CN216190602U - Tower crane safety monitoring system - Google Patents
Tower crane safety monitoring system Download PDFInfo
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- CN216190602U CN216190602U CN202120688986.1U CN202120688986U CN216190602U CN 216190602 U CN216190602 U CN 216190602U CN 202120688986 U CN202120688986 U CN 202120688986U CN 216190602 U CN216190602 U CN 216190602U
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Abstract
The application provides a tower crane safety monitoring system, wherein, this system includes: tower cranes, mobile stations and network real-time dynamic positioning devices; the top, the middle and the bottom of the tower body of the tower crane are provided with the mobile stations, or the arm body and the corner of the suspension arm of the tower crane are provided with the mobile stations; the network real-time dynamic positioning device is used for measuring and calculating the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time so as to monitor the tower crane verticality in normal work in real time based on the measured and calculated three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time; or measuring and calculating the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm in real time, and monitoring the elevation angle of the suspension arm of the tower crane in normal operation in real time based on the measured and calculated three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm. The embodiment of the application can improve the measurement accuracy of tower crane safety monitoring and can carry out normalized dynamic monitoring.
Description
Technical Field
The application relates to the technical field of tower cranes, in particular to a tower crane safety monitoring system.
Background
At present, the competition of the domestic building market is increasingly violent, the current situation of cities with small soil is that high-rise buildings are favored by developers more and more, and with the gradual increase of the height of the buildings, the tower crane as a vertical transportation tool has been widely applied to construction sites due to the advantages of large hoisting height, heavy weight capable of being hoisted and carried, large operation control radius and the like. However, in recent years, accidents caused by collapse of tower cranes are continuous, and the tower crane accidents often cause the condition of group death and group injury, so that fatal disasters are brought to construction enterprises. The safety monitoring of the tower crane is an important measure for preventing the overturning and collapsing of the tower crane.
In the prior art, the safety monitoring of the tower crane mainly depends on a total station, the measurement precision is poor, and the normalized dynamic monitoring can not be carried out.
SUMMERY OF THE UTILITY MODEL
In view of this, the purpose of this application is to provide a tower crane safety monitoring system, can improve tower crane safety monitoring's measurement accuracy to can carry out normalized dynamic monitoring.
The embodiment of the application provides a tower crane safety monitoring system, includes: tower cranes, mobile stations and network real-time dynamic positioning devices;
the top, the middle and the bottom of the tower body of the tower crane are provided with the mobile stations, or the arm body and the corner of the suspension arm of the tower crane are provided with the mobile stations;
the network real-time dynamic positioning device is used for measuring and calculating the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time so as to monitor the tower crane verticality in normal work in real time based on the measured and calculated three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time; or measuring and calculating the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm in real time, and monitoring the elevation angle of the suspension arm of the tower crane in normal operation in real time based on the measured and calculated three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm.
In one possible embodiment, the network real-time dynamic positioning apparatus is a network RTK system.
In one possible embodiment, the network RTK system is a network RTK system based on VRS technology.
In one possible embodiment, the network RTK system is a network RTK system based on MAC technology.
In one possible embodiment, the network RTK system is a network RTK system based on FKP technology.
In one possible embodiment, the method further comprises: the panoramic monitoring device is used for shooting panoramic monitoring images of the tower crane so as to monitor the safety of the tower crane.
In one possible embodiment, the method further comprises: and the ground cab monitoring device is in communication connection with the panoramic monitoring device and is used for carrying out tower crane safety monitoring by displaying the panoramic monitoring image in real time.
In one possible embodiment, the method further comprises: and the early warning device is used for carrying out early warning when the tower crane verticality and/or the suspension arm elevation angle of the tower crane meet the early warning condition.
In one possible embodiment, the warning device includes:
the alarm module is used for performing sound-light alarm;
and the control module is used for judging whether the tower crane verticality and/or the suspension arm elevation angle of the tower crane meet the early warning condition.
