CN218879232U - Equipment and tower machine for determining position of suspended object - Google Patents

Abstract

The embodiment of the application provides equipment and a tower crane for determining the position of a suspended object. The apparatus comprises: the first device is arranged in the lower area of the sliding device and used for acquiring a first target vertical height of the suspension; the second device is arranged in the area above the balance arm winding drum and used for acquiring a second target vertical height of the suspension object; the third device is arranged at the arm root of the arm support and used for acquiring the rotation angle of the arm support; the fourth device is arranged on a winding drum of the sliding traction mechanism and used for acquiring the horizontal distance of a suspended object; and the processor is electrically connected with the first device, the second device, the third device and the fourth device and used for determining the space coordinate of the suspended object according to the first target vertical height, the second target vertical height, the horizontal distance and the rotating angle. According to the technical scheme, the coordinate information of the suspension object can be obtained by reasonably planning the existing hardware equipment and the installation position of the hardware of the tower crane, and the running path of the suspension object is determined according to the coordinate information. The utilization rate of tower crane hardware is improved, and resources are saved.

Description

Equipment for determining position of suspended object and tower crane

Technical Field

The application relates to the unmanned technical field of tower cranes, in particular to equipment for determining the position of a suspended object and a tower crane.

Background

The tower crane is an indispensable hoisting equipment on construction sites, is mainly used for vertical and horizontal conveying of materials in building construction, and has the characteristics of wide use, large turning radius, high lifting height and high construction efficiency. The tower crane works in various complex construction occasions, and has wide coverage due to the characteristics of high working height, large span of tower arms and the like. In the actual path planning of the tower crane, because the precision of the sensor adopted by the existing device is low, the obtained position information error of the suspended object is large, and the accurate control of the suspended object cannot be realized.

SUMMERY OF THE UTILITY MODEL

It is an object of embodiments of the present application to provide an apparatus for determining the position of a suspended object.

In order to realize above-mentioned purpose, this application provides a confirm equipment that hangs thing position in the first aspect, is applied to the tower machine, and the tower machine includes cantilever crane, balance arm reel, lifting hook and cockpit, installs slider and slip drive mechanism reel on the cantilever crane, and equipment includes:

the first device is arranged in the area below the sliding device and used for acquiring a first target vertical height between a suspension object on the lifting hook and the ground;

the second device is arranged in the area above the balance arm drum and used for acquiring a second target vertical height between a suspension object on the lifting hook and the ground;

the third device is arranged at the arm root of the arm support and used for acquiring the rotation angle of the arm support;

the fourth device is arranged on a winding drum of the sliding traction mechanism and used for acquiring the horizontal distance between a suspension object and the cockpit;

and the processor is electrically connected with the first device, the second device, the third device and the fourth device and used for determining the space coordinate of the suspended object according to the first target vertical height, the second target vertical height, the horizontal distance and the rotating angle.

In an embodiment of the present application, the first target vertical height includes a first vertical height and a second vertical height, and the first device includes: the image acquisition device is arranged in the area below the sliding device and used for acquiring a first vertical height between the suspension and the ground and sending the first vertical height to the processor; the radar device is arranged in the area below the sliding device and used for acquiring a second vertical height between the suspension object and the ground and sending the second vertical height to the processor; the processor is further used for determining the actual suspension height of the suspension object according to the first vertical height, the second vertical height and the second target vertical height, and determining the space coordinate of the suspension object according to the actual suspension height, the horizontal distance and the rotation angle.

In an embodiment of the present application, the second device includes a first limiting assembly for acquiring a second target vertical height between the suspension on the hook and the ground, wherein the first limiting assembly includes a hoisting encoder and a first limiter.

In an embodiment of the application, the third device includes a second limiting component, which is used to obtain the rotation angle of the boom, where the second limiting component includes a rotary encoder and a second limiter.

In an embodiment of the application, the fourth device comprises a third limiting assembly for acquiring the horizontal distance between the suspension and the cockpit, wherein the third limiting assembly comprises a luffing encoder and a third limiter.

In an embodiment of the present application, the apparatus further includes: the acquisition device is arranged on the target unmanned aerial vehicle and is used for acquiring barrier information of the tower crane and article information of a suspension object and sending the barrier information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle located in a preset area of the tower crane; the processor is also configured to determine a profile data for the hanging object based on the item information.

