CN102167264A - Advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for tower crane - Google Patents
Advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for tower crane Download PDFInfo
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Abstract
The invention provides an advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for a tower crane. The anti-collision device for the tower crane consists of a power supply module, a master control chip module, an indication module, a coordinate acquisition module, a display module and an interface module. The self-organization anti-collision device for the tower crane has low cost, and an interface of the device is simple and easy to use; the power supply manners are various; the device is based on wireless transmission, and is free of a shared central processing unit and a shared ground central processing unit; an upper limit of the number of the tower cranes is absent; and an STM32 master control chip in the device computes the coordinate information of the device and the coordinate information of other tower cranes, so whether an collision danger exists is judged. Thus, each set of products are an independent individual and are not crossed or shared.
Description
Technical field
The invention belongs to the electronics and the communications field, be specifically related to a kind of self-organizing tower crane collision prevention device based on ARM.
Background technology
Tower crane has another name called tower crane, is playing the part of the key player that can't replace at building field.There has been self-designed tower crane in China from the nineties, but scale is less, generally is several tower cranes or tens tower crane operations simultaneously, and the tower crane driver need enough carefully just can avoid the tower crane collision case.Flourishing along with the high speed development of China's economic and building industry, the consumption of tower crane increases severely, and China has developed into the first in the world tower crane state.Usually the operation simultaneously of hundreds of seat tower crane on the building ground, there is a plurality of forked workings district, the tower crane collision case frequently takes place, and the building ground is efficient in order to pursue, usually adhere to the construction of night work and long-time continuous, in bad weather or the evening draws on causes under the situation that visbility reduces sharply, or tower crane driver long time continuous working is when becoming tired out, and accident rate also can further rise.The tower crane anti-collision product that had existed a cover Holland to generate at that time in the world, China also produces the tower crane anti-collision product that imitated Holland produces, but the following three big shortcomings of ubiquity:
1. each tower crane is connected to ground one central process unit by cable, separately self coordinate information is transferred to central process unit, central process unit judges by each tower crane coordinate of computing whether it has collision risk, warning and prevention collision in time, and on the building ground, adjacent two tower cranes but are connected to same central process unit usually from different company.
2. each tower crane is connected to ground one central process unit by cable.And the building ground wiring is intricate, and environment is abominable, the wired connection difficulty.Simultaneously, cable damages often, and it is big to find bad line difficulty, and it is big to change bad line difficulty, has increased the weight of engineering cost to a great extent and has incured loss through delay the duration.
3. this hangs anti-collision product 9 tower cranes of connection at most.In Chinese building site at that time, it is very common already that tens tower cranes are done simultaneously, develops into now, and the building ground is 500 tower crane operations simultaneously usually, therefore, has to connect platform and count the tower crane anti-collision instrument of the upper limit and be difficult to place in operation.
The modern tower crane anti-collision product of developing in recent years has other two big fatal shortcomings: the 1. very big color LCD screen of this tower crane anti-collision product tape, and graphic interface, a lot of expert data show simultaneously, and are powerful, complicated operation.2. this tower crane anti-collision product is with high costs, near 20000 yuan/cover.
Summary of the invention
At problems of the prior art, the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM.This self-organizing tower crane collision prevention device cost is low, the interface is succinct easy-to-use, and no common central treater based on transmission over radio and do not have the tower crane platform and count the upper limit.
The present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM,, form by supply module, main control chip module, indicating module, coordinate acquisition module, display module and interface module.
Described supply module is interface module, main control chip module, indicating module, coordinate acquisition module and display module power supply.This supply module can be by external lithium cell or USB interface supply 5 ± 0.05V voltage and 3.3 ± 0.05V voltage.Be specially the voltage that external direct current power supply (being preferably 6.5V to 8.4V) is converted to 5 ± 0.05V by voltage transitions chip (preferred LM1084IS-5V) by external lithium battery power supply, and then the voltage transitions of this 5V is become the voltage of 3.3 ± 0.05V by voltage transitions chip (preferred AMS1117-3V3), when supply module is powered by USB interface, USB interface is imported the voltage of 5 ± 0.05V, by voltage transitions chip (being preferably AMS1117-3V3) voltage transitions of 5 ± 0.05V is become the voltage of 3.3 ± 0.05V then.Wherein 5 ± 0.05V voltage can be interface module, coordinate acquisition module and the indicating module power supply among the present invention, and the voltage of 3.3 ± 0.05V can be interface module, main control chip module, indicating module, coordinate acquisition module and the display module module for power supply among the present invention.