In one possible implementation, the alarm module comprises an LED luminous tube and a buzzer.
The tower crane safety monitoring system that this application embodiment provided includes: tower cranes, mobile stations and network real-time dynamic positioning devices; the top, the middle and the bottom of the tower body of the tower crane are provided with the mobile stations, or the arm body and the corner of the suspension arm of the tower crane are provided with the mobile stations; the network real-time dynamic positioning device is used for measuring and calculating the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time so as to monitor the tower crane verticality in normal work in real time based on the measured and calculated three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time; or measuring and calculating the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm in real time, and monitoring the elevation angle of the suspension arm of the tower crane in normal operation in real time based on the measured and calculated three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm. Compared with the prior art, the tower crane safety monitoring mainly depends on a total station, the measurement precision is poor, and the normalized dynamic monitoring cannot be carried out, the mobile stations are arranged at the top, the middle and the bottom of the tower body, or the mobile stations are arranged at the arm body part and the corner of the suspension arm, the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body can be measured and calculated in real time through the network real-time dynamic positioning device, or the three-dimensional coordinates of the mobile stations at the arm body part and the corner of the suspension arm can be measured and calculated in real time, so that the tower crane verticality or the suspension arm elevation angle of the tower crane during normal working can be monitored in real time, the measurement precision of the tower crane verticality or the suspension arm elevation angle of the tower crane can be improved, and the normalized dynamic monitoring can be carried out on the tower crane verticality or the suspension arm elevation angle of the tower crane.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a schematic structural diagram of a first tower crane safety monitoring system provided in an embodiment of the present application;
fig. 2 shows a schematic structural diagram of a second tower crane safety monitoring system provided in the embodiment of the present application;
FIG. 3 shows a flow chart of a tower crane safety monitoring method provided by the embodiment of the application;
fig. 4 shows a schematic diagram of a module composition of a tower crane safety monitoring device provided by the embodiment of the present application;
fig. 5 shows a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In consideration of the fact that tower crane safety monitoring in the prior art mainly depends on a total station, measurement accuracy is poor, and normalization dynamic monitoring cannot be performed based on the measurement accuracy, the embodiment of the application provides a tower crane safety monitoring system, and the following description is performed through the embodiment.
In order to facilitate understanding of the embodiment, a tower crane safety monitoring system disclosed in the embodiment of the present application is first described in detail.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a first tower crane safety monitoring system provided in an embodiment of the present application. As shown in fig. 1, the system mainly includes: the system comprises a tower crane 1, mobile stations 1A, 1B and 1C and a network real-time dynamic positioning device 11.
The tower crane 1 is a trolley amplitude-variable crane arm (flat arm) tower crane and the like, the top of the tower body of the tower crane 1 is provided with a mobile station 1A, the middle part is provided with a mobile station 1B, and the bottom is provided with a mobile station 1C. In particular, the rover station may be a rover station capable of receiving pseudoranges and carrier phase observations, and reference station coordinates observed by a reference station. Optionally, the rover station may also be a rover station GPS receiver, and may receive the coordinates, the pseudoranges, and the carrier phase observations of the reference station via a serial port for observing the pseudoranges and the carrier phase observations, and may differentially process the carrier phase observations of the reference station and the rover station.
And the network real-time dynamic positioning device 11 is used for measuring and calculating three-dimensional coordinates of the mobile station 1A at the top, the mobile station 1B in the middle and the mobile station 1C at the bottom of the tower body of the tower crane 1 in real time. In a possible embodiment, the network Real-time dynamic positioning device 11 may be a network RTK (Real-time kinematic) system with digital display, and the staff may directly record three-dimensional coordinates of the top rover station 1A, the middle rover station 1B, and the bottom rover station 1C of the tower body of the tower crane 1 measured and calculated in Real time, and use the three-dimensional coordinates for subsequent calculation and the like, so as to calculate the Real-time verticality and the deviation of the tower crane 1. In another possible implementation manner, the network RTK system is in communication connection with a device having a calculation function, and the device first creates a tower crane component set, establishes a tower crane three-dimensional model based on the tower crane component set, then receives three-dimensional coordinates of a mobile station 1A at the top, a mobile station 1B at the middle, and a mobile station 1C at the bottom of a tower crane body of the tower crane 1, introduces the three-dimensional coordinates into the tower crane three-dimensional model, and calculates real-time perpendicularity and deviation of the tower crane 1 during normal operation.
