CN2905742Y - Synergistic operation safety monitor device for tower crane group - Google Patents
Synergistic operation safety monitor device for tower crane group Download PDFInfo
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- CN2905742Y CN2905742Y CN 200620078952 CN200620078952U CN2905742Y CN 2905742 Y CN2905742 Y CN 2905742Y CN 200620078952 CN200620078952 CN 200620078952 CN 200620078952 U CN200620078952 U CN 200620078952U CN 2905742 Y CN2905742 Y CN 2905742Y
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Abstract
The utility model discloses a security supervision device for collaborative work operation of tower cranes, which comprises a master controller. The master controller is connected with a three-way bidirectional counter circuit, which sends to the master controller the altitude signals, radius signals, and angular signals respectively after arrangements. The master controller is also connected with a wireless communication module. The controller outputs the control signals via a nine-way relay. The supervision devices provided in the utility model makes available of the information transfer among tower cranes through real-time tests of the conditions of every tower crane in the network. Therefore the device can make judgments about their relative positions as well as collision relations so as for further determination of alarming or automatic power-off protection, which in return effectively solves the problem of mutual collisions among group tower cranes.
Description
Technical field
The utility model relates to a kind of control monitor unit, particularly under complicated building operation environment, and the anticollision safety monitoring device during tower crane group work compound.
Background technology
In engineering construction, tower crane often needs operation in groups, during the operation of group's tower, have following shortcoming: (1) distance is close each other at the tower machine, in the time of may bumping, operates by human eye vision fully, the driver will note load on the one hand, be also noted that the position of associated column machine on the other hand, be easy to bump, cause the accident because of misoperation causes the tower faciation; (2) during night work, the driver can't see the position of target clearly at all, can't prevent that by people's vision operation the accident that the tower faciation hits from taking place.Chinese patent " tower crane cross-operation telltale " (patent No. ZL01230212.0, publication number CN2481689, open day on March 13rd, 2002) a kind of group of planes cross-operation warning is disclosed in, enter the hazardous location by the current tower machine of limit switch prompting driver, this mode can not detect tower machine state constantly, can not carry out communication between the associated column machine.In addition, the tower machine except may bumping with the associated column machine, also may bump with other static obstacle in the work area at work, or is strayed into the place that some have resident living to come in and go out, and brings some unnecessary potential safety hazards.Present tower machine monitoring device does not have the hazardous location limitation function.
Summary of the invention
The purpose of this utility model is to provide a kind of tower crane group work compound safety monitoring device; detect and realize information transmission between tower crane in real time by state to each tower crane in the network; judge relative position and collision relation; then judge whether report to the police or automatic power-off protection, efficiently solve the problem of colliding mutually between group tower.
The technical scheme that the utility model adopted is, tower crane group work compound safety monitoring device, comprise master controller, master controller connects three tunnel two-way counting circuits, three tunnel two-way counting circuits are imported master controller with altitude signal, radius signal and angular signal respectively after putting in order, master controller also is connected with wireless communication module, and master controller is exported control signal by No. 9 relays.
Characteristics of the present utility model also are:
Three tunnel two-way counting circuits are connected with the sensing circuit respectively.
Master controller also is connected with Liquid Crystal Display (LCD).
Master controller also is connected with external input keyboard.
Master controller is micro controller system PC104.
The utlity model has following function: 10 of (1) may command do not crash each other with interior tower crane group work compound; (2) detect in real time and show tower machine running state (corner, carriage amplitude varying and height); (3) in the tower group network, any 1 tower crane can be made as main frame all the other tower cranes are carried out the parameter setting; (4) zone that can not enter in the tower crane working environment can be set, when system detects tower crane and may enter this zone, system will report to the police, and corresponding sports is carried out power-off protection; (5) can carry out switching between Actuator Test Modes and the mode of operation; (6) anticollision that is undertaken between the tower machine by the program of inserting in advance calculates, and carries out relay output control; (7) can carry out transducer calibration.
Description of drawings
Fig. 1 is that functional module of the present utility model is formed scheme drawing;
Fig. 2 is that single channel of the present utility model is revolved volume counting circuit schematic diagram;
Fig. 3 is that the environmental area that the utility model adopts is provided with schematic diagram automatically;
Fig. 4 is the transmitting set communications protocol flow process of control the utility model action;
Fig. 5 is the receiver communications protocol flow process of control the utility model action.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is elaborated.
The tower crane group work compound safety monitoring device that the utility model provides; the tower crane that is mutually related under the same construction environment (maximum 10) is formed a network; control monitor unit of the present utility model is installed on each tower crane in the network; this control monitor unit to the state of this tower crane self (as the lift heavy height; tower machine corner; the dolly radius) detects in real time and when being presented at liquid crystal display; by the information transmission between the wireless communication mode realization tower crane; information according to other tower crane in detected machine information and the network; calculate this tower crane and concern, and judge whether report to the police or automatic power-off protection according to result of calculation with the relative position and the collision of relevant tower crane.
