CN206531960U - A kind of tower crane protector based on laser radar - Google Patents
A kind of tower crane protector based on laser radar Download PDFInfo
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- CN206531960U CN206531960U CN201621286495.XU CN201621286495U CN206531960U CN 206531960 U CN206531960 U CN 206531960U CN 201621286495 U CN201621286495 U CN 201621286495U CN 206531960 U CN206531960 U CN 206531960U
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- tower crane
- laser radar
- laser
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Abstract
The utility model discloses a kind of tower crane protector based on laser radar, it is related to laser detection early warning field.The device includes laser radar, data processing unit, wireless alarm units and tower crane trip control unit, wherein, laser radar is used for monitoring tower hoisting thing operation conditions, obtains the ranging information of target area；Data processing unit is connected with laser radar, wireless alarm units and tower crane trip control unit respectively, for analyzing ranging information, carries out the detection of tower crane goods attack early warning；Wireless alarm units are used for the information for receiving data processing unit, send alarm signal to tower crane cab and monitoring operation center；Tower crane trip control unit is used to control electronic box connecting and disconnecting of the circuit under tower crane, carries out the brake hard of tower crane.The present apparatus can quickly detect whether tower crane goods swarms into default alarm region, so that carrying out radio alarming notifies tower crane driver and Surveillance center, take effective braking and safeguard procedures.
Description
Technical field
It is more particularly to a kind of to be prevented using laser radar progress tower crane construction early warning the present invention relates to laser detection early warning field
The device of shield.
Background technology
With the development of urban construction, the transformation of old town and the exploitation in new area, construction site are also increasing.Tower crane
As the part that building machinery is essential, demand is also increasing.During tower crane is constructed, suffer from neighbouring
The obstruction of high voltage cable or civil construction, once tower crane touches high voltage cable or strikes building, it will produces serious
Consequence.
In existing arrangement and method for construction, often high voltage cable or building overlap joint scaffold are protected.So not
Only quantities is big, and time-consuming, in addition it is also necessary to puts into substantial amounts of manpower and materials and is mounted and dismounted.
Utility model content
In order to solve the above problems, the utility model proposes a kind of tower crane protector based on laser radar.This reality
It is as follows with new technical scheme：
A kind of tower crane protector based on laser radar, it is characterised in that include laser radar, data processing unit, nothing
Line alarm unit and tower crane trip control unit, wherein, the laser radar is used for monitoring tower hoisting thing operation conditions, obtains mesh
Mark the ranging information in region；The data processing unit is single with laser radar, wireless alarm units and tower crane open circuit control respectively
Member is connected, for analyzing ranging information, carries out the detection of tower crane goods attack early warning；The wireless alarm units are used to receive data
The information of processing unit, sends alarm signal to tower crane cab and monitoring operation center；The tower crane trip control unit is used
In electronic box connecting and disconnecting of the circuit under control tower crane, the brake hard of tower crane is carried out.
The described tower crane protector based on laser radar, it is preferred that the laser radar is surveyed for two dimensional laser scanning
Distance meter, or be single or multiple single-point laser rangefinders, or be three dimensional multiline laser scanning and ranging instrument；
When the laser radar is two dimensional laser scanning rangefinder, the two dimensional laser scanning rangefinder is installed on vertical rod
Or on fence, its scanning cross-section is in the range of the scanning cross-section perpendicular to ground and prewarning area；
When the laser radar is multiple single-point laser rangefinders, the sampling line of each single-point laser rangefinder is mutually put down
OK, and with ground angle between 0 ° to 180 °；When for single single-point laser rangefinder, its line of sampling points to precautionary areas
Domain；
When the laser radar is three dimensional multiline laser scanning and ranging instrument, the three dimensional multiline laser scanning and ranging instrument hangs down
Directly it is installed on vertical rod or fence, makes one scanning cross-section parallel with prewarning area plane；
The described tower crane protector based on laser radar, it is preferred that the data processing unit be with data at
The embedded computer of reason ability；
Described wireless alarm units are the data transmission unit with wireless receiving and dispatching ability, specially 433M modules, 3G
Module, ZigBee module；
Described tower crane trip control unit includes optical coupling isolation circuit, auxiliary reclay and contactor.
The utility model has the advantages that：
Laser radar can accurately measure the ranging information of scanning cross-section, can very easily set target alarm region,
And the size and shape of alarm region can arbitrarily be set；Simultaneously as Laser Radar Scanning frequency is fast, can be promptly and accurately
Detect invasion information, and can by the height value feedback of the information of intrusion object to tower crane driver or relevant staff, if necessary,
Emergency brake command, which can also be sent, makes tower crane be stopped.