The network RTK system may be: any one of a network RTK system based on a VRS (Virtual Reference Station) technology, a network RTK system based on a MAC (Master-autonomous Concept) technology, and a network RTK system based on an FKP (flache Korrektur Parameter) technology.
The VRS technology is called virtual reference station technology, the VRS is different from the conventional RTK, and in the VRS network, each fixed reference station does not directly send any correction information to a mobile user, but sends all original data to a control center through a data communication line. The VRS technology is characterized in that a plurality of reference stations arranged on the ground form a GPS Continuous Operation Reference Station (CORS) network, satellite observation data of each reference station is comprehensively utilized, and an accurate error model is established through software processing to correct related errors. At the same time, before working, the mobile user firstly sends an approximate coordinate to the data control center by GPRS or CDMA communication means, after the data control center receives the position information, the data control center automatically selects an optimal group of fixed reference stations by a computer according to the position of the user, integrally corrects errors caused by orbit error, ionosphere, troposphere and atmospheric refraction of GPS according to the information sent by the stations, and sends a high-precision differential signal to the mobile station. The effect of this differential signal is equivalent to generating a virtual reference base station beside the rover station, thereby solving the problem of limitation on RTK working distance and ensuring the accuracy of the user.
The MAC technology is a new generation of reference station technology based on the concept of "primary and secondary stations". The main and auxiliary station technology is based on a multi-base station, multi-system, multi-frequency and multi-signal non-differential processing method, and all relevant observation data representing the whole-week unknown level are broadcasted to the rover as correction data of the network in a highly compressed form from a reference station network. It is essentially an optimization of the area correction technique. And selecting an effective reference station closest to the rover as a primary station, and taking at least two other effective reference stations within a certain radius range as secondary stations. The main station and the auxiliary station automatically form a unit for network analysis, and the data which is broadcasted to the mobile station by the data processing center of Leica consists of two parts. One part is the position information and the correction information of the main reference station, and the other part is the correction information of the auxiliary reference station relative to the main reference station. There is only one primary station in a network of reference stations, the rest are secondary stations, and of course this primary station is not fixed. The Leica master and slave technology does not require the user to broadcast location information and therefore is one way communication over this communication link (the latest Leica technology also requires the rover to transmit data to the reference station).
FKP technique, namely region correction technique. The method is a whole network overall calculation model, and is a dynamic model. It requires all reference stations to transmit each instantaneously acquired synchronous observation value without differential processing back to the data processing center in real time, the real-time processing is carried out by the data processing center, a space error correction parameter called FKP is generated, and then the parameters are sent to all the rover stations in the service area for space position calculation through extended information.
In one possible embodiment, the system may further include:
the panoramic monitoring device is used for shooting a panoramic monitoring image of the tower crane;
and the ground cab monitoring device is in communication connection with the panoramic monitoring device and is used for carrying out tower crane safety monitoring by displaying the panoramic monitoring image in real time.
Specifically, panoramic monitoring device can include a plurality of panoramic cameras, and the mounted position of panoramic camera as long as satisfy can shoot tower crane panoramic monitoring image can, does not specifically limit the mounted position of panoramic camera in this embodiment.