In an embodiment of the present application, the apparatus further includes: and the display control device is arranged in the front area in the cab, is electrically connected with the processor, and is used for generating a plurality of motion paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

In an embodiment of the present application, a display control apparatus includes: the human-computer interaction device is used for displaying a plurality of motion paths and displaying a target motion path corresponding to a selection instruction after the selection instruction aiming at any motion path triggered by a user is obtained; and the control device is used for determining a target motion path in the plurality of motion paths according to the selection instruction and controlling the tower crane to execute corresponding control parameters so as to enable the suspension object to move along the target motion path.

In the embodiment of the present application, the acquisition device is an image acquisition device or a radar.

The second aspect of the application provides a tower crane, and the tower crane includes:

the arm support is provided with a sliding device;

the device comprises a balance arm winding drum, wherein a lifting encoder and a first limiter are arranged in the upper area of the balance arm winding drum;

a hook for hanging an article;

the cockpit is used for controlling the tower crane;

the above apparatus for determining the position of a suspended object.

In an embodiment of the present application, the apparatus further includes: the acquisition device is arranged on the target unmanned aerial vehicle and is used for acquiring barrier information of the tower crane and article information of a suspension object and sending the barrier information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle located in a preset area of the tower crane; the processor is used for determining the outline data of the suspended object according to the article information; and the display control device is arranged in the front area in the cab, is electrically connected with the processor, and is used for generating a plurality of motion paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

According to the technical scheme, the first target vertical height between the suspension object on the lifting hook and the ground is obtained through the first device arranged in the area below the sliding device, the second target vertical height between the suspension object on the lifting hook and the ground is obtained through the second device arranged in the area above the balance arm winding drum, the rotation angle of the arm support is obtained through the third device arranged at the arm root of the arm support, and the horizontal distance between the suspension object and the cockpit is obtained through the fourth device arranged on the sliding traction mechanism winding drum. The processor is electrically connected with the first device, the second device, the third device and the fourth device and can determine the space coordinates of the suspended object according to the first target vertical height, the second target vertical height, the horizontal distance and the rotating angle. According to the technical scheme, the coordinate information of the suspension object can be obtained by reasonably planning the existing hardware equipment and the installation position of the hardware of the tower crane, and the running path of the suspension object is determined according to the coordinate information. The utilization rate of tower crane hardware is improved, and resources are saved.

Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:

FIG. 1 schematically illustrates a first block diagram of an apparatus for determining a position of a suspension according to an embodiment of the present application;

FIG. 2 schematically illustrates a block diagram of a first apparatus of an apparatus for determining a position of a suspension according to an embodiment of the present application;

FIG. 3 schematically illustrates a second block diagram of an apparatus for determining a position of a suspension according to an embodiment of the present application;

FIG. 4 schematically illustrates a third block diagram of an apparatus for determining a position of a suspension according to an embodiment of the present application;

fig. 5 is a block diagram schematically showing a configuration of a display control device of an apparatus for determining a position of a suspended object according to an embodiment of the present application;

fig. 6 schematically shows a block diagram of a tower crane according to an embodiment of the present application;

fig. 7 schematically shows an application environment diagram of a tower crane according to an embodiment of the application.

Reference numerals

1 lidar 2 rotary encoder and second limiter

3 camera 4 touch-sensitive screen and controller

5 hoisting mechanism for amplitude variation element 6 of trolley

7-rotation mechanism 8 communication element

9 amplitude-variable encoder, third limiting stopper, 10 lifting encoder and first limiting stopper

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of 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 should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.

Fig. 1 schematically shows a block diagram of a device for determining a position of a suspended object according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided an apparatus 100 for determining a position of a suspended object, which is applied to a tower crane, where the tower crane includes an arm support, a balance arm drum, a hook, and a cockpit, a sliding device and a sliding traction mechanism drum are installed on the arm support, and the apparatus includes:

the first device 101 is arranged in the lower area of the sliding device and used for acquiring a first target vertical height between a suspension object on the lifting hook and the ground;

the second device 102 is arranged in the upper area of the balance arm drum and used for acquiring a second target vertical height between a suspension object on the lifting hook and the ground;

the third device 103 is installed at the arm root of the arm support and used for acquiring the rotation angle of the arm support;

a fourth device 104, which is mounted on the sliding traction mechanism drum and is used for acquiring the horizontal distance between the suspension and the cockpit;

and the processor 105 is electrically connected with the first device, the second device, the third device and the fourth device and used for determining the space coordinates of the suspended object according to the first target vertical height, the second target vertical height, the horizontal distance and the rotation angle.