The utility model device is compact portable, and installing/dismounting is simple, can detect multiple target areas, can repeat profit
With.
Brief description of the drawings
Fig. 1 is the system principle diagram of the utility model device.
Fig. 2 is the operating diagram of the embodiment of the utility model one.
Fig. 3 is the coordinate transform schematic diagram of the embodiment of the utility model one.
Embodiment
For the purpose of the utility model embodiment and the advantage of scheme is more clearly understood.Below in conjunction with the accompanying drawings to this
Utility model embodiment is described in further detail.
As shown in figure 1, the utility model device is broken by laser radar, data processing unit, wireless alarm units and tower crane
Road control unit composition, wherein, laser radar is used for monitoring tower hoisting thing operation conditions, obtains the ranging information of target area；
Data processing unit is connected with laser radar, wireless alarm units and tower crane trip control unit respectively, for analyzing ranging letter
Breath, carries out the detection of tower crane goods attack early warning；Wireless alarm units are used for the information for receiving data processing unit, send alarm signal
Number arrive tower crane cab and monitoring operation center；Tower crane trip control unit is used to control electronic box connecting and disconnecting of the circuit under tower crane, carries out
The brake hard of tower crane.
The operating diagram of device is as shown in Fig. 2 laser radar 1 carries out ranging to alarm plane domain 3 set in advance
Scanning, obtains a series of laser ranging data, and the present embodiment uses two-dimensional scan formula laser range finder, it is to be understood that
If multiple single-point laser rangefinders or three-dimensional laser rangefinder, detection can be equally completed.
Data processing unit is handled described laser ranging data, and ranging data is carried out into coordinate transform first,
Coordinate system as shown in Figure 3, sets up two-dimensional coordinate system, then the seat of laser radar with the origin that is projected as of laser radar on the ground
It is (0, H) to mark O ', and target area to be detected is the scopes that surround of ABCD, and the angle of Laser Radar Scanning line and horizontal plane is α, is swashed
The distance measured by wherein one scan line in optical radar single pass is L, then corresponding Formula of Coordinate System Transformation is：
X=L*cos α, Y=H+L*sin α；
For a frame data of laser radar single pass, after coordinate transform, the two-dimensional signal number of the plane is obtained
Group, analyzes the two-dimensional array, has checked whether that coordinate points are fallen into the ABCD of target area, if finding to have continuous in a frame data
Sampled point fall into target area, and front and rear many frame data all detect object, and this explanation has object and swarmed into, and calculates the object
Y-coordinate value be used as height, and output alarm signal.Tower crane goods 4 such as Fig. 2 can be from up and down and horizontal direction is rushed
Enter in target area 3, when detect the distance areas 3 of goods 4 it is nearer when, such as in the range of 1 meter, data processing unit sends alarm
Signal is to tower crane driver 6 and Surveillance center, and when goods continues close to until swarming into region 3, data processing unit sends braking
Signal makes tower crane be stopped to tower crane trip control unit 5.
It will be appreciated that the mounting means is a kind of preferred embodiment of the present utility model, for those skilled in the art
It should be understood that placing two-dimensional scan formula laser radar horizontal positioned or at an angle, target area can be equally obtained
Ranging information, complete detection function；Or complete detection function using multiple single-point type laser range finders；Or using multiple
Two-dimensional scan formula laser radar is cascaded, and completes the detection of bigger target area；Or carried out more using three-dimensional laser radar
The detection of the abundant precise information of solid.
Tower crane trip control unit, by the brake signal of data processing unit by light-coupled isolation, controls auxiliary reclay
Switch closure carry out control contactor working condition, the break-make purpose of the circuit of electronic box 5 under tower crane in control figure 2 is reached, so that real
Existing urgent defencive function.Obviously, using laser radar carry out alarming protection, not only install simple and convenient, and accurate positioning and
When.
Described above is only the utility model preferred embodiment, it is noted that for the ordinary skill of the art
For personnel, on the premise of the utility model technical principle is not departed from, some improvements and modifications can also be made, these improvement
Protection domain of the present utility model is also should be regarded as with retouching.
Claims (8)
1. a kind of tower crane protector based on laser radar, it is characterised in that comprising laser radar, data processing unit, wireless
Alarm unit and tower crane trip control unit, wherein,
The laser radar is used for monitoring tower hoisting thing operation conditions, obtains the ranging information of target area；
The data processing unit is connected with laser radar, wireless alarm units and tower crane trip control unit respectively, for dividing
Ranging information is analysed, the detection of tower crane goods attack early warning is carried out；
The wireless alarm units are used for the information for receiving data processing unit, send alarm signal to tower crane cab and operation
Surveillance center；
The tower crane trip control unit is used to control electronic box connecting and disconnecting of the circuit under tower crane, carries out the brake hard of tower crane.