Described main control chip module comprises that STM32 master control chip (is preferably the STM32F103 family chip, as the STM32F103VCT6 chip, kernel is 32 control chips of ARM Cortex-M3), crystal oscillation loop A8, crystal oscillation loop B9, backup power 10 (being preferably the 3V button cell), jtag interface (Joint Test Action Group joint test behavior tissue) and filter circuit.
Described STM32 master control pin of chip PA13 is connected with the JTAG emulator by being connected jtag interface with PA14, wherein pin PA13 is connected with the pin SWDIO of jtag interface, pin PA14 is connected with the pin SWCLK of jtag interface, connect the JTAG emulator by jtag interface, the external computer of this JTAG emulator connection interface module reads the anti-collision program of setting in the computer by emulator.
STM32 master control pin of chip PC14 is connected crystal oscillation loop A8 (preferred oscillation frequency is the crystal oscillator of 32.768kHz) with PC15, be connected crystal oscillation loop B9 (preferred oscillation frequency is the crystal oscillator of 8MHz) with OSC_OUT by pin OSC_IN, described crystal oscillation loop A8 and crystal oscillation loop B9 provide the precise time benchmark for STM32 master control chip.
STM32 master control pin of chip VBAT connects backup power 10, and is connected to buck diode A at pin VBAT and emergency battery anode inter-burst, and this pin VBAT also links to each other with 3.3 ± 0.05V voltage of supply module by connecting buck diode B anode.Be used for after STM32 master control chip main power source cuts off, continuing as its power supply, prevent that the tower crane coordinate information of storing in the backing register of STM32 from losing.
Described STM32 master control pin of chip VDD_1, VDD_2, VDD_3, VDD_4 and after VDD_5 is connected 3.3 ± 0.05V high level respectively, be connected with VSS_5 with STM32 master control pin of chip VSS_1, VSS_2, VSS_3, VSS_4 respectively by connection electric capacity A, electric capacity B, capacitor C, electric capacity D, electric capacity E in turn, be used for to the filtering of STM32 master control chip, with inference elimination.
Described STM32 master control pin of chip VDDA is connected with 3.3 ± 0.05V voltage of supply module by magnetic bead, the pin VDDA of STM32 also is connected back ground connection with electric capacity F (electric capacity is 10uF) respectively with electric capacity G (electric capacity is 0.1uF) in addition, is used for providing normal voltage to the A and D converter ADC of STM32 master control chip.
Described STM32 master control pin of chip BOOT0 ground connection.Connect 3.3 ± 0.05V voltage behind the described STM32 master control pin of chip NRST connecting resistance A (R=100K Ω), be used to forbid STM32 master control chip reset.Described STM32 master control pin of chip VREF-ground connection, STM32 master control pin of chip VREF+ connects 3.3 ± 0.05V voltage.
Described indicating module is made up of light-emitting diode A, light-emitting diode B, light-emitting diode C and buzzer phone.Wherein said STM32 master control pin of chip PD1 is connected to the negative electrode of light-emitting diode A by resistance B28 (R=510 Ω), and the anode of light-emitting diode A connects 3.3 ± 0.05V voltage.Light-emitting diode A is a red light emitting diodes, long going out under the normal circumstances, and when two tower cranes were about to collide, light-emitting diode A flicker gave the alarm.Be connected to the negative electrode of light-emitting diode B behind the STM32 master control pin of chip PD3 connection resistance C (R=510 Ω), light-emitting diode B anode connects 3.3 ± 0.05V voltage.Light-emitting diode B is long bright under the normal condition, when the coordinate figure of tower crane is in input pattern (input X, Y and H), and light-emitting diode B flicker.Be connected to the negative electrode of light-emitting diode C behind the STM32 master control pin of chip PD4 connection resistance D (R=510 Ω), light-emitting diode C anode connects 3.3V ± 0.05V voltage.Light-emitting diode C is long under the normal circumstances goes out, and when external lithium cell that detects supply module or USB interface voltage below level, charging is reminded in this light-emitting diode C flicker.
