RU59554U1 - CONTROL SYSTEM AND PROTECTION AGAINST COLLISIONS WORKING IN THE TOWER CRANES GROUP - Google Patents

Abstract

The utility model relates to techniques for ensuring the safety of tower cranes. The system comprises a crane control and protection device installed on each crane, which includes a first group of sensors for monitoring the crane equipment parameters and a digital computer, the first sensors of which are connected to these sensors, the display is connected to the first output, and the executive unit is connected to the second output. digital computers are connected by a serial interface line to exchange information on the position, movements and load of crane equipment. Each crane control and protection device is equipped with a second group of sensors installed on the mechanisms for controlling the movement of mechanisms and connected to the second input of the digital computer, and a keyboard for setting the operating mode of the crane connected to the third input of the digital computer. The technical result from the use of the utility model is to increase the safety of work on a single construction site of a group of tower cranes and increase the efficiency of their work by eliminating bypass or return movements when crossing the trajectories of equipment movement of "adjacent" cranes. 1 s.p. f-ly, 3 ill.

Description

The utility model relates to techniques for ensuring the safety of tower cranes.

Known control and collision protection systems operating in a group of tower cranes, including the exchange of information between control and protection devices installed on each of the "n" operating in a group of tower cranes, about the position, movements and load of its equipment, and implemented, for example, anti-collision systems "SMIE-AC30" (France). The SMIE-AC30 system contains a crane control and protection device installed on each crane, including the first group of sensors for monitoring the parameters of the crane equipment and a digital computer - a central processor, to the first input of which these sensors are connected, a display and the first output the second output is an executive unit. The processors are connected by cable or radio communication, forming a joint communication network for the exchange of information about the position, movements and load of crane equipment (see Dana Rafchikova. Anti-collision systems "SMIE-AC30" for crane protection. Magazine "Lifting constructions. Special equipment". 2001. No. 4). In the SMIE-AC30 system, the position of the crane and its equipment are known, since the crane is “tied” to certain points on the construction site. By controlling the speed of movement of the crane and its equipment and the load of the crane (weight of the load), the computer calculates what final position the equipment (boom or trolley with cargo hook) will occupy if braking is started at the optimum time. A device on another crane performs similar calculations for its crane, and both devices exchange the results of the calculations. When the calculations of the systems indicate a dangerous approach of the crane equipment, an automatic stop begins

taps by each device. At the same time, the displays of control and protection devices for cranes (hereinafter - the displays of cranes) indicate the directions of dangerous movements and ways to safely remove cranes from overlapping areas. Thus, this system does not block the access of cranes to overlapping zones, allows the simultaneous operation of cranes by successively (as necessary) reducing their speeds, avoiding their collisions. However, the drawback of this system is that the cranes stop only when the equipment of the tower cranes is dangerously close, which in some cases necessitates bypass or return movements, i.e. decreased performance and energy losses.

The task to which the claimed utility model is directed is to develop a control and collision protection system for workers in a group of tower cranes, which would provide increased safety and efficiency of tower cranes by creating information signals that precede the onset of movement or restricting the movement of crane equipment in case of possible intersection of their trajectories.

The stated technical problem is achieved by the fact that in the known system comprising a crane control and protection device installed on each crane, which includes a first group of sensors for monitoring the parameters of the crane equipment and a digital computer, the first input of which includes these sensors, the first output has a display, and to the second output - the executive unit, while digital computers are interconnected by a serial interface line to exchange information about the position, movements and load of the equipment to wounds, according to the utility model, each device for controlling and protecting the crane is equipped with a second group of sensors installed on the controls for the movement of mechanisms and connected to the second input of the digital computer, and a keyboard for setting the operating mode of the crane connected to the third input of the digital computer, and each digital computer