Control monitor unit of the present utility model comprises master controller, master controller connects three tunnel two-way counting circuits, three tunnel two-way counting circuits are imported master controller with altitude signal, radius signal and angular signal respectively after putting in order, master controller also is connected with wireless communication module, and master controller is exported control signal by No. 9 relays.
Fig. 1 has provided a kind of embodiment of technical solutions of the utility model, master controller adopts the PC104 mainboard, expanding three the tunnel is 16 two-way volume counting circuits that revolve of core with 193, three tunnel two-way counting circuits connect three tunnel sensing circuit respectively, revolve the volume signal with three the tunnel: weight altitude signal, dolly radius signal and the input of tower arm angular signal, master controller also is connected with LCD colour liquid crystal display device, keyboard input, relay output and wireless transport module, be output as No. 9 relays, the operation of control tower machine.
Rotary encoder is all adopted in the detection of tower arm angle, dolly radius and three variablees of weight height, and the detection principle of three tunnel parameters is identical, has provided the principle of work instance graph of one of them counting circuit among Fig. 2.This counting circuit links to each other by the PC104 bus with master controller, and 4 two-way counting chips 193 are formed 16 counting circuits, owing to adopt the relative coding device, is finished the read-write capability of count value in the counting circuit respectively by two 138 decoders.
It below is the explanation that the utility model function is realized.
(1) realization of the safe anticollision function of tower group
Calculate in order to carry out anticollision, each tower machine must know oneself attitude (tower machine corner, carriage amplitude varying and lift heavy height) and with the attitude of own relevant other tower machine, therefore, each control system must detect the state of oneself constantly, all tower machines must carry out communication constantly among the same tower group simultaneously, know the state of the tower machine that all are relevant with oneself.Therefore, before the tower group work, control monitor unit of the present utility model need be contained in respectively on each tower machine, the static parameter of all tower machines among the operation group at first is set, the basic point coordinate, the brachium of tower machine, the tower horn that comprise the tower machine are high, and each tower machine judges whether to be the associated column machine according to the relativeness between these calculation of parameter tower machines, then, the associated column machine is formed the network group with independent bodily form formula.Each controller is finished the detection of (comprising corner, radius and height) of self tower machine state on the one hand, simultaneously, the tower machine is realized the exchange of each self-information by wireless telecommunications, so, control monitor unit on each tower machine is known the information of all and own associated column machine, and then, control monitor unit carries out anticollision with own information and associated column machine information and calculates, when tower machine and other any one tower machine have collision may, the relevant motion that the tower machine will be reported to the police or draw oneself up.
In order to carry out the information exchange of tower machine, all tower machines must be formed a communication network among the same tower group, carry out communication by certain agreement, this network using wireless communication mode is in tower group of planes safety collision avoidance system, all tower units circularize communication network, each tower machine is in node location arranged side by side in the transmission data network, because wireless communication module is the mode of operation of single duplex, in tower machine communication process, by the transmission token, determine which tower facility that the information transmission route is arranged.Each tower machine all has the numbering of oneself, after it sends the information of oneself, token will be issued the tower crane of next numbering, reply if in specified time, can not receive, illustrate that this tower machine is not online, the tower machine will send to next tower machine to token, thus circulation, token transmits in the network of all tower machines, thereby sends information separately.
Its control program flow process such as Fig. 4, shown in Figure 5: all tower machines of start back are seized token, and the tower machine of getting token is a transmitting set, i machine for example, and all the other each machines are receiver.Transmitting set sends the information of oneself for successively shutdown mutually, wait acknowledge in the certain hour, if do not receive the acknowledge signal of a certain tower machine, send opportunity is sent out once (3 times at the most) again behind certain hour, confirming that all shut down all mutually correctly receives own information or has sent out after 3 times transmitting set and will issue the tower crane that i+1 numbers to token, and wait acknowledge within a certain period of time, do not reply if receive, send opportunity repeats to send (3 times at the most) again, if transmitting set does not also receive response message after 3 transmissions, then can repeat the tower machine that said process sends to token the i+2 numbering ... receive to reply until transmitting set and abandon token ownership; Receiver receives the information that transmitting set is sent, and at first detecting is numeral or token, if token and target machine are oneself, then receiver sends the token confirmation, and to put oneself be transmitting set, begins to send the information of oneself; If what receive is data message, receiver judges then whether whether transmitting set relevant with oneself, if relevant then verification, storage data sends data validation information, otherwise does nothing.