STM32 master control pin of chip PD0 is connected to the base stage of aerotron (preferred model 2N3904) by resistance E31 (R=10K Ω), transistor collector connects 5 ± 0.05V voltage, transistor emitter connects the anodal stitch of buzzer phone, the negative pole stitch ground connection of buzzer phone, aerotron is used to control buzzer call, warning.
Described coordinate acquisition module is used to obtain distance values between tower arm corner value and body of the tower and the steel rope.Mainly comprise the metering circuit of tower arm corner and the distance measurement circuit of body of the tower and steel rope, the metering circuit of described tower arm corner is connected with STM32 master control pin of chip PB1, be specially: STM32 master control pin of chip PB1 is connected with op amp 33 (model LM358D) output stage, and the output stage of op amp 33 also is connected with the negative input stage of op amp 33.Ground connection after the positive input level of op amp 33 is connected with resistance F (R=15K Ω) and resistance G (R=10K Ω), wherein the middle bonded assembly node of resistance F and resistance G links to each other with the potential device of tower crane by three cushion grooves.
The metering circuit of tower arm corner is all identical with the distance measurement circuit connecting method of body of the tower and steel rope.The metering circuit of tower arm corner is connected with STM32 master control pin of chip PA4.
Each pulley and rotating shaft place at tower crane all have potential device and its engagement, driving the potential device that is meshed when tower crane rotates rotates, will export the voltage of variation, the voltage that changes is through after the operational amplifier A, magnitude of voltage is input among the STM32 master control pin of chip PB1 (ADC), STM32 master control chip just can converse the angle of tower crane according to the changing value of voltage, in like manner can obtain the spacing of body of the tower and steel rope, STM32 master control chip carries out calculation process according to the spacing of tower arm corner value and body of the tower and steel rope, avoids colliding with other tower cranes.
Described display module has two groups, be respectively applied for the tower arm corner value that the displaing coordinate acquisition module records and the distance values of body of the tower and steel rope, display equipment commonly used is a charactron, the method of attachment on charactron basis commonly used is: section control pin a, b, c, d, e, f, g and the dp of charactron are connected to STM32 master control pin of chip PE3, PE4, PE5, PE6 respectively, PC0, PC1, PC2 and PC3, the position control pin of charactron are connected to PE8～PE11 or PE12～PE15 respectively after by aerotron.
Described interface module comprises contact pins A, contact pin B, contact pin C and level transferring chip (being used for the conversion between Transistor-Transistor Logic level and the RS-232 level).Wherein can also comprise contact pin D and contact pin E.
STM32 master control pin of chip PD8～PD15 is connected with external connection keyboard (being preferably 4 * 4 matrix keyboards) by contact pins A (8 cushion pin), (this coordinate figure is the height coordinate of abscissa, ordinate and body of the tower of the body of the tower of three dimensional space coordinate system to be used for manually importing the coordinate figure of tower crane body of the tower, this three-dimensional system of coordinate is unique three-dimensional system of coordinate that whole tower crane system sets up, each tower crane all has well-determined coordinate figure (X, Y, H) in this three-dimensional system of coordinate, before tower crane entire system layout, the coordinate figure of each tower crane is well-determined).
The attitude information of a tower crane is determined by five data, be respectively abscissa, ordinate, body of the tower height coordinate, (the base of calculation unification of this corner value of tower arm corner value of body of the tower, promptly point to unified direction 0 ° the time) and body of the tower and steel rope spacing, unique when definite when five above-mentioned data, the attitude of this tower crane is unique to be determined.
STM32 master control pin of chip TX1 is connected with serial ports by contact pin B37 (4 cushion pin) with RX1, and then be connected with computer by serial ports, write and control is used to control STM32 master control chip and carries out tower crane anti-collision program by computer, other tower crane coordinates that this program utilization has recorded self tower crane coordinate and obtained by wireless module, calculate the bump spacing at possible position of two tower cranes, and by setting the minimum value of dangerous spacing, and then the danger warning of realization to bumping, this warning realizes reporting to the police by flicker warning and the piping of buzzer phone of indicating module light-emitting diode A.