made with the possibility of determining the position of each crane and its equipment on the construction site plan, forming on the crane display a conditional graphic image of the position of the crane and its equipment on the construction site plan and the conditional graphic image of the position of the "adjacent" or "adjacent" cranes, and its or their equipment on the construction site plan, determining when initiating the movement of the crane equipment K _{i the} expected path of the equipment of the crane and the formation on its display of a graphic image images of the expected trajectories of the equipment of the crane K _i and "adjacent" or "adjacent" cranes with the equipment currently moving, determining the minimum distance between these trajectories, displaying the point of intersection of the trajectories on the display of the crane K _i and generating a signal blocking the operation of the mechanisms of this crane and signals for alarming light and sound signaling, forming a line restricting the movement of the crane equipment K _i, if necessary, to continue the movement of its equipment and display I of this line on the display of this crane, and automatically blocking the operation of the crane K _i at the intersection of the indicated trajectories in the presence of an error in the formation of the boundary line.

The digital computer of each crane control and protection device may include a unit for determining the load and position of the crane equipment, a unit for determining the speed of the crane equipment, a unit for determining the trajectory of the crane equipment, a unit for determining the minimum distance between the points of the trajectories of the crane equipment, a coincidence unit, a formation unit indications, a block for specifying boundary lines, a delay line and a block of amplifiers, while the output of the block for determining the load and the position of the equipment tap is connected via a series-connected unit determines the velocity of crane equipment and a unit determining a path of motion to the first inputs of the block forming indication unit determining the minimum

the distance between the points of the paths of movement of the equipment of the cranes and the coincidence block, the output of the block for specifying the boundary lines is connected to the second inputs of the block for determining the path of the movement of the equipment of the crane and the block of coincidences, the third input of which is connected to the output of the block for determining the minimum distance between the points of the path of motion of the equipment of the cranes, and the output is through the delay line - to the input of the amplifier unit, the first input of the digital computer is the input of the unit for determining the load and position of the crane equipment, in The next input is the combined third input of the display unit and the fourth input of the coincidence unit, and the third input is the input of the block for specifying boundary lines, the input / output of the digital computer is the combined second inputs of the unit for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the display unit, and the first and second outputs of the digital computer are respectively the outputs of the display forming unit and the amplifier unit.

The essence of the proposed utility model is as follows.

The signals of the sensors installed on the equipment of two "adjacent" cranes K ₁ and K ₂ determine the position of the cranes of their equipment on the construction site plan and the load of the equipment. The display of the crane K ₁ displays a conditional graphic image of the position of the crane K ₁ on the construction site plan in the form of a point O ₁ and the position of its arrow in the form of a line O ₁ A, as well as a conditional graphic image of the position of the "adjacent" crane K ₂ in the form of a point O ₂ and its equipment - booms with a trolley T in the form of an O ₂ T line by exchanging information between control and protection devices installed on cranes K ₁ and K ₂ about the position, movements and load of their equipment. Similar images are displayed on the display of the crane K ₂ .

When the crane operator initiates the movement of the crane equipment K ₂ (turning his boom with a stationary truck T) by moving the corresponding control body, the estimated trajectory of the crane crane K ₂ moving its truck is determined and displayed on it

the display is a graphical representation of the intended trajectory of the equipment of the crane K ₂ (dotted line TP) and the position of the boom of the "adjacent" crane K ₁ by exchanging information between their control and protection devices.

If the arrow of the crane K _{1 is} stationary and the trajectory of the equipment of the crane K ₂ does not intersect the projection of the arrow of the crane K ₁ (line O ₁ A in Fig. 1.a), then, after a set time delay, a signal is applied to turn on the mechanism for turning the crane arrow K ₂ to the required position (point P). If the crane K _{1 is} working and the boom rotates, then on the display of the crane K _{2 a} conditional graphic image of the trajectory of the crane hook arrow K ₁ on the construction site is displayed and the minimum distance between these trajectories is determined. At the intersection of the trajectories, the intersection point (point "C" in Fig.1.b) is displayed on the crane K ₂ display and a signal for blocking the operation of the crane mechanisms K ₂ , as well as signals for alarming light and sound alarms, are issued.