A tower crane, i.e., a tower crane, is a rotary crane in which an arm frame is mounted on the upper portion of a high tower body. The tower crane has a wide working range and is mainly used for vertical transportation of materials and component installation in multi-storey and high-rise building construction. The device consists of a metal structure, a working mechanism and an electrical system. The metal structure comprises a tower body, an arm support, a base, an attachment rod and the like. The working mechanism has four parts of lifting, amplitude variation, rotation and walking. The electric system comprises a motor, a controller, a power distribution frame, a connecting line, a signal and lighting device and the like.

In one embodiment, the first target vertical height comprises a first vertical height and a second vertical height. The first vertical height refers to the vertical height between the suspension and the ground measured by the image acquisition device. The second vertical height is the vertical height between the suspended object and the ground measured by the radar device. The processor may process the received first vertical height, second vertical height and second target vertical height to obtain an actual hanging height of the hanging object.

In one embodiment, the first device may include an image acquisition device and a radar device. Wherein, image acquisition device and radar installations are all installed in the region below slider. The first target vertical height between the suspension and the ground obtained by the first device comprises a first vertical height obtained by the image acquisition device and a second vertical height obtained by the radar device. For example, the second target vertical height obtained by the second device is 10 meters, the first vertical height obtained by the image acquisition device is 10.1 meters, and the second vertical height obtained by the radar device is 10.2 meters, so that the vertical heights obtained by the first device include 10.1 meters and 10.2 meters, and the vertical height obtained by the second device is 10 meters. The first device and the second device are electrically connected with the processor, and can transmit the vertical heights of 10 meters, 10.1 meters and 10.2 meters to the processor. The processor can determine the actual suspension height of the suspension from the received 10 meters, 10.1 meters and 10.2 meters.

For example, the actual hanging height of the hanging object can be determined by taking an average value. Summing 10 meters, 10.1 meters, and 10.2 meters yields 30.3 meters, which is determined to be an average of 10.1 meters. Thus, the processor may determine that the actual hanging height of the hanging object is 10.1 meters.

Fig. 2 schematically shows a block diagram of a first arrangement of an apparatus for determining a position of a suspended object according to an embodiment of the application. As shown in fig. 2, the first apparatus 101 includes an image acquisition apparatus 201 and a radar apparatus 202. The image acquisition device 201 is installed in the area below the sliding device and used for acquiring a first vertical height between the suspension object and the ground and sending the first vertical height to the processor. The image capture device 201 may include a miniature tilt camera, a lidar, a camera, a sensor, and the like. And the radar device 202 is arranged in the lower area of the sliding device and used for acquiring a second vertical height between the suspension object and the ground and sending the second vertical height to the processor. Radar device 202 may include MEMS type lidar, flash type lidar, phased array lidar, mechanical rotary lidar, and the like.

For example, the image capturing device 201 may acquire a first vertical height between the suspension and the ground a plurality of times per unit time, and transmit the plurality of first vertical heights to the processor. The radar device 202 may acquire a second vertical height between the suspension and the ground a plurality of times per unit time and send the plurality of second vertical heights to the processor. The processor may receive a plurality of first vertical heights and second vertical heights. A first target vertical height between the suspension object and the ground can be determined from the plurality of first vertical heights and the plurality of second vertical heights by adopting a statistical analysis method, and then the actual suspension height of the suspension object is determined according to the first target vertical height and the second target vertical height.

In one embodiment, the second apparatus comprises a first stop assembly for acquiring a second target vertical height between the suspension on the hook and the ground, wherein the first stop assembly comprises a hoisting encoder and a first stop. An encoder is a device that compiles, converts, and/or otherwise encodes signals or data into a form of information that may be communicated, transmitted, and stored. A stop is a device intended to protect the safety of the machine and its user.

In one embodiment, the third device includes a second limiting assembly for acquiring the rotation angle of the boom, where the second limiting assembly includes a rotary encoder and a second limiter.

In a real-time example, the fourth device comprises a third limiting assembly used for acquiring the horizontal distance between the suspension object and the cockpit, wherein the third limiting assembly comprises a luffing encoder and a third limiter.

The processor can also determine the space coordinate of the suspended object according to the actual suspension height, the horizontal distance and the rotation angle of the suspended object. For example, if the actual suspension height is 10.1 m, the horizontal distance is 2 m, and the rotation angle is 10 °, the spatial coordinate of the suspension is (10.1,2, 10 °).