STM32 master control pin of chip PD5, TX4, RX4, PD6 and PD7 are connected with wireless module (preferred RF200) by contact pin C (7 cushion pin).By wireless module the attitude information of tower crane is determined by five data, be respectively abscissa, ordinate, body of the tower height coordinate, (the base of calculation unification of this corner value of coordinate tower arm corner value of body of the tower, promptly point to unified direction 0 ° the time) and body of the tower and the peripherad tower crane transmission of steel rope spacing, and the attitude information that tower crane sends around receiving
STM32 master control pin of chip TX3 is connected with GPS module (preferred HOLUXM-98 GPS MODULE) by contact pin D (4 cushion pin) interface with RX3, be used for D coordinates value (X at unmanned manually input tower crane, Y obtains the D coordinates value of tower crane under situation H).
Described level transferring chip is connected with RX5 with STM32 master control pin of chip TX5, be used to finish the conversion between Transistor-Transistor Logic level and the RS-232 level, the level of output is by pin T1OUT and T20UT output, and this mouth can preferably connect contact pin E, and this contact pin is used for standby connection to be used.
The invention has the advantages that:
(1) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, no shared ground central process unit, by of the coordinate information computing of its in-to-in master chip (STM32), judge thus whether the danger of colliding is arranged with self coordinate information and other tower cranes.Therefore every cover product is independently individual, does not exist and intersects and shared problem.
(2) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, other tower crane around by wireless module self coordinate information being sent to, other tower cranes send around also receiving simultaneously self coordinate information, need not cable, need not the line inspection and thread-changing, reliable operation, easy to use.
(3) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, there is not platform to count the upper limit during application, each overlaps mutual transmission information between the product, form information network, the tower crane that detects the coordinate information of receiving do not have the crowded problem of computing, if then can not reported to the police not in the scope that it is collided, master control chip STM32 can abandon this data packet immediately, in time begins next group coordinate information that computing is received.
(4) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, and display interface is succinct, only has 3 indicator lamps and 2 row's charactrons to show.3 indicator lamps are indicated warning respectively, running condition and battery status, and 2 row's charactrons show the spacing and the tower arm corner of tower crane body of the tower and steel rope respectively.The interface of operation is succinct, only can realize operation by external connection keyboard.
(5) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, has selected low cost for use, low-power consumption, and performance-oriented STM32 family chip is as controller, and package unit is cheap.
(6) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, the spacing of tower crane body of the tower and steel rope can be shown, and has solved the problem that other anticollision devices in the prior art can't obtain these data.
(7) the present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, and power supply mode is various.
Description of drawings
Fig. 1: the present invention proposes a kind of structural representation of the self-organizing tower crane collision prevention device based on ARM;
Fig. 2: the present invention proposes a kind of supply module constructional drawing commonly used of the self-organizing tower crane collision prevention device based on ARM;
Fig. 3: the present invention proposes a kind of main control chip module structural representation of the self-organizing tower crane collision prevention device based on ARM;
Fig. 4: the present invention proposes a kind of indicating module scheme drawing of the self-organizing tower crane collision prevention device based on ARM;
Fig. 5: the present invention proposes a kind of coordinate acquisition module structural representation of the self-organizing tower crane collision prevention device based on ARM;
Fig. 6: the present invention proposes a kind of display module scheme drawing of the self-organizing tower crane collision prevention device based on ARM;
Fig. 7: the present invention proposes a kind of interface module scheme drawing of the self-organizing tower crane collision prevention device based on ARM.
Among the figure:
The specific embodiment
The present invention proposes a kind of self-organizing tower crane collision prevention device based on ARM, as shown in Figure 1, is made up of supply module 1, main control chip module 2, indicating module 3, coordinate acquisition module 4, display module 5 and interface module 6.