To continue the rotation of the crane boom K ₂ at the commands of the crane operator, an MH line is additionally formed, restricting the movement of the equipment of the crane taking into account the inertia of the equipment being moved, and displayed on the crane K ₂ , and if there is an error in the formation of the boundary line, for example, the KL line is automatically blocked the operation of the mechanisms of the crane K ₂ at the point "C" of the intersection of these trajectories. This option to minimize time and energy costs is possible due to the fact that the display of the crane K ₂ shows the zone of possible movement of the boom of the crane K ₁ (Fig.1.b), but the arrow of the crane can stop, for example, on the line O ₁ D, not interfering with the movement of the boom crane K ₂ .

Similarly, the beginning of the movement of the crane K ₁ .

When the crane operator initiates the movement of the crane equipment K ₁ (turning his boom) by moving the corresponding control element, the estimated trajectory of the hook is determined

crane K ₁ and displays on its display a graphical image of the proposed trajectory of the crane hook K ₁ (dashed line AB in Fig.1.c) and the position of the boom with the trolley of the "adjacent" crane K ₂ by exchanging information between their control and protection devices.

If the arrow of the crane K _{2 is} stationary and the trajectory of the equipment of the crane K ₁ does not intersect the projection of the arrow of the crane K ₂ (line O ₂ T in Fig.1.c), then after a set time delay a signal is sent to turn on the mechanism for turning the crane arrow K ₁ to the required position (point B). If the crane K _{2 is} working (the arrow rotates), then a conditional graphic image of the trajectory of the crane hook K ₂ on the construction site is displayed on the crane K ₁ and the minimum distance between these trajectories is determined. When crossing the trajectories on the display of the crane K ₁ , the intersection point (point "C" on fit.1.g) is displayed and a signal for blocking the operation of the mechanisms of the crane K ₁ , as well as signals for alarm light and sound signaling, are issued.

To continue the rotation of the crane boom K ₁ at the commands of the crane operator, an MH line is additionally formed, restricting the movement of the equipment of the crane taking into account the inertia of the equipment being moved, and displayed on the crane K ₁ , and if there is an error in the formation of the boundary line, for example, the KL line is automatically blocked the operation of the mechanisms of the crane K ₁ at the point "C" of the intersection of these trajectories. This option to minimize time and energy costs is possible due to the fact that the display of the crane K ₁ shows the zone of possible movement of the boom of the crane K ₂ (Fig. 1.d), but the arrow of the crane can stop, for example, on the line O ₂ D, not interfering with the movement of the crane boom K ₁ .

The technical result from the use of the utility model is to increase the safety of work on a single construction site of a group of tower cranes and increase their efficiency by eliminating bypass or

return movements at the intersection of the trajectories of the equipment "adjacent" cranes.

Figure 1 shows fragments of images on the display of one of the two "adjacent" tower cranes for various movements of the equipment of the cranes; figure 2 is a structural diagram of the proposed control system and protection against collisions working in a group of tower cranes; figure 3 is a functional diagram of a control device and crane protection.

Figure 2 and 3 shows the following notation:

1 - control device and protection of the first crane;

2 - control device and protection of the second crane;

3 - line serial interface;

4 - the first group of sensors for monitoring the parameters of the equipment of the first crane;

5 - digital computer;

6 - display;

7 - the second group of sensors for monitoring the position of the controls of the first crane;

8 - keyboard for setting the operating mode of the first crane;

9 - executive unit;

10 - the first group of sensors for monitoring the parameters of the equipment of the second crane;

11 - digital computer;

12 - display;

13 - the second group of sensors for monitoring the position of the controls of the second crane;

14 - keyboard for setting the operating mode of the second crane;

15 - executive unit;

16 - the first input of a digital computer;

17 - the second input of a digital computer;

18 - unit for determining the load and position of the crane equipment;

19 is a block for determining the speed of the crane equipment;

20 - unit for determining the trajectory of movement of crane equipment;

21 - block forming an indication;

22 - the first output of a digital computer;

23 - block determining the minimum distance between the points of the trajectories of the equipment of the cranes;

24 - input / output of a digital computer;

25 - block matches;

26 - the third input of a digital computer;

27 - block assignment restrictive lines;

28 - delay line;

30 - the second output of the digital computer.

