CN216426519U - Crane monitoring device and system and crane - Google Patents

Abstract

The utility model provides a crane monitoring device, a system and a crane, wherein the crane monitoring device comprises: the panoramic monitoring equipment is used for acquiring a panoramic image around the body of the crane; the sensing equipment is used for acquiring obstacle information; the vehicle-mounted task machine, the vehicle-mounted task machine and the sensing equipment are electrically connected with the panoramic monitoring equipment, and the vehicle-mounted task machine is used for obtaining danger degree parameters based on the panoramic image and the barrier information; and the vehicle-end control equipment is electrically and mechanically connected with the vehicle-mounted task, and is set to control the operation action of the crane based on the danger degree parameter. According to the crane monitoring device, the crane monitoring system and the crane, the panoramic image is acquired by using the panoramic monitoring equipment, so that the efficiency and the accuracy of the crane responding to danger can be improved, and the safety and the reliability are improved.

Description

Crane monitoring device and system and crane

Technical Field

The utility model relates to the technical field of operating machinery, in particular to a crane monitoring device, a crane monitoring system and a crane.

Background

With the wider application scale of the crane, the working condition scenes suitable for the infrastructure, the port construction and the city construction are more and more complex. In the construction process, safety is the focus problem of the crane, the crane plays a role of lifting in the construction process, and the operation process of the crane needs to be monitored in real time.

At present, the operation process of the crane is monitored mainly through manual visual inspection, namely, a driver of the crane or field constructors observe whether the crane meets an obstacle or not in the operation process and the change of the surrounding environment, and react when danger occurs. However, the manual monitoring mode has low efficiency, low accuracy and low safety and reliability.

SUMMERY OF THE UTILITY MODEL

The utility model provides a crane monitoring device, a crane monitoring system and a crane, which are used for overcoming the defects of low efficiency, low accuracy and low safety and reliability of a manual monitoring mode in the prior art, and realizing the improvement of the efficiency and the accuracy of the crane on dangerous response and the improvement of the safety and reliability.

The utility model provides a crane monitoring device, comprising: the panoramic monitoring equipment is used for acquiring a panoramic image around the body of the crane; the sensing device is used for acquiring obstacle information; the vehicle-mounted task machine and the sensing equipment are electrically connected with the panoramic monitoring equipment, and the vehicle-mounted task machine is used for obtaining a danger degree parameter based on the panoramic image and the obstacle information; and the vehicle-end control equipment is electrically and mechanically connected with the vehicle-mounted task, and is set to control the operation action of the crane based on the danger degree parameter.

According to a crane monitoring device provided by the present invention, the crane monitoring device further comprises: and the vehicle-end control equipment is electrically and mechanically connected with the vehicle-mounted task through the data exchange equipment, and the data exchange equipment is used for barrier-free data transmission.

According to the utility model, the crane monitoring device comprises: the camera system comprises a plurality of cameras, wherein the cameras are arranged on a crane body, and the cameras face different directions respectively.

According to the crane monitoring device provided by the utility model, under the condition that the crane is in a main jib working condition, the plurality of cameras are respectively arranged on at least one of the main jib head, the main amplitude mast head, the left side of the front part of the rotary table, the right side of the front part of the rotary table, the left side of the tail part of the rotary table and the right side of the tail part of the rotary table.

According to the crane monitoring device provided by the utility model, under the condition that the crane is under the working condition of the auxiliary boom, the plurality of cameras are respectively arranged on at least one of the auxiliary boom arm head, the auxiliary boom backward-tilting-prevention mast arm head, the fixed auxiliary boom backward-tilting-prevention mast arm head, the super-lift amplitude-variation mast arm head, the main amplitude-variation mast arm head, the left side of the front part of the rotary table, the right side of the front part of the rotary table, the left side of the tail part of the rotary table and the right side of the tail part of the rotary table.

According to the present invention, there is provided a crane monitoring apparatus, further comprising: the positioning device is used for acquiring boom position information, and the vehicle-mounted mission machine is used for obtaining the danger degree parameter based on the panoramic image, the obstacle information and the boom position information.

According to the crane monitoring device provided by the utility model, the vehicle end control equipment is further configured to obtain a danger level based on the danger degree parameter, and control the operation action of the crane based on the danger level.