This control monitor unit is applicable to any group of planes that flat arm, two kinds of tower machines of oblique arm are formed, this control monitor unit is determined the type of tower machine when static parameter is provided with, call different anticollision calculation procedures then, therefore, native system has three kinds of methods of calculating: flat arm is to flat arm; Flat arm to oblique arm and oblique arm to oblique arm.In the various calculated case, need the collision between consideration tower machine lift heavy (weight and lifting rope) and the tower horn (forearm and postbrachium).
(2) tower machine work area restriction
Control monitor unit of the present utility model is provided with the method that detects automatically that adopts to the hazardous location, in the tower horn is the maximum range coverage of cylindrical, considering has highway and other building in this work area, when tower crane was worked, tower machine lifted weight can not enter this zone.This control monitor unit adopts polygon to come the fitted area border, and in the tower machine working process, according to the tower arm corner and the carriage amplitude varying that detect constantly, the counting of carriers current location is made then and being reported to the police or control apart from the distance of environment hazardous location.
Tower crane working environment as shown in Figure 3 has a building and a highway in the work area of tower machine, control monitor unit need be provided with not entering the zone in the tower machine work area according to actual conditions.This control monitor unit adopts polygon to come the fitted area border, as the highway zone among the figure, comes the match border with line segment 12, then adopts a quadrangle match for other building among the figure.In order in control monitor unit, these zones to be provided with, use the corner and the radius measuring ability of tower machine itself, as 12 line segments among the figure, at first the tower horn is forwarded to dotted line o1 place among the figure, simultaneously, trolley travelling to 1 is located, measure current rotational angle theta
1And tower arm radius R
1, in like manner, we can set gradually the zone boundary point, represent with the corner and the radius of each point respectively, as the point of 4 among the figure, then tower machine trolley travelling to 4 can be located to measure (θ
4, R
4).In control monitor unit, be provided with after these points, when environment is reported to the police calculating, position (θ that can be current according to the tower machine
x, R
x) compare with the regional edge of storing in the computing machine, judge whether the tower machine enters this hazardous location, after the tower machine is near the dangerous area, make and report to the police and utilize relay to block corresponding direction tower machine motion.Distance (δ) between current dolly and border, environmental area satisfies: 0.8* δ (safety)≤δ≤δ (safety), and the high-speed motion of the current sense of motion of tower machine is blocked in controller output; As 0≤δ＜0.8* δ (safety), the low-speed motion of the current sense of motion of tower machine is blocked in controller output.
Claims (5)
1. tower crane group work compound safety monitoring device, it is characterized in that, comprise master controller, master controller connects three tunnel two-way counting circuits, three tunnel two-way counting circuits are imported master controller with altitude signal, radius signal and angular signal respectively after putting in order, master controller also is connected with wireless communication module, and master controller is exported control signal by No. 9 relays.
2. according to the described control monitor unit of claim 1, it is characterized in that described three tunnel two-way counting circuits are connected with the sensing circuit respectively.
3. according to the described control monitor unit of claim 1, it is characterized in that described master controller also is connected with Liquid Crystal Display (LCD).
4. according to the described control monitor unit of claim 1, it is characterized in that described master controller also is connected with external input keyboard.
5. according to the described control monitor unit of claim 1, it is characterized in that described master controller is micro controller system PC104.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620078952 CN2905742Y (en) | 2006-05-11 | 2006-05-11 | Synergistic operation safety monitor device for tower crane group |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620078952 CN2905742Y (en) | 2006-05-11 | 2006-05-11 | Synergistic operation safety monitor device for tower crane group |
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| CN2905742Y true CN2905742Y (en) | 2007-05-30 |
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| CN 200620078952 Expired - Fee Related CN2905742Y (en) | 2006-05-11 | 2006-05-11 | Synergistic operation safety monitor device for tower crane group |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101391725B (en) * | 2008-11-06 | 2010-08-25 | 上海市建筑科学研究院(集团)有限公司 | Jib type crane operating status record and security protection system |