Described supply module 1 is interface module 6, main control chip module, indicating module 3, coordinate acquisition module 4 and display module 5 power supplies.This supply module 1 can be by external lithium cell or USB interface supply 5 ± 0.05V voltage and 3.3 ± 0.05V voltage.Be specially the voltage that external direct current power supply (being preferably 6.5V to 8.4V) is converted to 5 ± 0.05V by voltage transitions chip (preferred LM1084IS-5V) by external lithium battery power supply, and then the voltage transitions of this 5V being become the voltage of 3.3 ± 0.05V by voltage transitions chip (preferred AMS1117-3V3), the representative type power supply mode is as shown in Figure 2.When supply module 1 was powered by USB interface, USB interface was imported the voltage of 5 ± 0.05V, by voltage transitions chip (being preferably AMS1117-3V3) voltage transitions of 5 ± 0.05V was become the voltage of 3.3 ± 0.05V then.Wherein 5 ± 0.05V voltage can be interface module 6, coordinate acquisition module 4 and indicating module 3 power supplies among the present invention, and the voltage of 3.3 ± 0.05V can be interface module 6, main control chip module, indicating module 3, coordinate acquisition module 4 and display module 5 module for power supply among the present invention.
Described main control chip module 2 as shown in Figure 3, comprise that STM32 master control chip 7 (is preferably the STM32F103 family chip, as the STM32F103VCT6 chip, kernel is 32 control chips of ARM Cortex-M3), crystal oscillation loop A8, crystal oscillation loop B9, backup power 10 (being preferably the 3V button cell), jtag interface 11 (Joint Test Action Group joint test behavior tissue) and filter circuit 12.
The pin PA13 of described STM32 master control chip 7 is connected with the JTAG emulator by being connected jtag interface 11 with PA14, wherein pin PA13 is connected with the pin SWDIO of jtag interface 11, pin PA14 is connected with the pin SWCLK of jtag interface 11, connect the JTAG emulator by jtag interface 11, the computer that this JTAG emulator connection interface module 6 is external reads the anti-collision program of setting in the computer by emulator.
The pin PC14 of STM32 master control chip 7 is connected crystal oscillation loop A8 (preferred oscillation frequency is the crystal oscillator of 32.768kHz) with PC15, be connected crystal oscillation loop B9 (preferred oscillation frequency is the crystal oscillator of 8MHz) with OSC_OUT by pin OSC_IN, described crystal oscillation loop A8 and crystal oscillation loop B9 provide the precise time benchmark for STM32 master control chip 7.
The pin VBAT of STM32 master control chip 7 connects backup power 10, and be connected to buck diode A13 at pin VBAT and emergency battery 10 anode inter-burst, this pin VBAT also links to each other with 3.3 ± 0.05V voltage of supply module 1 by connecting buck diode B14 anode.Be used for after STM32 master control chip 7 main power sources cut off, continuing as its power supply, prevent that the tower crane coordinate information of storing in the backing register of STM32 from losing.
After pin VDD_1, VDD_2, VDD_3, VDD_4 and the VDD_5 of described STM32 master control chip 7 is connected 3.3 ± 0.05V high level respectively, be connected with pin VSS_1, VSS_2, VSS_3, VSS_4 and the VSS_5 of STM32 master control chip 7 respectively by connection electric capacity A15, electric capacity B16, capacitor C 17, electric capacity D18, electric capacity E19 in turn, be used for to the filtering of STM32 chip, with inference elimination.
The pin VDDA of described STM32 master control chip 7 is connected with 3.3 ± 0.05V voltage of supply module 1 by magnetic bead 20, the pin VDDA of STM32 also is connected back ground connection with electric capacity F21 (electric capacity is 10uF) respectively with electric capacity G22 (electric capacity is 0.1uF) in addition, is used for providing normal voltage to the A and D converter ADC of STM32 master control chip 7.
The pin BOOT0 ground connection of described STM32 master control chip 7.
Connect 3.3 ± 0.05V voltage behind the pin NRST connecting resistance A23 (R=100K Ω) of described STM32 master control chip 7, be used to forbid that STM32 master control chip 7 resets.
The pin VREF-ground connection of described STM32 master control chip 7, the pin VREF+ of STM32 connects 3.3 ± 0.05V voltage.