The ground cab monitoring device can comprise a data remote transmission module, a data storage module and a data display module. The data remote transmission module can remotely transmit the panoramic monitoring image. The data storage module may store data transmitted by the data remote transmission module. The data display module can display the panoramic monitoring image. Optionally, the ground cab monitoring device can include a model building module and a data calculation module, the model building module can create a tower crane component set, based on the tower crane component set builds a tower crane three-dimensional model, the data calculation module can import the three-dimensional coordinates of the mobile station 1A at the top of the tower body of the tower crane 1, the mobile station 1B at the middle part and the mobile station 1C at the bottom into the tower crane three-dimensional model, and the real-time perpendicularity and the deviation of the tower crane 1 during normal work are calculated. The data remote transmission module can also remotely transmit the three-dimensional coordinates of the mobile station 1A at the top, the mobile station 1B at the middle and the mobile station 1C at the bottom of the tower body of the tower crane 1. The data display module can display the real-time verticality and the deviation of the tower crane 1 on the three-dimensional model of the tower crane. It should be noted that, ground driver's cabin monitoring device sets up at ground driver's cabin, and the driver need not to climb, passes through ground driver's cabin monitoring device alright know the real-time straightness that hangs down of tower crane and its deviation in ground driver's cabin.
In one possible embodiment, the system may further include: and the early warning device is used for early warning when the tower crane verticality meets the early warning condition. Specifically, the early warning device includes: the sound and light alarm module and the control module. And the sound-light alarm module is used for carrying out sound-light alarm according to a control instruction of the control module, the control module is used for judging whether the perpendicularity of the tower crane meets an early warning condition, and if so, a control instruction is sent out. The sound and light alarm module comprises an LED luminous tube and a buzzer. In this embodiment, can advance the early warning to the tower crane safety monitoring condition, can in time take measures to rectify the tower crane, avoid the occurence of failure that the tower crane collapses and leads to.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a second tower crane safety monitoring system provided in the embodiment of the present application. As shown in fig. 2, the system mainly includes: the system comprises a tower crane 2, the mobile stations 2A, 2B and 2C and a network real-time dynamic positioning device 22.
The tower crane 2 is a pitching amplitude-variable crane arm (movable arm) tower crane, a crawler tower crane and the like. The body and the corner of the suspension arm of the tower crane 2 are provided with the mobile stations, wherein the body of the suspension arm can be provided with three mobile stations 2A, 2B and 2C, and the corner of the suspension arm can be provided with one mobile station 2A.
And the network real-time dynamic positioning device 22 is used for measuring and calculating three-dimensional coordinates of the mobile stations 2A, 2B and 2C at the arm body of the suspension arm of the tower crane 2 and the mobile station 2A at the corner in real time. In a possible embodiment, the network Real-time dynamic positioning device 22 may be a network RTK (Real-time kinematic) system with digital display, and the staff may directly record the three-dimensional coordinates of the rover stations 2A, 2B, and 2C at the arm body and the rover station 2A at the corner of the boom of the tower crane 2 measured and calculated in Real time for subsequent calculation and the like, so as to calculate the boom elevation of the tower crane 2. In another possible implementation mode, the network RTK system is in communication connection with a device with a calculation function, and the device first creates a tower crane component set, establishes a tower crane three-dimensional model based on the tower crane component set, then receives three-dimensional coordinates of the mobile stations 2A, 2B and 2C at the arm body and the mobile station 2A at the corner of the boom of the tower crane 2, guides the three-dimensional coordinates into the tower crane three-dimensional model, and calculates the boom elevation of the tower crane 2.
Note that the boom elevation angle is an elevation angle in the vertical direction.
In one possible embodiment, the system may further include:
the panoramic monitoring device is used for shooting a panoramic monitoring image of the tower crane;
and the ground cab monitoring device is in communication connection with the panoramic monitoring device and is used for carrying out tower crane safety monitoring by displaying the panoramic monitoring image in real time.
Specifically, panoramic monitoring device can include a plurality of panoramic cameras, and the mounted position of panoramic camera as long as satisfy can shoot tower crane panoramic monitoring image can, does not specifically limit the mounted position of panoramic camera in this embodiment.