Fragments of images, in particular, on the display of the crane K ₂ shown in Fig. 1, are made under the assumption that the crane K ₁ with the center _of rotation O ₁ of its arrow below the crane K ₂ with the center O _{2 of} rotation of its arrow, i.e. it is possible that the cable running from the truck T of the crane K ₂ may come into contact with any point of the boom O ₁ A of the crane K ₁ .

The proposed system provides the ability to control and protect cranes K ₁ and K ₂ operating in the following modes:

a) the initiation and start of movement of the crane equipment K ₂ along the trajectory TR with the stationary equipment of the crane K ₁ ;

b) the initiation and start of movement of the crane equipment K ₂ along the trajectory TR with the moving equipment of the crane K ₁ ;

c) the initiation and start of movement of the crane equipment K ₁ along the AB trajectory with the stationary equipment of the crane K ₂ ;

d) the initiation and start of movement of the crane equipment K ₁ along the AB trajectory with the moving equipment of the crane K ₂ .

The shaded areas show on the display the possible positions of the crane equipment, i.e. areas into which the "adjacent" crane should not fall when moving its equipment. The dotted line near the projection of the crane jib indicates the tolerance for the error in stopping the crane jib, calculated by

parameters of motion (inertia) of the equipment. Figure 1 shows examples of simple movements (rotation of the arrow of the crane), although when combining movements (for example, rotation of the arrow of the crane and moving the crane along the path, rotation of the arrow of the crane and moving the cart), the display shows the trajectory of a general, more complex movement.

The collision control and protection system of the tower cranes working in the group includes a control and protection device 1 of the first crane K ₁ , and a control and protection device 2 of the second crane K ₂ . Devices 1 and 2 are interconnected by line 3 of the serial interface. Technically, communication between devices can be via cable or radio channel.

The control and protection device 1 of the first crane contains the first group of 4 sensors for controlling the parameters of the equipment of the first crane connected to the first input 16 of the digital computer 5. A display 6 is connected to the first output 22 of the digital computer 5, and the executive unit 9 is connected to the second stroke 30. the input 17 of the digital computer 5 is connected to the second group of 7 sensors for controlling the position of the controls of the first crane (levers, buttons, joysticks, etc.), and to the third input 26 is a keyboard 8 for setting the operating mode of the first crane. The digital computer 7 has an input / output 24 for connecting a line 3 of the serial interface for exchanging information with the second control device and protect the "adjacent" crane K ₂ or with other control and protection devices of the "adjacent" cranes.

Accordingly, the control and protection device 2 of the second crane K ₂ comprises a first group of 10 sensors for monitoring the parameters of the equipment of the second crane, a digital calculator 11, a display 12, a second group of 13 sensors for monitoring the position of the controls of the second crane, a keyboard 14 for setting the operation mode of the second crane, and an executive unit 15. The digital computer 11 has an input / output for connecting a line 3 of the serial interface for exchanging information with the first

device or other control devices and protection of "adjacent" cranes.

Sensors for monitoring the parameters of the crane equipment and digital computers ensure the functioning of the safety devices of each crane, protecting them from overload and unacceptable movements of the equipment.

Sensors for controlling the position of controls and software functional blocks formed in digital computers ensure the functioning of the safety devices of each crane, protecting the latter from inadmissible mutual movements of the cranes and their equipment.

The digital computer 5 of the crane control and protection device includes a unit 18 for determining the load and position of the crane equipment, a unit 19 for determining the speed of the crane equipment, a unit 20 for determining the path of the crane equipment, an indication unit 21, and a unit for determining the minimum distance between the points of the motion paths 23 crane equipment, block 25 matches, block 27 specify boundary lines, line 28 delay and block 29 amplifiers.

The output of the unit 18 for determining the load and position of the crane equipment is connected through a series-connected unit 19 for determining the speed of the crane equipment and the unit 20 for determining the trajectory of the crane equipment to the first inputs of the display unit 21, the unit for determining the minimum distance between the points of the trajectories of the crane equipment and the block 25 matches.