Described indicating module 3 is made up of light-emitting diode A24, light-emitting diode B25, light-emitting diode C26 and buzzer phone 27 as shown in Figure 4.The pin PD1 of wherein said STM32 master control chip 7 is connected to the negative electrode of light-emitting diode A24 by resistance B28 (R=510 Ω), and the anode of light-emitting diode A24 connects 3.3 ± 0.05V voltage.Light-emitting diode A24 is a red light emitting diodes, long going out under the normal circumstances, and when two tower cranes were about to collide, light-emitting diode A24 flicker gave the alarm.Be connected to the negative electrode of light-emitting diode B25 behind the pin PD3 connection resistance C29 (R=510 Ω) of STM32 master control chip 7, light-emitting diode B anode connects 3.3 ± 0.05V voltage.Light-emitting diode B28 is long bright under the normal condition, when the coordinate figure of tower crane is in input pattern (input X, Y and H), and light-emitting diode B25 flicker.Be connected to the negative electrode of light-emitting diode C26 behind the pin PD4 connection resistance D30 (R=510 Ω) of STM32 master control chip 7, light-emitting diode C26 anode connects 3.3V ± 0.05V voltage.Light-emitting diode C26 is long under the normal circumstances goes out, and when external lithium cell that detects supply module 1 or USB interface voltage below level, charging is reminded in this light-emitting diode C26 flicker.
The pin PD0 of STM32 master control chip 7 is connected to the base stage of aerotron (preferred model 2N3904) by resistance E31 (R=10K Ω), transistor collector connects 5 ± 0.05V voltage, transistor emitter connects the anodal stitch of buzzer phone LS1, the negative pole stitch ground connection of buzzer phone, aerotron is used to control buzzer phone 27 and pipes, reports to the police.
Described coordinate acquisition module 4 is used to obtain distance values between tower arm corner value and body of the tower and the steel rope as shown in Figure 5.Mainly comprise the metering circuit of tower arm corner and the distance measurement circuit of body of the tower and steel rope, the metering circuit of described tower arm corner is connected with the pin PB1 of STM32 master control chip 7, be specially: the pin PB1 of STM32 master control chip 7 is connected with operational amplifier A 33 (model LM358D) output stage, and the output stage of operational amplifier A also is connected with the negative input stage of operational amplifier A.Ground connection after the positive input level of operational amplifier A is connected with resistance F34 (R=15K Ω) and resistance G35 (R=10K Ω), wherein the middle bonded assembly node of resistance F34 and resistance G35 links to each other with the potential device of tower crane by three cushion grooves.
The metering circuit of tower arm corner is all identical with the distance measurement circuit connecting method of body of the tower and steel rope.The metering circuit of tower arm corner is connected with the pin PA4 of STM32 master control chip 7.
Each pulley and rotating shaft place at tower crane all have potential device and its engagement, driving the potential device that is meshed when tower crane rotates rotates, will export the voltage of variation, the voltage that changes is through after the operational amplifier A, magnitude of voltage is input among the pin PB1 (ADC) of STM32 master control chip 7, STM32 master control chip 7 just can converse the angle of tower crane according to the changing value of voltage, in like manner can obtain the spacing of body of the tower and steel rope, STM32 master control chip 7 carries out calculation process according to the spacing of tower arm corner value and body of the tower and steel rope, avoids colliding with other tower cranes.
Described display module 5 has two groups, as shown in Figure 6, be respectively applied for the tower arm corner value that displaing coordinate acquisition module 4 records and the distance values of body of the tower and steel rope, display equipment commonly used is a charactron, the method of attachment on charactron basis commonly used is: section control pin a, b, c, d, e, f, g and the dp of charactron is connected to pin PE3, PE4, PE5, the PE6 of STM32 master control chip 7 respectively, PC0, PC1, PC2 and PC3, the position control pin of charactron are connected to PE8～PE11 or PE12～PE15 respectively after by aerotron.Described display module 5 is preferably common positive four eight sections charactrons.
Described interface module 6 comprises contact pins A 36, contact pin B37, contact pin C39 and level transferring chip (being used for the conversion between Transistor-Transistor Logic level and the RS-232 level).Wherein can also comprise contact pin D40 and contact pin E41.