The ground cab monitoring device can comprise a data remote transmission module, a data storage module and a data display module. The data remote transmission module can remotely transmit the panoramic monitoring image. The data storage module may store data transmitted by the data remote transmission module. The data display module can display the panoramic monitoring image. Optionally, the ground cab monitoring device may include a model building module and a data calculation module, the model building module may create a tower crane member set, and based on the tower crane member set building a tower crane three-dimensional model, the data calculation module may import three-dimensional coordinates of the mobile station 2B, 2C, 2D at the arm body of the jib of the tower crane 2 and the mobile station 2A at the corner into the tower crane three-dimensional model, and calculate the jib elevation angle of the tower crane 2 in normal operation. The data remote transmission module can also remotely transmit three-dimensional coordinates of the mobile stations 2B, 2C and 2D at the arm body of the suspension arm of the tower crane 2 and the mobile station 2A at the corner. The data display module can display the elevation angle of the suspension arm of the tower crane 2 on the three-dimensional model of the tower crane. It should be noted that, the ground cab monitoring device is arranged in the ground cab, so that a driver does not need to climb, and the crane arm elevation angle of the tower crane can be known in the ground cab through the ground cab monitoring device.
In one possible embodiment, the system may further include: and the early warning device is used for carrying out early warning when the elevation angle of the suspension arm of the tower crane meets the early warning condition. Specifically, the early warning device includes: the sound and light alarm module and the control module. And the sound-light alarm module is used for carrying out sound-light alarm according to a control instruction of the control module, the control module is used for judging whether the elevation angle of the suspension arm of the tower crane meets an early warning condition, and if so, a control instruction is sent out. The sound and light alarm module comprises an LED luminous tube and a buzzer. In this embodiment, can advance the early warning to the tower crane safety monitoring condition, can in time take measures to rectify the tower crane, avoid the occurence of failure that the tower crane collapses and leads to.
To sum up, the tower crane safety monitoring system that this application embodiment provided includes: tower cranes, mobile stations and network real-time dynamic positioning devices; the top, the middle and the bottom of the tower body of the tower crane are provided with the mobile stations, or the arm body and the corner of the suspension arm of the tower crane are provided with the mobile stations; the network real-time dynamic positioning device is used for measuring and calculating the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time so as to monitor the tower crane verticality in normal work in real time based on the measured and calculated three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time; or measuring and calculating the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm in real time, and monitoring the elevation angle of the suspension arm of the tower crane in normal operation in real time based on the measured and calculated three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm. Compared with the prior art, the tower crane safety monitoring mainly depends on a total station, the measurement precision is poor, and the normalized dynamic monitoring cannot be carried out, the mobile stations are arranged at the top, the middle and the bottom of the tower body, or the mobile stations are arranged at the arm body part and the corner of the suspension arm, the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body can be measured and calculated in real time through the network real-time dynamic positioning device, or the three-dimensional coordinates of the mobile stations at the arm body part and the corner of the suspension arm can be measured and calculated in real time, so that the tower crane verticality or the suspension arm elevation angle of the tower crane during normal working can be monitored in real time, the measurement precision of the tower crane verticality or the suspension arm elevation angle of the tower crane can be improved, and the normalized dynamic monitoring can be carried out on the tower crane verticality or the suspension arm elevation angle of the tower crane.
Referring to fig. 3, fig. 3 is a flowchart of a tower crane safety monitoring method according to an embodiment of the present disclosure. As shown in fig. 3, the method may include the steps of:
s301, measuring and calculating three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time by utilizing a network real-time dynamic positioning technology, or measuring and calculating three-dimensional coordinates of the mobile stations at the arm body and the corner of the suspension arm in real time;
s302, monitoring the perpendicularity of the tower crane in normal work in real time based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time; or monitoring the elevation angle of the suspension arm of the tower crane in real time during normal work based on the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time.