| CN101844732A (en) * | 2010-04-27 | 2010-09-29 | 西安丰树电子科技发展有限公司 | Distributed tower group anti-collision system |
| CN102324061A (en) * | 2011-05-19 | 2012-01-18 | 三一重工股份有限公司 | Pump-truck and agitating-truck combined-operation dispatching system, method thereof, agitating truck and pump truck |
| CN102745592A (en) * | 2011-04-19 | 2012-10-24 | 霍尼韦尔国际公司 | Crane jib attitude and heading reference system calibration and initialization |
| CN103342304A (en) * | 2013-07-29 | 2013-10-09 | 电子科技大学 | Tower crane collision prevention monitoring system based on attitude and heading reference system (AHRS) and implementation method thereof |
| CN103523684A (en) * | 2013-10-28 | 2014-01-22 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
| CN109179228A (en) * | 2017-08-11 | 2019-01-11 | 北京建筑大学 | A kind of construction crane machine anticollision system |
| CN109592586A (en) * | 2018-12-18 | 2019-04-09 | 济南大学 | A method of judging two tower crane work compound crane arm collisions |
| CN110555913A (en) * | 2019-08-27 | 2019-12-10 | 正知（上海）智能技术有限公司 | virtual imaging method and device based on industrial human-computer interface |
| CN110980562A (en) * | 2019-11-01 | 2020-04-10 | 湖南中联重科建筑起重机械有限责任公司 | Multi-tower machine linkage control method and equipment based on internet |
| CN114212688A (en) * | 2022-02-22 | 2022-03-22 | 杭州未名信科科技有限公司 | Motion control method and device of intelligent tower crane |
| CN118333578A (en) * | 2024-06-13 | 2024-07-12 | 杭州宇泛智能科技股份有限公司 | Tower crane collaborative management method and device for large-scene Internet of things application |
-
2006
- 2006-05-11 CN CN 200620078952 patent/CN2905742Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101391725B (en) * | 2008-11-06 | 2010-08-25 | 上海市建筑科学研究院(集团)有限公司 | Jib type crane operating status record and security protection system |
| CN101844732A (en) * | 2010-04-27 | 2010-09-29 | 西安丰树电子科技发展有限公司 | Distributed tower group anti-collision system |
| CN102745592A (en) * | 2011-04-19 | 2012-10-24 | 霍尼韦尔国际公司 | Crane jib attitude and heading reference system calibration and initialization |
| CN102745592B (en) * | 2011-04-19 | 2016-03-02 | 霍尼韦尔国际公司 | Crane jib attitude and heading reference system are calibrated and initialization |
| CN102324061B (en) * | 2011-05-19 | 2014-04-16 | 三一重工股份有限公司 | Pump-truck and agitating-truck combined-operation dispatching system, method thereof |
| CN102324061A (en) * | 2011-05-19 | 2012-01-18 | 三一重工股份有限公司 | Pump-truck and agitating-truck combined-operation dispatching system, method thereof, agitating truck and pump truck |
| CN103342304B (en) * | 2013-07-29 | 2015-08-19 | 电子科技大学 | The crashproof monitored control system of tower crane based on AHRS and its implementation |
| CN103342304A (en) * | 2013-07-29 | 2013-10-09 | 电子科技大学 | Tower crane collision prevention monitoring system based on attitude and heading reference system (AHRS) and implementation method thereof |
| CN103523684B (en) * | 2013-10-28 | 2015-04-15 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
| CN103523684A (en) * | 2013-10-28 | 2014-01-22 | 中国矿业大学 | Hoisting coupling device with cooperation of multiple cranes and detection method |
| CN109179228A (en) * | 2017-08-11 | 2019-01-11 | 北京建筑大学 | A kind of construction crane machine anticollision system |
| CN109179228B (en) * | 2017-08-11 | 2020-01-14 | 北京建筑大学 | Anti-collision system of building construction tower crane |
| CN109592586A (en) * | 2018-12-18 | 2019-04-09 | 济南大学 | A method of judging two tower crane work compound crane arm collisions |
| CN110555913A (en) * | 2019-08-27 | 2019-12-10 | 正知（上海）智能技术有限公司 | virtual imaging method and device based on industrial human-computer interface |
| CN110980562A (en) * | 2019-11-01 | 2020-04-10 | 湖南中联重科建筑起重机械有限责任公司 | Multi-tower machine linkage control method and equipment based on internet |
| CN114212688A (en) * | 2022-02-22 | 2022-03-22 | 杭州未名信科科技有限公司 | Motion control method and device of intelligent tower crane |
| CN118333578A (en) * | 2024-06-13 | 2024-07-12 | 杭州宇泛智能科技股份有限公司 | Tower crane collaborative management method and device for large-scene Internet of things application |
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| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: XI AN FENGSHU DEVELOPMENT OF ELECTRONIC SCIENCE AN Free format text: FORMER OWNER: XI AN UNIVERSITY OF TECHNOLOGY Effective date: 20100409 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 710048 NO.5, JINHUA SOUTH ROAD, XI AN CITY, SHAANXI PROVINCE TO: 710043 ROOM 01, 25/F, BUILDING 1, YANGGUANGLICHENG, NO.3, XIYING ROAD, XI AN CITY, SHAANXI PROVINCE |
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| TR01 | Transfer of patent right |
Effective date of registration: 20100409 Address after: 710043 Shaanxi province Xi'an Xiying Road No. 3 sunshine Belvedere 1 25 storey building room 01 Patentee after: Xi'an Maple Tree Electronical Technology Development Co., Ltd. Address before: 710048 Shaanxi city of Xi'an Province Jinhua Road No. 5 Patentee before: Xi'an University of Technology |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070530 Termination date: 20110511 |