According to the crane monitoring device provided by the utility model, the sensing equipment comprises a laser radar, a millimeter wave radar or an ultrasonic radar.

The utility model also provides a crane monitoring system, comprising: a crane monitoring device as claimed in any one of the above; and the monitoring station is in communication connection with the data exchange equipment.

According to the crane monitoring system provided by the utility model, the monitoring station is in communication connection with the panoramic monitoring equipment.

The present invention also provides a crane, comprising: a crane monitoring device as claimed in any one of the above; and the actuating mechanism is electrically connected with the vehicle-end control equipment.

According to the crane monitoring device, the crane monitoring system and the crane, the panoramic image is acquired by using the panoramic monitoring equipment, and the obstacle information is acquired by using the sensing equipment, so that the surrounding environment condition of the crane is accurately acquired, the vehicle-end control equipment can timely feed back dangers, the efficiency and the accuracy of the crane responding to the dangers can be improved, and the safety and the reliability are improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a crane monitoring system provided by the present invention;

FIG. 2 is a schematic structural diagram of the working condition of a main arm of the crane provided by the utility model;

FIG. 3 is a schematic structural diagram of the working condition of the auxiliary jib of the crane provided by the utility model.

Reference numerals:

10: a panoramic monitoring device; 20: a sensing device; 30: a vehicle-mounted task machine;

40: a data exchange device; 50: a vehicle-end control device; 60: a monitoring station;

70: a main arm head; 71: a main variable-amplitude mast arm head; 72: an auxiliary arm head;

73: the auxiliary arm is a back-tilting prevention mast arm head; 74: fixing an auxiliary arm back-tilting prevention mast arm head; 75: super-lifting amplitude-variable mast arm heads;

76: the left side of the front part of the rotary table; 77: the right side of the front part of the rotary table; 78: the left side of the tail of the rotary table;

79: the right side of the tail part of the rotary table.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The crane monitoring device, system and crane of the present invention are described below with reference to fig. 1 to 3.

As shown in fig. 1, the present invention provides a crane monitoring apparatus, including: the system comprises a panoramic monitoring device 10, a sensing device 20, an on-board mission machine 30, a data exchange device 40 and a vehicle-end control device 50.

This hoist can be crawler crane, still can be other types of hoists such as tower crane, bridge crane or gantry crane, and this embodiment does not restrict it.

The panoramic monitoring device 10 is used for acquiring a panoramic image around the body of the crane.

The panoramic image around the body refers to a photo or a video of the environment around the body, and is an image without a dead angle in 360 degrees, so that the environmental condition around the body of the crane can be presented completely.

The panoramic monitoring apparatus 10 may include a plurality of cameras facing different directions around the body, so that panoramic coverage of the surrounding environment of the body can be achieved.

Of course, the panoramic monitoring apparatus 10 may further include a wide-angle camera, through which a wider field of view is obtained, or the panoramic monitoring apparatus 10 may further include a rotating camera, through which a shooting direction is changed by rotation of the rotating camera, so as to achieve panoramic coverage of the surrounding environment of the body.

The number and the model of the cameras are not limited, and a person skilled in the art can select a proper camera according to the actual scene needs as long as a panoramic image around the body of the crane can be acquired.

The sensing device 20 is used to obtain obstacle information, which may be physical parameters of obstacles present around the fuselage of the crane, such as the distance of the obstacle from the crane, the shape of the obstacle, the size of the obstacle or the type of the obstacle.

Sensing device 20 may include a lidar, a millimeter wave radar, or an ultrasonic radar.

The laser radar is a sensor which is very important in the field of automatic driving, the laser radar utilizes laser to detect a target, and by scanning at 600 revolutions per minute or 1200 revolutions per minute, the laser radar can obtain real-time three-dimensional point cloud data in very detail, wherein the real-time three-dimensional point cloud data comprises three-dimensional coordinates, distances, azimuth angles, intensity of reflected laser, laser codes, time and the like of the target, the common sensors comprise single lines, 4 lines, 16 lines, 32 lines, 64 lines and 128 lines, and are high-precision sensors. Generally, other equipment is used for roughly capturing a target in a large airspace and quickly, and then the target is subjected to precision tracking measurement by a laser radar.

