CN202766129U - Space location intelligent anti-collision system of large construction device coder - Google Patents
Space location intelligent anti-collision system of large construction device coder Download PDFInfo
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- CN202766129U CN202766129U CN201220422353.7U CN201220422353U CN202766129U CN 202766129 U CN202766129 U CN 202766129U CN 201220422353 U CN201220422353 U CN 201220422353U CN 202766129 U CN202766129 U CN 202766129U
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Abstract
A space location intelligent anti-collision system of a large construction device coder comprises a central controller module, a control input module, a control output module and an operation display module. The central controller module is connected with the control input module, the control output module and the operation display module. The central controller module is connected with an alarming and control module, the control input module is connected with a coder module and inputs data measured by the coder module into the central controller module to be processed. High-accuracy coders installed on each degree of freedom for rotating, walking, lifting, amplitude varying, trolley running and the like of devices to comprehensively and accurately indicate coordinate direction of the devices and determine space relation between the devices accordingly. The devices transmit direction information to a central controller, and the central controller calculates and compares to determine whether interference exists between the devices, prompts, warns and shuts down the interfered device and ensures device safety.
Description
Technical field
The utility model relates to the space orientation of a kind of heavy construction equipment coder, Intelligent anti-collision system.
Background technology
For the engineering of concentrating construction, large-scale lifting preparation of construction is often arranged intensive, and the equipment anticollision not only is related to the safe operation of equipment room, and can more be related to engineering carry out smoothly.The method of Intelligent anti-collision of the prior art system is more, as: sensor collision avoidance system, infrared collision avoidance system, GPS collision avoidance system etc., but implementation result is often not ideal enough; The economic cost of implementing is higher.
Summary of the invention
The purpose of this utility model provides the space orientation of a kind of heavy construction equipment coder, Intelligent anti-collision system, by the high-precision encoder that turns round at equipment, walks, hoists, each degree of freedom such as luffing, trolley travelling are installed, come the comprehensive accurately grid bearing of indicating equipment, to determine the spatial relationship of equipment room.Each equipment passes to central controller with azimuth information, and central controller calculates, comparison is rear determines whether equipment room exists interference, and the equipment that disturbs is pointed out, reports to the police, shut down, and guarantees device security.
Above-mentioned purpose of the present utility model is to realize by such technical scheme: the space orientation of heavy construction equipment coder, Intelligent anti-collision system comprise central controller module, control inputs module, control output module, Operation display module; Central controller module connects control inputs module, control output module and Operation display module, central controller module connects reports to the police and control module, the control inputs module connects coder module, and the data that the control inputs module is measured coder module are input to central controller module and process.
Described coder module comprises: amplitude encoder is used for showing that suspension centre is apart from the distance of equipment center of gyration; Rotary encoder, its residing angle orientation when being used for the revolution of affirmation equipment; The large vehicle walking coder is used for the residing location fix of affirmation equipment;
Suspension hook promotes coder, is used for confirming the residing elevation of suspension hook; Dolly traction coder, be used for confirming the residing orientation of pull-type carriage weight-lifting equipment dolly, above-mentioned amplitude encoder, rotary encoder, large vehicle walking coder, suspension hook promote coder, dolly traction coder is installed on the large lifting equipment, are connected with the control inputs module by wireless or wired mode after the operation control system that heavy construction equipment carries is processed.
Described coder module comprises the anemoscope coder, is used for the monitoring of ambient wind velocity, when monitoring above other wind speed of permission level, equipment is fed back shutdown control.
The beneficial effect of the space orientation of a kind of heavy construction equipment coder of the utility model, Intelligent anti-collision system is as follows:
1) cost is low: the required all kinds of coders of the utility model should be equipped with on weight-lifting equipment, only need guarantee that its precision gets final product, and cost has substantial degradation than the collision avoidance system that uses the equipment such as sensor, infrared ray, GPS.
