor is the master routine of tower machine collision avoidance system, finishes the overall system management work, mainly comprises system operational parameters management, system calibration management, collision monitoring management, the ultrasonic map demonstration of barrier, data storage management etc.; The anticollision model program is responsible for anti-collision warning and is calculated, the point of impingement, the collision time data of output possibility collision accident, and carry out the danger classes ordering, possible anti-collision warning information is by inform tower machine driver by speech form; The system calibration program is responsible for the calibration operation of system works precision; The wireless network transmissions program is finished and being connected of radio communication by serial port drive, is responsible for system's self-defining data communication analysis; The yaffs file system is responsible for the logical file of system is managed, and comprises the duplicating of logical file, deletes, operation such as modification, and this document system drives the file operation that realizes movable flashing by Flash, realizes that the system works data are preserved and backup.
Fig. 7 provides a specific embodiment of the present utility model, in an embodiment, main controller module system supervisor workflow is as follows: operating personnel select to start the main controller module system supervisor by touch-screen, system at first enters the self check state, patrol and examine oneself state and each monitoring point module status, if find fault then show and remind the operator to carry out trouble shooting and eliminating by the audio frequency mode by the LCD display pictograph, if fault is got rid of, supervisory routine is carried out System self-test again, if self check is passed through, enter systemic-function and select the interface, mainly comprise the initialization system parameter, system calibration, start collision monitoring and shutdown system.If select the initialization system parameter, system enters running parameter and sets the interface, relevant system parameters is set, carry out the master controller parameter setting earlier, start by wireless network successively then and set each monitoring point module parameter, the saved system running parameter is received retrieval system function selecting interface after the shutdown confirmation that each ultrasonic monitoring point returns; If the selective system calibration function carries out system calibration, after each hardware module was ready, the start-up system calibration procedure was finished each monitoring point module range measurement accuracy calibration, returns after calibration is finished; If select to start the collision monitoring function, start each ultrasonic reference point module, whether circulatory monitoring receives the barrier data of monitoring point, if receiving one group of barrier data then carries out data fusion and calculates, on large scale, carry out barrier identification and location, its result is created or upgrade ultrasonic map, and carry out the barrier trajectory predictions and calculate.With predict the outcome, current data and the existing input of diagram data ultrasonically anticollision model program calculate may collision accident the point of impingement, collision time, and carry out danger classes and sort, according to security of system distance setting parameter, judge whether there is risk of collision.May collide if exist, start voice reminder and report to the police; If there is not risk of collision, then only show, and this result is preserved by the LCD display pictograph, carry out circulatory monitoring once more then, withdraw from until system closing; If supervisory routine is received the shutdown system instruction, at first preserve running parameter, send stop instruction to each monitoring point module then, receiving that withdrawing from blanked-off pipe after each monitoring point module is shut down confirmation manages program.
Fig. 8 provides a specific embodiment of the present utility model, in an embodiment, each monitoring point module workflow is as follows: monitoring point module master routine is after receiving the enabled instruction that main controller module sends, carry out entering the mode of operation selection mode after the functions of modules initialization, wait for that main controller module sends work order.If selective system is set pattern, master routine receives running parameter and preserves and change the work at present parameter, enters shutdown mode subsequently.If select shutdown mode, then at first upload this module shutdown confirmation signal and inform main controller module, shut down then, promptly enter the module low power consumpting state.If selective system monitoring pattern, at first emission is waited for reception and the signal that receives is carried out the auto-correlation demodulation whether judge has barrier then in the monitoring range of default through the ultrasonic signal of pseudo-random code modulation, if do not have, then start the ultrasound emission circulatory monitoring once more; If monitor barrier, then carry out profile identification and calculate by wave form analysis, calculate by the laggard row distance of temperature compensation.Behind the barrier data upload main controller module that monitors with this monitoring point, whether inquiry requires to shut down, if do not shut down, then returns ultrasound emission point and prepares monitoring next time; If require to shut down, then turn back to shutdown mode.