The millimeter wave radar is a radar which works in a millimeter wave band (millimeter wave) for detection, the working frequency band is generally 24 GHz-300 GHz, the wavelength is 1-10 mm, the millimeter wave radar is between microwave and centimeter wave, the direction and the distance of a target are accurately detected by transmitting electromagnetic waves to an obstacle and receiving echoes, and all-weather all-day-long and accurate speed and distance measurement are realized. The millimeter wave radar has the advantages of both the microwave radar and the photoelectric radar, and compared with the ultrasonic radar, the millimeter wave radar has the characteristics of small volume, light weight and high spatial resolution. Compared with optical sensors such as infrared sensors, laser sensors, cameras and the like, the millimeter wave radar has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather and all day. In addition, the anti-interference capability of the millimeter wave radar is superior to that of other vehicle-mounted sensors. The operating frequencies of millimeter wave radars used on vehicles may be 24GHz and 77 GHz.

The working principle of the ultrasonic radar is that the distance is measured and calculated by the time difference between the time when the ultrasonic wave is sent out by the ultrasonic wave transmitting device and the time when the ultrasonic wave is received by the receiver. At present, the working frequency of the common probe is three types of 40kHz, 48kHz and 58 kHz. Generally, the higher the frequency, the higher the sensitivity, but the smaller the detection angle in the horizontal and vertical directions, so a 40kHz probe is generally used. The ultrasonic radar 21 is waterproof and dustproof, and even if a small amount of silt is shielded, the influence is avoided. The detection range is between 0.1m and 3m, and the precision is higher.

Ultrasonic radar measures the distance under the very high condition of speed and has certain limitation, this because the transmission speed of ultrasonic wave receives the influence of weather condition very easily, and under the weather condition of difference, the transmission speed of ultrasonic wave is different, and propagation speed is slower moreover, and when the car was gone at a high speed, it can't follow the car distance real-time change of car to use ultrasonic ranging, and the error is great. On the other hand, the ultrasonic wave scattering angle is large, the directivity is poor, and when a target at a longer distance is measured, the echo signal is weak, which affects the measurement accuracy. However, in the short-distance measurement, the ultrasonic ranging sensor has a great advantage.

The vehicle-mounted mission machine 30 and the sensing device 20 are electrically connected with the panoramic monitoring device 10, and the vehicle-mounted mission machine 30 is used for obtaining a danger degree parameter based on the panoramic image and the obstacle information.

The on-board task machine 30 is internally provided with a processor with a logical operation function, the on-board task machine 30 has the functions of providing calculation force support, obstacle avoidance function algorithm support, panoramic monitoring analysis and control decision instruction issuing, the on-board task machine 30 can acquire external environment data through the sensing equipment 20 and the panoramic monitoring equipment 10, the non-dead angle detection of the whole vehicle environment can be realized through the panoramic monitoring equipment 10, and the position of an obstacle can also be analyzed and judged through the sensing equipment 20. Therefore, the response speed to danger can be improved, and the efficiency and the accuracy are improved.

The on-board task machine 30 may compare the risk level parameter with a risk level threshold value, thereby dividing the risk level parameter into parameters.

The vehicle-end control device 50 is electrically connected to the on-vehicle mission machine 30, and the vehicle-end control device 50 is configured to control the operation of the crane based on the risk degree parameter.

In some embodiments, the data exchange device 40 is electrically connected to the on-board task machine 30, and the data exchange device 40 is used for barrier-free data transmission.

The data exchange device 40 mainly plays a role in data transmission, and can package and send danger degree parameters generated by the vehicle-mounted task machine 30, and the data exchange device 40 can guarantee smooth communication and no data loss.

The vehicle-end control device 50 is electrically connected to the on-vehicle task machine 30 through the data exchange device 40.

The car-end control device 50 is a logical control center of the crane, has a processor built therein, and has a logical operation function. The data exchange device 40 sends the risk parameter generated by the vehicle-mounted task machine 30 to the vehicle-end control device 50, and the vehicle-end control device 50 can perform feedback control on the executing mechanism of the crane by combining the risk parameter, for example, the limiting movement or the limiting power of the executing mechanism of the crane can be controlled according to the risk parameter, and the crane can be controlled to be forcibly turned off or the whole vehicle is controlled to be powered off.