In one embodiment, as shown in fig. 3, the apparatus 100 for determining a position of a suspended object further includes a collecting device 106, wherein the collecting device 106 is installed in a target unmanned aerial vehicle, and is used for collecting obstacle information of the tower crane and article information of the suspended object and sending the obstacle information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle located in a preset area of the tower crane. The preset area can be a flight area determined according to actual needs in the actual working process. The acquisition device 106 may be an image acquisition device or a radar. The image acquisition device can comprise a camera, a video camera and the like; the radar may include MEMS type lidar, flash type lidar, phased array lidar, mechanical rotary lidar and the like. The processor 105 can determine the contour data of the hanging object from the item information.

In a real-time example, as shown in fig. 4, the apparatus 100 for determining a suspended object further comprises a display control device 107, wherein the display control device 107 is installed in a front area in a cab, electrically connected with a processor, and used for generating a plurality of motion paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

In one embodiment, as shown in fig. 5, the display control device 107 includes a human-computer interaction device 501 and a control device 502, wherein:

the man-machine interaction device 501 is configured to display multiple motion paths, and after a selection instruction for any motion path triggered by a user is obtained, display a target motion path corresponding to the selection instruction.

And the control device 502 is used for determining a target motion path in the plurality of motion paths according to the selection instruction and controlling the tower crane to execute corresponding control parameters so as to enable the suspension object to move along the target motion path.

The embodiment of the application provides a tower crane, as shown in fig. 6, a tower crane 600 includes a boom 601, a balance arm drum 602, a hook 603, a cockpit 604, and a device 100 for determining a position of a suspended object, wherein:

the arm support 601 is provided with a sliding device.

The balance arm reel 602, the upper region of which is provided with a lifting encoder and a first limiter.

A hook 603 for hanging the article.

And the cockpit 604 is used for controlling the tower crane.

An apparatus 100 for determining a position of a suspended object includes a first device, a second device, a third device, a fourth device, and a processor.

In one embodiment, the tower crane 600 further comprises: the acquisition device is arranged on the target unmanned aerial vehicle and is used for acquiring barrier information of the tower crane and article information of a suspension object and sending the barrier information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle located in a preset area of the tower crane; a processor for determining the contour data of the hanging object according to the article information; and the display control device is arranged in the front area in the cab, is electrically connected with the processor, and is used for generating a plurality of motion paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

In one embodiment, as shown in fig. 7, the tower crane may include a boom, a boom drum, a hook, and a cockpit. The arm support can be provided with a sliding device and a sliding traction mechanism winding drum, and the sliding device can be a trolley amplitude variation element 5. A first device may be mounted to a lower region of the sliding device. I.e., the region below the trolley horn 5, can be equipped with a first device. The first device may comprise a lidar 1 and a camera 3. The hanger is hung on the hanging hook. The first device may include an image acquisition device and a radar device. Wherein the image acquisition device can be a camera 3; the radar means may be a lidar 1.

Specifically, the camera 3 may acquire a first vertical height between the suspension and the ground. The lidar 1 may obtain a second vertical height between the suspension and the ground. The laser radar 1 and the camera 3 are respectively electrically connected with the processor. The camera 3 and the laser radar 1 respectively send the first vertical height and the second vertical height to the processor.

The balance arm reel may be fitted with a second device. The second apparatus may comprise a first stop assembly which may be a hoist encoder and a first stop 10. The hoist encoder and first stop 10 can capture a second target vertical height between the suspension and the ground. The hoist encoder and first stop 10 may send the second target vertical height to the processor. The processor can determine the actual suspension height of the suspension object according to the obtained first vertical height, the obtained second vertical height and the obtained second target vertical height.

The arm root of the arm support can be provided with a third device, and the third device can comprise a second limiting component. The second stop assembly may be a rotary encoder and a second stop 2. The rotary encoder and the second stopper 2 can acquire the rotation angle of the arm support. The rotary encoder and the second stopper 2 are electrically connected to the processor, and the obtained rotation angle can be transmitted to the processor.

The sliding traction mechanism drum can be provided with a fourth device, and the fourth device can comprise a third limiting assembly. The third limiting assembly may be a luffing encoder and a third limiter 9. The luffing encoder and the third stop 9 can acquire the horizontal distance between the suspension and the cockpit. The amplitude encoder and the third stop 9 are electrically connected to the processor and can send the horizontal distance obtained to the processor. The processor can determine the space coordinate of the suspended object according to the actual suspension height, the horizontal distance and the rotation angle.

The front area of the cockpit may be equipped with a display control device, which may be a touch screen and controller 4, a communication element 8. The touch screen and controller 4 is electrically connected to the processor and can generate multiple movement paths of the pendant. The communication element 8 may transmit information. The tower crane further comprises a hoisting mechanism 6 and a slewing mechanism 7. The hoisting mechanism 6 and the slewing mechanism 7 can transport the suspension according to a target travel path selected by the driver.