2), error is little: high-precision absolute value encoder has very high survey precision, simultaneously because being provided with the error correcting point, can in time proofread and correct error, has further reduced measured error.
3), reliability is high: not affected by inclement weather, measuring coder general with hoist, the equipment such as luffing together is arranged in the machine room, be affected by the external environment littlely with facility locations such as sensor, infrared ray, GPS outdoor comparing, fault rate, damage rate are low.Because of the direct measuring mechanism operating data of coder, be subjected to hardly the impact of weather conditions, and the equipment such as infrared ray, GPS are affected by environment large, encoder device has larger advantage.
4), system extension is flexible: collision avoidance system adds if any new installation, need carry out equipment and extension very convenient, system program has carried out considering in advance and setting for this reason, only need access the 3D modelling of this type equipment, carry out setting and the correction of equipment initial parameter, possess on the corresponding hardware condition basis at equipment and can incorporate rapidly collision avoidance system.
Description of drawings
The utility model is described in further detail below in conjunction with drawings and Examples:
Fig. 1 is the utility model system principle schematic block diagram.
Fig. 2 is the utility model heavy construction equipment disturbed condition scheme drawing.
The specific embodiment
Fig. 2 is heavy construction equipment disturbed condition scheme drawing, comprising: the three block space interference regions 4 that 3, three equipment of large-scale door machine 1, the first Large Towers machine, 2, the second Large Towers machines are separated out.
As shown in Figure 1, the space orientation of heavy construction equipment coder, Intelligent anti-collision system comprise central controller module 12, control inputs module 11, control output module 13, Operation display module 15.Central controller module 12 connects control inputs module 11, control output module 13 and Operation display module 15, and central controller module 12 connects reports to the police and control module 14.Control inputs module 11 connects coder module, coder module is measured related data, the operation control system that heavy construction equipment carries is transferred to control inputs module 11 after data are converted to transmission mode, is input to central controller module 12 by control inputs module 11 and processes.
Described coder module comprises:
Amplitude encoder 5 is used for showing that suspension centre is apart from the distance of equipment center of gyration;
Rotary encoder 6, its residing angle orientation when being used for the revolution of affirmation equipment;
Large vehicle walking coder 7 is used for the residing location fix of affirmation equipment;
Suspension hook promotes coder 8, confirms the residing elevation of suspension hook by the distance of hoisting rope lifting;
Dolly traction coder 9 is with the residing orientation of true pull-type carriage weight-lifting equipment dolly.
Anemoscope coder 10 is used for the monitoring of ambient wind velocity, judges the impact on equipment.
Above-mentioned amplitude encoder 5, rotary encoder 6, large vehicle walking coder 7, suspension hook lifting coder 8, dolly traction coder 9, anemoscope coder 10 are installed on the heavy construction equipment, and the operation control system that carries through heavy construction equipment is connected with control inputs module 11 by wireless or wired mode.
Input central controller module 12 was processed after the related data that control inputs module 11 is measured all kinds of coders received by wireless or wired mode.Central controller module 12 is the control center of data processing and instruction output, control output module 13 is responsible for the control command of central controller module 12 outputs is exported to the operation control system that relevant device carries, when occur to disturb between central controller module 12 computing equipments possible the time, report to the police and control module 14 is worked.Operation display module 15 is display module and the corollary equipment of interrelation between display equipment.
Working process:
1), the obtaining and transmit of equipment state signal: the locus of weight-lifting equipment is by crane arm amplitude, equipment degreeof turn, large vehicle walking distance, elevator system suspension hook elevation, trailer wagon orientation, and jointly determines in conjunction with the installation site coordinate of weight-lifting equipment and the parameters such as elevation at each position of equipment.By the high precision position coder (in most cases being furnished with such position coder on the equipment) of installing in these mechanisms of weight-lifting equipment, carry out the Real-time Obtaining of weight-lifting equipment azimuthal coordinates, after the operation control system that heavy construction equipment carries is converted to transmission mode with data, transfers to central controller module 12 in wired or wireless mode and process.