According to the crane monitoring device provided by the utility model, the panoramic image is acquired by using the panoramic monitoring equipment 10, and the obstacle information is acquired by using the sensing equipment 20, so that the surrounding environment condition of the crane is accurately acquired, the vehicle-end control equipment 50 can timely feed back dangers, the efficiency and the accuracy of the crane responding to the dangers can be improved, and the safety and the reliability are improved.

In some embodiments, the panoramic monitoring device 10 includes: the camera system comprises a plurality of cameras, wherein the cameras are arranged on a crane body, and the cameras face different directions respectively.

It can be understood that the panoramic monitoring device 10 can have a plurality of cameras, the plurality of cameras can be arranged at different positions of the crane body, each camera faces to one direction, the shooting ranges of the plurality of cameras are synthesized to form a panoramic image of the crane surroundings, so that the panoramic real-time shooting of the crane surroundings can be ensured, and compared with a rotary camera or a wide-angle camera, the obtained environment information is more complete and the real-time performance is higher.

As shown in fig. 2, in some embodiments, a plurality of cameras are mounted to at least one of the jib boom head 70, main luffing mast boom head 71, turret forward left side 76, turret forward right side 77, turret tail left side 78, and turret tail right side 79, respectively, with the crane in the jib operating condition.

The main arm is short for the main cargo boom. The crane boom is arranged between the axis of a main hoisting mechanism steel wire rope guide pulley arranged at the head of the crane boom from a root hinge point hinged with the rotary table or the tower body. When the crane has no auxiliary boom, the crane boom is called.

The amplitude-variable mast is a structure form often adopted by medium-tonnage crawler cranes, the root part of the amplitude-variable mast is hinged with the front end of a main platform, one end of the amplitude-variable mast, which is propped or is far away from a rotary table, is connected with an operation jib frame through a pulling plate or a pulling pipe with fixed length to form a fixed triangle, and the amplitude-variable mast finishes amplitude-variable action by retracting and releasing the length of a steel wire rope between an amplitude-variable winch and a pulley block arranged on the amplitude-variable mast.

The rotary table is a key bearing structural member for connecting the crane to get on or off the train.

The plurality of cameras are respectively installed on at least one of the main jib head 70, the main luffing mast jib head 71, the turntable front left side 76, the turntable front right side 77, the turntable tail left side 78 and the turntable tail right side 79, a large shooting range can be obtained under the working condition of the main jib, and the integrity of panoramic image acquisition can be improved.

As shown in fig. 3, in some embodiments, a plurality of cameras are mounted to at least one of the jib boom head 72, the jib anti-back mast head 73, the fixed jib anti-back mast head 74, the super luffing mast head 75, the main luffing mast head 71, the turret front left side 76, the turret front right side 77, the turret tail left side 78, and the turret tail right side 79, respectively, with the crane in the jib operating condition.

The plurality of cameras are respectively arranged on at least one of the auxiliary boom arm head 72, the auxiliary boom anti-back-tilting mast arm head 73, the fixed auxiliary boom anti-back-tilting mast arm head 74, the super-lifting amplitude-changing mast arm head 75, the main amplitude-changing mast arm head 71, the rotary table front left side 76, the rotary table front right side 77, the rotary table tail left side 78 and the rotary table tail right side 79, a large shooting range can be obtained under the working condition of the auxiliary boom, and the completeness of panoramic image acquisition can be improved.

In some embodiments, the crane monitoring apparatus further comprises: and the vehicle-mounted mission machine 30 is used for obtaining a danger degree parameter based on the panoramic image, the obstacle information and the boom position information.

It can be understood that the positioning device may detect the position of the boom in real time, and the positioning device may include a GPS device, an angle sensor, or a pressure sensor, and may monitor the position parameters such as the angle of the boom in real time, and the vehicle-mounted mission machine 30 may obtain more accurate risk parameters according to the panoramic image, the obstacle information, and the boom position information because the monitored data are richer.

In some embodiments, the end-of-vehicle control apparatus 50 is further configured to derive a risk level based on the risk level parameter, and to control the work motion of the crane based on the risk level.