In step S301, the network real-time dynamic positioning technique is to establish a plurality of uniformly distributed reference stations for continuous observation in a certain area, fuse observation data of each reference station, establish an error correction model, and send the error correction model to the rover station, thereby implementing high-precision real-time positioning. Specifically, three-dimensional coordinates of the rover station at the top, the middle and the bottom of the tower body are dynamically positioned in real time by utilizing a network based on any one of VRS technology, MAC technology and FKP technology, or the three-dimensional coordinates of the rover station at the arm body and the corner of the suspension arm are measured and calculated in real time.
In step S302, the tower crane verticality and the deviation thereof during normal work are calculated based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time. Or calculating the elevation angle of the suspension arm of the tower crane during normal work based on the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time.
Specifically, step S302 may include the following sub-steps:
s3021, creating a tower crane member set, and building a tower crane three-dimensional model based on the tower crane member set;
s3022, importing the three-dimensional coordinates of the flow stations at the top, the middle and the bottom of the tower body measured and calculated in real time into the three-dimensional model of the tower crane, and calculating the real-time verticality and the deviation of the tower crane in normal work; or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time are led into the tower crane three-dimensional model, and the suspension arm elevation angle of the tower crane in normal work is calculated.
In step S3021, a Building Information Modeling (BIM) tool is used to create a tower crane component set, and a tower crane three-dimensional model is created based on the tower crane component set.
In the step S3022, three-dimensional coordinates of the flow stations at the top, the middle and the bottom of the tower body measured in real time are introduced into the tower crane three-dimensional model, and then the real-time perpendicularity and the deviation of the tower crane in normal work are simulated in the tower crane three-dimensional model. Or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time are led into the tower crane three-dimensional model, and then the suspension arm elevation angle of the tower crane in normal work is simulated in the tower crane three-dimensional model.
It should be noted that the real-time perpendicularity and deviation thereof and the boom elevation angle of the tower crane during normal operation may also be simulated and calculated without using the three-dimensional model of the tower crane, for example, the real-time perpendicularity and deviation thereof of the tower crane during normal operation may be calculated by simply performing mathematical transformation on the three-dimensional coordinates of the mobile stations at the top, middle and bottom of the tower body measured and calculated in real time, and the boom elevation angle of the tower crane during normal operation may be calculated by simply performing mathematical transformation on the three-dimensional coordinates of the mobile stations at the arm body and the corner of the boom measured and calculated in real time.
In one possible embodiment, the method further comprises:
displaying the real-time verticality and deviation of the tower crane or the lifting arm elevation angle of the tower crane in the three-dimensional model of the tower crane on a monitoring screen in a ground cab, and carrying out safety monitoring on the tower crane through a panoramic monitoring image;
and when the tower crane verticality or the suspension arm elevation angle of the tower crane meets the early warning condition, early warning is carried out.
In this embodiment, dispose ground driver's cabin monitoring device in the ground driver's cabin, the driver need not the climbing, passes through ground driver's cabin monitoring device alright know the real-time straightness that hangs down of tower crane and deviation and davit angle of elevation in the ground driver's cabin. And moreover, early warning is carried out when the real-time verticality deviation of the tower crane is about to reach a preset verticality deviation critical point, or early warning is carried out when the real-time boom elevation angle of the tower crane is about to reach the preset boom elevation critical point, so that the deviation of the tower crane can be corrected by taking measures in time, and accidents caused by collapse of the tower crane are avoided.
In the industry standard "technical rules for inspection of construction site mechanical equipment" (JGJ160-2008), it is stipulated in the form of mandatory provisions: when the tower crane is installed at the basic height specified by the design, the deviation of the lateral perpendicularity of the axis of the tower body to the supporting surface is not more than 0.4 percent. Therefore, the predetermined perpendicularity deviation critical point in the present embodiment is 0.4%. The preset threshold value is a value within a range of (0-0.4%), for example, 0.05%, and the specific value is not limited in this embodiment.