2), the alarm of anticollision and restriction dangerous play: the application program that central controller module 12 build-in functions are powerful, program is that dissimilar equipment is provided with 3D modelling, 3D modelling can be adjusted according to the equipment status parameter that obtains, with display equipment current state and position, prior relative position relation interference region between set device 4 in application program according to each equipment, when the large-scale door machine 1 more than two, the first Large Towers machine 2, the second Large Towers machine 3 equipment enter interference region 4 simultaneously, exist to disturb and during collision possible, in time carry out sound and light alarm prompting (same alarm on master control room and relevant device) by warning and control module 14, emergency situation can move by limiting device, play the purpose of anticollision, when only there being an equipment to enter interference region, noiseless possibility, then do not report to the police, do not disturb large-scale door machine 1, the first Large Towers machine 2, the normal operation of the second Large Towers machine 3.
3), the priority of job task control: often there are the difference of priority in large-scale door machine 1, the first Large Towers machine 2, the second Large Towers machine 3 tasks, as: build the work importantly than the odd jobs hoisting operation, equipment, that the gold knot is installed hoisting operation is generally important than the odd jobs hoisting operation.The monitor staff of collision avoidance system can arrange in the program of central controller module 12 accordingly according to the pro-jobs level of large-scale door machine 1, the first Large Towers machine 2, the second Large Towers machine 3, when equipment all need enter interference region 4 work, only allow the higher equipment of pro-jobs level to enter interference region 4, guarantee the continuity of the weight-lifting equipment work that priority is high, guaranteed the optimization of engineering construction efficient.
4), many picture displies: be equipped with Operation display module 15 on central controller module 12 and the equipment, in order to adopt many Picture switchs to show, the picture that shows comprises: the overall situation of each equipment room is arranged the partial picture of picture, equipment room, each view picture, and the 3 D stereo picture, to reach the purpose of demonstration directly perceived.Many pictures and three-dimensional picture show that a lot of collision avoidance systems do not possess, and have very strong practicality and preceence.
5), monitoring and the protection of ambient wind velocity: also be provided with anemoscope coder 10 on the equipment, when ambient wind velocity reaches dangerous wind speed, by the windproof code requirement limiting device of weight-lifting equipment operation acts, guarantee device security.
6), the correction of encoder errors: the utility model is that the equipment state coordinate that obtained by each coder is as the system on basis, it is particularly important that the accuracy of each coder obtaining information seems, the error of each mechanism position coder can be by setting the mode round-off error of correction bit regular calibration.For example: the large vehicle walking Systematic Error Correction can be at the relevant position set-up error adjusting point of walking on the track, large vehicle walking coder 7 coordinates of equipment are modified to standard coordinate when this adjusting point of equipment walking process, can guarantee like this particularity that coder shows.Other mechanism errors are proofreaied and correct therewith in like manner.
7), the auxiliary monitoring of video: the correct position of equipment is provided with all-weather camera, vision signal is introduced driver's cab or arrange that the master control room of 12 central controllers monitors that with handled easily driver or master control room personnel are to monitor mode facilities for observation periphery situation and the construction environment of video, play the effect of the auxiliary anticollision of equipment, but and the Real Time Observation field condition, vision signal can be preserved for future reference.
8), system fault self-diagnosis: collision avoidance system has the function of system autodiagnosis and detection, can carry out automatic diagnosis to the fault that system occurs, and analysis, prompting, record trouble reason, when a certain device systems breaks down in the equipment, can report to the police and by the shielding this local system, avoid flase alarm and maloperation to cause system normally not move, do not affect the normal operation of all the other systems after the shielding.