The output of the block 27 for setting the boundary lines is connected to the second inputs of the block 20 for determining the trajectory of the equipment of the crane and the block 25 matches, the third input of which is connected to the output of the block 23 for determining the minimum distance between the points of the trajectories

the equipment of the cranes, and the output through the delay line 28 to the input of the block 29 amplifiers.

The first input 16 of the digital computer 5 is the input of the unit 18 for determining the load and position of the crane equipment, the second input 17 is the combined third input of the display forming unit 21 and the fourth input of the coincidence unit 25, and the third input 26 is the input of the boundary line setting unit 27.

The input / output 24 of the calculator 5 are the combined second inputs of the block 23 for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the block 21 for the formation of indications.

The first output 22 of the calculator 5 is the output of the block 21 forming the display 22, the second output 30 is the output of the block 29 of the amplifiers.

The digital computer 11 is made similar to the digital computer 5. The inputs / outputs 24 of the computers 5 and 11 are connected by a line 3 of the serial interface.

In the proposed system, the blocks are made as follows.

The first group of 4 (10) sensors for monitoring the parameters of the crane equipment contains primary converters of the physical parameter (force, pressure, angular and linear displacements, etc.) into an electrical signal (analog, digital, digital). The number of sensors depends on the composition of the crane equipment.

The second group 7 (13) of sensors contains primary converters for monitoring the position of the crane controls. Their number and type depend on the composition of the governing bodies and control requirements:

- to control the initiation of movement, they can be discrete;

- to control the set speed - with a proportional output signal.

Digital computers 5 and 11 are PIC processors with a standard set of elements, including the ADC, multiplexer, RAM, EPROM, parallel and serial ports, etc. It is equipped with amplifiers for connecting actuators.

Displays 6 and 12 are a standard set of blocks for alphanumeric and graphic display of information.

Keyboards 8 and 14 are a set of keys or switches, providing a choice and setting the operating mode of the control and protection device of the crane.

Blocks 18-21, 23, 25-28 are software functional devices formed in digital computer 5 (or, respectively, in digital computer 11) with mathematical software.

The system operates as follows.

During the initial installation of the system, it is set up on the crane (first of all, sensors and their installation units) in order to “bind” it to the construction site.

Further, during operation, each of the crane control and protection devices 1 and 2 operate similarly to each other. In the device 1, the signals of the sensors for monitoring the parameters of the equipment of the first crane K ₁ are fed to the first input 16 of the digital computer 5, where the position of the equipment of the first crane and the load on it in order to determine the inertia of movement are determined by block 18. The change in the position of the equipment, fixed by block 18, is converted by the unit 19 for determining the speed of the equipment in the magnitude and direction of the path of movement, which then block 20 is converted into a trajectory.

Block 21 generates signals to indicate the nature of the movement of the crane K ₁ on which the device 1 is installed. It also generates signals to indicate the nature of the movement of the second one according to the signals generated in the device 2 and transmitted along line 3 through input / output 24

"adjacent" crane K ₂ , on which the device 2 is installed. The signals of the block 21 through the first output 22 of the digital computer 5 are transmitted to the display 6.

In this case, information on devices 1 and 2 is indicated in the form of projections of an arrow (Fig. 1.a and Fig. 1.c), if the cranes are stationary. When the "adjacent" crane K ₂ moves, the area of possible positions of its equipment is depicted, for example, in the device 1 in the form of a zone (Fig.1.b), and the alleged movement of the "own" crane K ₁ , on which the specific display 6 is mounted, is depicted in type of direction. The image of the direction arises from the signal from the sensors 7, arriving at the second input 17 to the block 21.

The crane operator through the keyboard 8 through the third input 26 of the digital calculator 5, the unit 27 sets the restriction lines of the permissible movements of the equipment, fixing them in blocks 20, 21 and on the display 6. Prior to the installation of the restriction lines, the block 27 acts on the coincidence block 25 and prevents the passage of the sensor signals 7 initiating the movement of equipment along the circuit: delay line 28 (serves to ensure the time of information generation on the display), amplifier unit 29, second output 30 of calculator 5, and executive unit 9.