It is understood that the vehicle-end control device 50 may derive the risk level according to the risk level parameter, for example, the risk level may be level 1, level 2 or level 4. According to risk grade judgement standard, when the risk grade is bigger and bigger, can define the risk grade and be A, the danger coefficient is K, and fixed risk is B, and X is the danger degree parameter, and car end controlgear 50 judges according to A being KX + B risk grade, and the risk grade can be divided into A and is less than or equal to 0: no danger, A is more than 0 and less than or equal to 1: potential danger, 1 < A < 2: slight danger, 2 < A < 3: moderate risk, A is more than 3 and less than or equal to 4: particularly dangerous, A is more than 4 and less than or equal to 5: and in case of severe danger, the vehicle-end control equipment 50 can limit the movement or power of the crawler crane according to the danger level, and can forcibly shut down or power off the whole vehicle to a severe extent.

As shown in fig. 1, the present invention further provides a crane monitoring system, which includes the crane monitoring device according to any of the above embodiments and a monitoring station 60.

The monitoring station 60 is connected to the data exchange device 40 in a communication manner.

The monitoring station 60 can be arranged at a construction site far away from the crane, so that remote monitoring and control are realized, and workers can remotely check the field condition of the crane at the monitoring station 60 and give control instructions.

In some embodiments, the monitoring station 60 is in communication connection with the panoramic monitoring device 10, that is, the panoramic monitoring device 10 may directly communicate with the monitoring station 60, send the obtained panoramic image to the monitoring station 60 in real time, and the panoramic monitoring device 10 may be in communication connection with the monitoring station 605G, so that intermediate links of communication may be reduced, and if the panoramic image is in a video form, the panoramic monitoring device 10 directly transmits the panoramic image to the monitoring station 60 through 5G communication, which can ensure the speed and accuracy of communication.

The present invention also provides a crane, comprising: the crane monitoring device and the actuating mechanism in any embodiment.

Wherein the actuator is electrically connected to the vehicle-end control device 50.

That is, the crane is equipped with the crane monitoring device, and the actuator can be controlled by the crane monitoring device.

The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. A crane monitoring device, comprising:

the panoramic monitoring equipment is used for acquiring a panoramic image around the body of the crane;

the sensing device is used for acquiring obstacle information;

the vehicle-mounted task machine and the sensing equipment are electrically connected with the panoramic monitoring equipment, and the vehicle-mounted task machine is used for obtaining a danger degree parameter based on the panoramic image and the obstacle information;

and the vehicle-end control equipment is electrically and mechanically connected with the vehicle-mounted task, and is set to control the operation action of the crane based on the danger degree parameter.

2. The crane monitoring apparatus of claim 1, further comprising:

and the vehicle-end control equipment is electrically and mechanically connected with the vehicle-mounted task through the data exchange equipment, and the data exchange equipment is used for barrier-free data transmission.

3. The crane monitoring apparatus as claimed in claim 1, wherein the panoramic monitoring device comprises: the camera system comprises a plurality of cameras, wherein the cameras are arranged on a crane body, and the cameras face different directions respectively.

4. The crane monitoring device as claimed in claim 3, wherein the plurality of cameras are respectively mounted to at least one of the jib boom head, the main luffing mast head, the left side of the turntable front, the right side of the turntable front, the left side of the turntable tail, and the right side of the turntable tail in a case where the crane is in the jib operating condition.

5. The crane monitoring device as claimed in claim 3, wherein a plurality of said cameras are respectively mounted to at least one of the jib boom head, the jib anti-back mast boom head, the fixed jib anti-back mast boom head, the super-luffing mast boom head, the main luffing mast boom head, the turret front left side, the turret front right side, the turret tail left side, and the turret tail right side in a case where the crane is in the jib operating mode.

6. The crane monitoring apparatus as claimed in any one of claims 1 to 5, further comprising:

the positioning device is used for acquiring boom position information, and the vehicle-mounted mission machine is used for obtaining the danger degree parameter based on the panoramic image, the obstacle information and the boom position information.

7. A crane monitoring apparatus as claimed in any one of claims 1 to 5, wherein the sensing device comprises a lidar, a millimeter wave radar or an ultrasonic radar.

8. A crane monitoring system, comprising:

the crane monitoring device as claimed in any one of claims 1 to 7;

and the monitoring station is in communication connection with data exchange equipment in the crane monitoring device, and the monitoring station is in communication connection with the panoramic monitoring equipment.

9. A crane, comprising:

the crane monitoring device as claimed in any one of claims 1 to 7;

and the actuating mechanism is electrically connected with the vehicle-end control equipment.

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