The preset boom elevation critical point in the embodiment can be set as the upper limit of the boom elevation or the lower limit of the boom elevation, so that the instability of the tower crane is prevented.
To sum up, the tower crane safety monitoring method provided by the embodiment of the application comprises the following steps: measuring and calculating three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time by utilizing a network real-time dynamic positioning technology, or measuring and calculating three-dimensional coordinates of the mobile stations at the arm body and the corner of the suspension arm in real time; monitoring the perpendicularity of the tower crane in normal work in real time based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time; or monitoring the elevation angle of the suspension arm of the tower crane in real time during normal work based on the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time. Compared with the prior art, the tower crane safety monitoring mainly depends on a total station, the measurement precision is poor, and the normalized dynamic monitoring cannot be carried out, the mobile stations are arranged at the top, the middle and the bottom of the tower body, or the mobile stations are arranged at the arm body and the corner of the suspension arm, and the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body can be measured and calculated in real time through a network real-time dynamic positioning technology, or the three-dimensional coordinates of the mobile stations at the arm body and the corner of the suspension arm can be measured and calculated in real time. Then monitoring the perpendicularity of the tower crane in normal working in real time based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time; or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm are measured and calculated in real time to monitor the suspension arm elevation angle of the tower crane in normal working in real time, so that the measurement accuracy of the tower crane verticality or the suspension arm elevation angle of the tower crane in normal working can be improved, and the tower crane verticality or the suspension arm elevation angle of the tower crane can be dynamically monitored in a normalized mode.
Based on the same technical concept, the embodiment of the application also provides a tower crane safety monitoring device, electronic equipment, a computer storage medium and the like, and the details can be seen in the following embodiments.
Referring to fig. 4, fig. 4 is a schematic diagram of a module composition of a tower crane safety monitoring provided in an embodiment of the present application. As shown in fig. 4, the apparatus may include:
the coordinate measuring and calculating module 10 is used for measuring and calculating three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time by utilizing a network real-time dynamic positioning technology, or measuring and calculating three-dimensional coordinates of the mobile stations at the arm body and the corner of the suspension arm in real time;
the safety monitoring module 20 is used for monitoring the perpendicularity of the tower crane in normal work in real time based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time; or monitoring the elevation angle of the suspension arm of the tower crane in real time during normal work based on the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time.
In a possible embodiment, the safety monitoring module 20 comprises:
the model building unit is used for building a tower crane member set and building a tower crane three-dimensional model based on the tower crane member set;
the safety monitoring unit is used for guiding the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time into the three-dimensional model of the tower crane and calculating the real-time verticality and the deviation of the tower crane in normal work; or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time are led into the tower crane three-dimensional model, and the suspension arm elevation angle of the tower crane in normal work is calculated.
In a possible embodiment, the apparatus further comprises:
the monitoring display module 30 is used for displaying the real-time verticality and deviation of the tower crane or the lifting arm elevation angle of the tower crane in the three-dimensional model of the tower crane on a monitoring screen in a ground cab, and carrying out safety monitoring on the tower crane through a panoramic monitoring image;
and the monitoring and early warning module 40 is used for carrying out early warning when the tower crane verticality or the suspension arm elevation angle of the tower crane meets the early warning condition.
An embodiment of the present application discloses an electronic device, as shown in fig. 5, including: a processor 501, a memory 502 and a bus 503, wherein the memory 502 stores machine-readable instructions executable by the processor 501, and when the electronic device is operated, the processor 501 and the memory 502 communicate with each other through the bus 503.
The machine readable instructions, when executed by the processor 501, perform the steps of:
measuring and calculating three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time by utilizing a network real-time dynamic positioning technology, or measuring and calculating three-dimensional coordinates of the mobile stations at the arm body and the corner of the suspension arm in real time;
monitoring the perpendicularity of the tower crane in normal work in real time based on the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body measured and calculated in real time; or monitoring the elevation angle of the suspension arm of the tower crane in real time during normal work based on the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time.