This mode corresponds to the state of preliminary indication and the decision by the crane operator on the trajectory of the crane equipment. After setting the restriction lines, block 27 removes the ban from the block 25 of matches on the passage of the signals of the sensors 7, which act through the block 29 of the amplifiers on the actuating unit 9. The crane equipment will begin to move until the signals of the block 20 calculating the trajectory of motion and the block 27 specify the restriction lines, resulting in block 25 will create a signal to stop movement.

During the movement of the crane equipment, block 23 receives information on the movement of the equipment of each crane ("own" from block 20 and "adjacent" at the input / output 24). Block 23 will calculate the minimum distance between the points of the trajectories of the equipment of cranes and at

unacceptable rapprochement of equipment, for example, if the boundary lines are incorrectly set, it will generate a signal to block 25 to turn off the mechanisms of the “own” crane K ₁ . The same effect will take place in the device 2 to disable the mechanisms of the "adjacent" crane K ₂ .

The proposed system of control and protection against collisions working in a group of tower cranes can be manufactured industrially at the instrument-making enterprise using modern electronic components and technologies.

Claims (2)

1. A collision control and protection system for tower cranes operating in a group, comprising a crane control and protection device installed on each crane, including a first group of crane equipment parameter monitoring sensors and a digital computer, to the first input of which these sensors are connected, to the first output - the display, and to the second output - the executive unit, while digital computers are interconnected by a serial interface line to exchange information about the position, movements and load of the equipment cranes, characterized in that each device for controlling and protecting the crane is equipped with a second group of sensors installed on the controls for the movement of mechanisms and connected to the second input of the digital computer, and a keyboard for setting the operating mode of the crane connected to the third input of the digital computer, and each digital the calculator is configured to determine the position of each crane and its equipment on the construction site plan, to form a conditional graphic image of the position of the most crane and its equipment on the construction site plan and a conventional graphic representation of the position of the "adjacent" or "adjacent" cranes, and its or their equipment on the construction site plan, determine, when initiating the movement of the crane equipment K _{i, the} estimated trajectory of the equipment of this crane and form on it display a graphic image crane equipment anticipated motion trajectories _i and K "adjacent" or "adjacent" cranes currently moving equipment, determining the minimum rasstoyatsya I between these trajectories, the display crane K _i trajectories intersection points and forming at the same signal block of the mechanisms of the crane and the signals for alarm light and audible alarm, forming lines bounding motion of crane equipment K _i if necessary to continue the motion of its hardware and display this line on the display of the crane and the crane operation automatically locking K _i at the point of intersection of said paths when an error occurs during the formation of the bounding line . 2. The system according to claim 1, characterized in that the digital calculator of each crane control and protection device includes a unit for determining the load and position of the crane equipment, a unit for determining the speed of the crane equipment, a unit for determining the trajectory of the crane equipment, a unit for determining the minimum distance between points of the trajectories of the movement of the equipment of the cranes, a coincidence block, an indication forming unit, a boundary line setting unit, a delay line and an amplifier unit, while the output of the determination unit to loads and positions of the crane equipment is connected through a series-connected unit for determining the speed of movement of the equipment of the crane and the unit for determining the trajectory of movement to the first inputs of the display unit, the unit for determining the minimum distance between the points of the trajectories of the equipment of the cranes and the coincidence unit, the output of the block specifying the boundary lines is connected to the second inputs the unit for determining the trajectory of the crane equipment and the coincidence unit, the third input of which is connected to the output of the unit The minimum distance between the points of the paths of movement of the equipment of the cranes, and the output through the delay line to the input of the amplifier unit, the first input of the digital computer is the input of the unit for determining the load and position of the crane equipment, the second input is the combined third input of the display unit and the fourth input of the coincidence unit and the third input is the input of the block specifying the boundary lines, the input / output of the digital computer is the combined second inputs of the block for determining the minimum distance between glasses trajectories equipment cranes and display forming unit, and first and second outputs are respectively digital computer outputs forming unit and the indicating unit amplifiers.