2. the tower crane protector according to claim 1 based on laser radar, it is characterised in that the laser radar is
Two dimensional laser scanning rangefinder, or be single or multiple single-point laser rangefinders, or be three dimensional multiline laser scanning and ranging instrument.
3. the tower crane protector according to claim 2 based on laser radar, it is characterised in that the two-dimensional laser is swept
Retouch rangefinder to be installed on vertical rod or fence, its scanning cross-section is perpendicular to ground and prewarning area is in the scanning cross-section scope
It is interior.
4. the tower crane protector according to claim 2 based on laser radar, it is characterised in that the single-point laser is surveyed
Distance meter is when for multiple single-point laser rangefinders, and the sampling line of each single-point laser rangefinder is parallel to each other, and with ground institute into
Angle is between 0 ° to 180 °；When for single single-point laser rangefinder, its line of sampling points to prewarning area.
5. the tower crane protector according to claim 2 based on laser radar, it is characterised in that the three dimensional multiline swashs
Optical scanning rangefinder is installed vertically on vertical rod or fence, makes one scanning cross-section parallel with prewarning area plane.
6. the tower crane protector according to claim 1 based on laser radar, it is characterised in that the data processing list
Member is the embedded computer with data-handling capacity.
7. the tower crane protector according to claim 1 based on laser radar, it is characterised in that described radio alarming
Unit is the data transmission unit with wireless receiving and dispatching ability, specially 433M modules, 3G module, ZigBee module.
8. the tower crane protector according to claim 1 based on laser radar, it is characterised in that described tower crane open circuit
Control unit includes optical coupling isolation circuit, auxiliary reclay and contactor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621286495.XU CN206531960U (en) | 2016-11-24 | 2016-11-24 | A kind of tower crane protector based on laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621286495.XU CN206531960U (en) | 2016-11-24 | 2016-11-24 | A kind of tower crane protector based on laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN206531960U true CN206531960U (en) | 2017-09-29 |
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ID=59922907
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621286495.XU Active CN206531960U (en) | 2016-11-24 | 2016-11-24 | A kind of tower crane protector based on laser radar |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108750950A (en) * | 2018-06-20 | 2018-11-06 | 张建 | A kind of tower crane and its automatic Pilot control method with Function for Automatic Pilot |
| CN108919293A (en) * | 2018-09-28 | 2018-11-30 | 广东电网有限责任公司 | Monitoring by Lidar device and electric pole |
| CN109839638A (en) * | 2017-11-28 | 2019-06-04 | 保定市天河电子技术有限公司 | Railroad platform means of defence and equipment |
| CN110166751A (en) * | 2019-06-03 | 2019-08-23 | 三一汽车制造有限公司 | Arm support equipment, arm support equipment safety early warning device and method |
| CN110335431A (en) * | 2019-08-13 | 2019-10-15 | 上海建工集团股份有限公司 | Small-sized tower crane operating area attack early warning system |
| CN111880195A (en) * | 2020-07-10 | 2020-11-03 | 中科智云科技有限公司 | Tower crane anti-collision method and system based on laser radar |
| CN112731430A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
-
2016
- 2016-11-24 CN CN201621286495.XU patent/CN206531960U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839638A (en) * | 2017-11-28 | 2019-06-04 | 保定市天河电子技术有限公司 | Railroad platform means of defence and equipment |
| CN108750950A (en) * | 2018-06-20 | 2018-11-06 | 张建 | A kind of tower crane and its automatic Pilot control method with Function for Automatic Pilot |
| CN108919293A (en) * | 2018-09-28 | 2018-11-30 | 广东电网有限责任公司 | Monitoring by Lidar device and electric pole |
| CN110166751A (en) * | 2019-06-03 | 2019-08-23 | 三一汽车制造有限公司 | Arm support equipment, arm support equipment safety early warning device and method |
| WO2020244010A1 (en) * | 2019-06-03 | 2020-12-10 | 三一汽车制造有限公司 | Crane boom apparatus, and safety early-warning device and method for crane boom apparatus |
| CN110335431A (en) * | 2019-08-13 | 2019-10-15 | 上海建工集团股份有限公司 | Small-sized tower crane operating area attack early warning system |
| CN111880195A (en) * | 2020-07-10 | 2020-11-03 | 中科智云科技有限公司 | Tower crane anti-collision method and system based on laser radar |
| CN112731430A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
| CN112731430B (en) * | 2020-12-15 | 2024-06-11 | 武汉万集光电技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
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