More than enumerating only is a specific embodiment of the present utility model.Obviously, the utility model is not limited to version and the ardware model number that above embodiment provides, and many distortion (type) can also be arranged.Those of ordinary skill in the art can directly derive or associate all distortion (type) from content disclosed by the invention, all should think protection scope of the present invention.
Claims (3)
1, a kind of tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network is characterized in that this device comprises:
A main controller module, the real time data that is used to finish the barrier characteristic information that ultrasonic monitoring point surveys merges to be calculated, create ultrasonic map and real-time update, barrier is positioned and trajectory predictions, with the anticollision Model Matching and collide evaluation, result's storage also may be collided by man-machine interface notice tower machine driver and in time be taked effective preventive measure;
An above monitoring point module is arranged in the some positions of tower machine balance arm and lifting beam, is used to finish peripheral barrier is monitored, and obstacle information is calculated, and obtains the characteristic information of barrier, uploads main controller module during with fructufy;
Main controller module communicates with wireless network mode and monitoring point module.
2, the tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network as claimed in claim 1, it is characterized in that described main controller module comprises: CPU processing unit, storage unit, wireless communication unit, man-machine interface unit and power supply; The barrier characteristic information that the CPU processing unit of main controller module is surveyed by wireless communication unit real-time collecting system monitoring point, carry out real time data and merge calculating, input anticollision Model Calculation draws the following safe condition value of tower machine, with its result's storage and by man-machine interface notice tower machine driver.
3, the tower crane anti-collision on-line monitoring prior-warning device based on ultrasonic sensing network as claimed in claim 1, it is characterized in that described monitoring point module comprises: CPU processing unit, storage unit, wireless communication unit, ultrasonic sensing unit, compensating unit and power supply; The monitoring point module is carried out peripheral barrier perception by initiatively launching ultrasonic signal, calculates and obtains the characteristic information of the barrier that monitors, and this information is uploaded main controller module in real time.
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| CN2009200330186U CN201397393Y (en) | 2009-05-11 | 2009-05-11 | Tower crane anti-collision online monitoring and pre-warning device based on ultrasound sensor network |
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| CN2009200330186U CN201397393Y (en) | 2009-05-11 | 2009-05-11 | Tower crane anti-collision online monitoring and pre-warning device based on ultrasound sensor network |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173369A (en) * | 2011-02-15 | 2011-09-07 | 徐州赫思曼电子有限公司 | Collision-prevention controller for overhead working truck |
| CN103466458A (en) * | 2013-09-06 | 2013-12-25 | 西安丰树电子科技发展有限公司 | Multi-tower-crane three-dimensional space anti-collision method based on behaviors |
| CN105374231A (en) * | 2014-08-27 | 2016-03-02 | 中国移动通信集团公司 | Early warning method, device and system |
| CN109641730A (en) * | 2016-06-13 | 2019-04-16 | 卡哥特科专利许可有限公司 | Hydraulic crane |
-
2009
- 2009-05-11 CN CN2009200330186U patent/CN201397393Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173369A (en) * | 2011-02-15 | 2011-09-07 | 徐州赫思曼电子有限公司 | Collision-prevention controller for overhead working truck |
| CN103466458A (en) * | 2013-09-06 | 2013-12-25 | 西安丰树电子科技发展有限公司 | Multi-tower-crane three-dimensional space anti-collision method based on behaviors |
| CN105374231A (en) * | 2014-08-27 | 2016-03-02 | 中国移动通信集团公司 | Early warning method, device and system |
| CN109641730A (en) * | 2016-06-13 | 2019-04-16 | 卡哥特科专利许可有限公司 | Hydraulic crane |
| CN109641730B (en) * | 2016-06-13 | 2020-02-21 | 卡哥特科专利许可有限公司 | Hydraulic crane |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100203 Effective date of abandoning: 20090511 |