In one possible embodiment, the processor 501 monitors the tower crane verticality in normal operation in real time based on the three-dimensional coordinates of the mobile stations at the top, middle and bottom of the tower body measured in real time; or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm are measured and calculated in real time to monitor the elevation angle of the suspension arm of the tower crane in normal working in real time, and the method comprises the following steps:
establishing a tower crane component set, and establishing a tower crane three-dimensional model based on the tower crane component set;
leading the three-dimensional coordinates of the flow stations at the top, the middle and the bottom of the tower body measured and calculated in real time into the three-dimensional model of the tower crane, and calculating the real-time verticality and the deviation of the tower crane in normal work; or the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm measured and calculated in real time are led into the tower crane three-dimensional model, and the suspension arm elevation angle of the tower crane in normal work is calculated.
In a possible implementation, the processor 501 is further configured to perform:
displaying the real-time verticality and deviation of the tower crane or the lifting arm elevation angle of the tower crane in the three-dimensional model of the tower crane on a monitoring screen in a ground cab, and carrying out safety monitoring on the tower crane through a panoramic monitoring image;
and when the tower crane verticality or the suspension arm elevation angle of the tower crane meets the early warning condition, early warning is carried out.
The computer program product of the tower crane safety monitoring method provided by the embodiment of the application comprises a computer readable storage medium storing a nonvolatile program code executable by a processor, wherein instructions included in the program code can be used for executing the method in the foregoing method embodiment, and specific implementation can be referred to the method embodiment and is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a tower crane safety monitoring system which characterized in that includes: tower cranes, mobile stations and network real-time dynamic positioning devices;
the top, the middle and the bottom of the tower body of the tower crane are provided with the mobile stations, or the arm body and the corner of the suspension arm of the tower crane are provided with the mobile stations;
the network real-time dynamic positioning device is used for measuring and calculating the three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time so as to monitor the tower crane verticality in normal work in real time based on the measured and calculated three-dimensional coordinates of the mobile stations at the top, the middle and the bottom of the tower body in real time; or measuring and calculating the three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm in real time, and monitoring the elevation angle of the suspension arm of the tower crane in normal operation in real time based on the measured and calculated three-dimensional coordinates of the mobile station at the arm body and the corner of the suspension arm.
2. The system of claim 1, wherein the network real-time kinematic positioning apparatus is a network RTK system.
3. The system of claim 2, wherein the network RTK system is a network RTK system based on VRS technology.
4. The system of claim 2, wherein the network RTK system is a network RTK system based on MAC technology.
5. The system of claim 2, wherein the network RTK system is a network RTK system based on FKP technology.
6. The system of claim 1, further comprising:
the panoramic monitoring device is used for shooting panoramic monitoring images of the tower crane so as to monitor the safety of the tower crane.
7. The system of claim 6, further comprising:
and the ground cab monitoring device is in communication connection with the panoramic monitoring device and is used for carrying out tower crane safety monitoring by displaying the panoramic monitoring image in real time.
8. The system of claim 1, further comprising:
and the early warning device is used for carrying out early warning when the tower crane verticality and/or the suspension arm elevation angle of the tower crane meet the early warning condition.
9. The system of claim 8, wherein the early warning device comprises:
the alarm module is used for performing sound-light alarm;
and the control module is used for judging whether the tower crane verticality and/or the suspension arm elevation angle of the tower crane meet the early warning condition.
10. The system of claim 9, wherein the alarm module comprises an LED and a buzzer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120688986.1U CN216190602U (en) | 2021-04-02 | 2021-04-02 | Tower crane safety monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120688986.1U CN216190602U (en) | 2021-04-02 | 2021-04-02 | Tower crane safety monitoring system |
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| CN216190602U true CN216190602U (en) | 2022-04-05 |
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