According to the technical scheme, the coordinate information of the suspension object can be obtained by reasonably planning the existing hardware equipment and the installation position of the hardware of the tower crane, and the running path of the suspension object is determined according to the coordinate information. The utilization rate of tower crane hardware is improved, and resources are saved.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (11)

1. The utility model provides a confirm equipment that hangs thing position which is characterized in that is applied to the tower machine, the tower machine includes cantilever crane, balance arm reel, lifting hook and cockpit, install slider and slip drive mechanism reel on the cantilever crane, equipment includes:

the first device is arranged in the area below the sliding device and used for acquiring a first target vertical height between a suspension object on the lifting hook and the ground;

the second device is arranged in the area above the balance arm winding drum and used for acquiring a second target vertical height between a suspension object on the lifting hook and the ground;

the third device is arranged at the arm root of the arm support and used for acquiring the rotation angle of the arm support;

the fourth device is arranged on a winding drum of the sliding traction mechanism and used for acquiring the horizontal distance between the suspension and the cockpit;

a processor electrically connected to the first, second, third and fourth devices for determining the spatial coordinates of the suspended object according to the first target vertical height, the second target vertical height, the horizontal distance and the rotation angle.

2. The apparatus of claim 1, wherein the first target vertical height comprises a first vertical height and a second vertical height, the first device comprising:

the image acquisition device is arranged in the area below the sliding device and used for acquiring a first vertical height between the suspension object and the ground and sending the first vertical height to the processor;

the radar device is arranged in the area below the sliding device, is used for acquiring a second vertical height between the suspension object and the ground and sends the second vertical height to the processor;

the processor is further configured to determine an actual hanging height of the suspended object according to the first vertical height, the second vertical height and the second target vertical height, and determine a spatial coordinate of the suspended object according to the actual hanging height, the horizontal distance and the rotation angle.

3. The apparatus of claim 1, wherein the second means comprises a first stop assembly for acquiring a second target vertical height between the suspension on the hook and the ground, wherein the first stop assembly comprises a hoist encoder and a first stop.

4. The apparatus of claim 1, wherein the third device comprises a second limiting assembly for obtaining the rotation angle of the boom, wherein the second limiting assembly comprises a rotary encoder and a second limiter.

5. The apparatus for determining the position of a suspension of claim 1, wherein said fourth means comprises a third stop assembly for capturing the horizontal distance between said suspension and said cockpit, wherein said third stop assembly comprises a luffing encoder and a third stop.

6. The apparatus for determining the position of a pendant of claim 1 further comprising:

the acquisition device is arranged on a target unmanned aerial vehicle and is used for acquiring barrier information of the tower crane and article information of the suspension object and sending the barrier information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle positioned in a preset area of the tower crane;

the processor is further configured to determine profile data for the drapes from the item information.

7. The apparatus for determining a position of a suspended object of claim 6, further comprising:

and the display control device is arranged in the front area in the cockpit, is electrically connected with the processor and is used for generating a plurality of motion paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

8. The apparatus for determining the position of a suspended object according to claim 7, wherein said display control means comprises:

the human-computer interaction device is used for displaying the plurality of motion paths and displaying a target motion path corresponding to a selection instruction after the selection instruction aiming at any motion path triggered by a user is obtained;

and the control device is used for determining a target motion path in the plurality of motion paths according to the selection instruction and controlling the tower crane to execute corresponding control parameters so as to enable the suspension object to move along the target motion path.

9. The apparatus of claim 6, wherein the acquisition device is an image acquisition device or a radar.

10. A tower crane, characterized in that the tower crane comprises:

the arm support is provided with a sliding device;

the device comprises a balance arm winding drum, wherein a lifting encoder and a first limiter are arranged in the upper area of the balance arm winding drum;

a hook for hanging an article;

the cockpit is used for controlling the tower crane;

apparatus for determining the position of a suspended object according to any one of claims 1 to 9.

11. The tower crane according to claim 10, characterized by further comprising:

the acquisition device is arranged on a target unmanned aerial vehicle and is used for acquiring barrier information of the tower crane and article information of the suspension object and sending the barrier information and the article information to the processor, and the target unmanned aerial vehicle is an unmanned aerial vehicle positioned in a preset area of the tower crane;

a processor for determining profile data of the drapes from the item information;

and the display control device is arranged in the front area in the cab, is electrically connected with the processor, and is used for generating a plurality of movement paths of the suspended object according to the space coordinates, the obstacle information and the contour data.

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