9), supporting system expansion: collision avoidance system adds if any new installation, system program has carried out considering in advance and setting for this reason, only need access the 3D modelling of this type equipment, carry out setting and the correction of equipment initial parameter, possess on the corresponding hardware condition basis at equipment and can incorporate rapidly collision avoidance system, and the expansion capacity is large.This collision avoidance system can increase any multiple devices as required in theory, such as equipment (1) ~ (N) in the accompanying drawing 1
﹟, the large-scale door machine 1 in the accompanying drawing 2, the first Large Towers machine 2, the second Large Towers machine 3 only are signal.
10), driver's call-information automatic recording function: system arranges automatic recording apparatus at driver's cab, and the driver can't change the deletion recorded message, driver's operation behavior is played good supervisory role, and can play accident effect for future reference.
Claims (3)
1. heavy construction equipment coder space orientation, Intelligent anti-collision system comprise central controller module (12), control inputs module (11), control output module (13), Operation display module (15);
Central controller module (12) connects control inputs module (11), control output module (13) and Operation display module (15), and central controller module (12) connects reports to the police and control module (14);
It is characterized in that control inputs module (11) connects coder module, the data that control inputs module (11) is measured coder module are input to central controller module (12) and process.
2. according to claim 1 described heavy construction equipment coder space orientation, Intelligent anti-collision system is characterized in that, described coder module comprises:
Amplitude encoder (5) is used for showing that suspension centre is apart from the distance of equipment center of gyration;
Rotary encoder (6), its residing angle orientation when being used for the revolution of affirmation equipment;
Large vehicle walking coder (7) is used for the residing location fix of affirmation equipment;
Suspension hook promotes coder (8), is used for confirming the residing elevation of suspension hook;
Dolly traction coder (9), be used for confirming the residing orientation of pull-type carriage weight-lifting equipment dolly, above-mentioned amplitude encoder (5), rotary encoder (6), large vehicle walking coder (7), suspension hook promote coder (8), dolly traction coder (9) is installed on the large lifting equipment, are connected with control inputs module (11) by wireless or wired mode after the operation control system that heavy construction equipment carries is processed.
3. according to claim 1 described heavy construction equipment coder space orientation, Intelligent anti-collision system; it is characterized in that; described coder module comprises anemoscope coder (10); be used for the monitoring of ambient wind velocity; when monitoring above other wind speed of permission level, equipment is fed back shutdown control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220422353.7U CN202766129U (en) | 2012-08-24 | 2012-08-24 | Space location intelligent anti-collision system of large construction device coder |
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| CN201220422353.7U CN202766129U (en) | 2012-08-24 | 2012-08-24 | Space location intelligent anti-collision system of large construction device coder |
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| CN202766129U true CN202766129U (en) | 2013-03-06 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826456A (en) * | 2012-08-24 | 2012-12-19 | 中国长江三峡集团公司 | Space positioning and intelligent anticollision system using encoders for large-scale construction equipment |
| CN103428477A (en) * | 2013-08-15 | 2013-12-04 | 上海国际港务(集团)股份有限公司军工路分公司 | Portal crane operation monitoring system |
| CN105347211A (en) * | 2015-11-17 | 2016-02-24 | 山东聊建集团有限公司 | Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane |
-
2012
- 2012-08-24 CN CN201220422353.7U patent/CN202766129U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826456A (en) * | 2012-08-24 | 2012-12-19 | 中国长江三峡集团公司 | Space positioning and intelligent anticollision system using encoders for large-scale construction equipment |
| CN102826456B (en) * | 2012-08-24 | 2016-01-20 | 中国长江三峡集团公司 | Heavy construction equipment encoder spatial location, Intelligent collision avoidance system |
| CN103428477A (en) * | 2013-08-15 | 2013-12-04 | 上海国际港务(集团)股份有限公司军工路分公司 | Portal crane operation monitoring system |
| CN105347211A (en) * | 2015-11-17 | 2016-02-24 | 山东聊建集团有限公司 | Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane |
| CN105347211B (en) * | 2015-11-17 | 2017-07-28 | 山东聊建集团有限公司 | Derrick crane panorama visible, controllable, intellectual monitoring and safeguarding integrated system |
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| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130306 |