Pin PD8～the PD15 of STM32 master control chip 7 is connected with external connection keyboard (being preferably 4 * 4 matrix keyboards) by contact pins A 36 (8 cushion pin), (this coordinate figure is the height coordinate of abscissa, ordinate and body of the tower of the body of the tower of three dimensional space coordinate system to be used for manually importing the coordinate figure of tower crane body of the tower, this three-dimensional system of coordinate is unique three-dimensional system of coordinate that whole tower crane system sets up, each tower crane all has well-determined coordinate figure (X, Y, H) in this three-dimensional system of coordinate, before tower crane entire system layout, the coordinate figure of each tower crane is well-determined).
The attitude information of a tower crane is determined by five data, be respectively abscissa, ordinate, body of the tower height coordinate, (the base of calculation unification of this corner value of tower arm corner value of body of the tower, promptly point to unified direction 0 ° the time) and body of the tower and steel rope spacing, unique when definite when five above-mentioned data, the attitude of this tower crane is unique to be determined.
The pin TX1 of STM32 master control chip 7 is connected with serial ports by contact pin B37 (4 cushion pin) with RX1, and then be connected with computer by serial ports, write and control is used to control STM32 master control chip 7 and carries out tower crane anti-collision program by computer, other tower crane coordinates that this program utilization has recorded self tower crane coordinate and obtained by wireless module, calculate the bump spacing at possible position of two tower cranes, and by setting the minimum value of dangerous spacing, and then the danger warning of realization to bumping, this warning realizes reporting to the police by flicker warning and the piping of buzzer phone of indicating module 3 light-emitting diode A.
Pin PD5, TX4, RX4, PD6 and the PD7 of STM32 master control chip 7 is connected with wireless module (preferred RF200) by contact pin C39 (7 cushion pin).By wireless module the attitude information of tower crane is determined by five data, be respectively abscissa, ordinate, body of the tower height coordinate, (the base of calculation unification of this corner value of coordinate tower arm corner value of body of the tower, promptly point to unified direction 0 ° the time) and body of the tower and the peripherad tower crane transmission of steel rope spacing, and the attitude information that tower crane sends around receiving
The pin TX3 of STM32 master control chip 7 is connected with GPS module (preferred HOLUX M-98GPS MODULE) by contact pin D40 (4 cushion pin) interface with RX3, be used for D coordinates value (X at unmanned manually input tower crane, Y obtains the D coordinates value of tower crane under situation H).
Described level transferring chip is connected with RX5 with the pin TX5 of STM32 master control chip 7, be used to finish the conversion between Transistor-Transistor Logic level and the RS-232 level, the level of output is by pin T1OUT and T20UT output, this mouth can preferably connect contact pin E41, and this contact pin is used for standby connection to be used.
The abscissa of body of the tower, ordinate, body of the tower height coordinate can be measured by the GPS module in theory.Tower crane anti-collision product has button cell, and abscissa, ordinate, the body of the tower height coordinate of user input write the backing register of STM32, cuts off the back at main power source and continues power supply by button cell, prevents that the coordinate figure of having imported from losing.Need not to re-enter coordinate figure after reclosing main power source.
All there are potential device and its engagement in each pulley place of tower crane, steel rope moves forward and backward (Length change) along the tower arm needs to rely on pulley to rotate, and pulley rotating band electrokinetic potential device rotating shaft rotation, cause the magnitude of voltage of potential device output to change, by aviation plug this magnitude of voltage is imported tower crane anti-collision product, STM32 master control chip 7 is changed the spacing that can obtain body of the tower and steel rope after reading magnitude of voltage by ADC, and shows by the row's of going up charactron of panel.
Rotating shaft place of tower arm also has potential device and its engagement, the tower arm rotates (change of tower arm corner value) and drives potential device rotating shaft rotation, cause the magnitude of voltage of potential device output to change, by aviation plug this magnitude of voltage is imported tower crane anti-collision product, conversion can obtain tower arm corner value after STM32 read magnitude of voltage by ADC, and showed by following row's charactron of panel.
The UART4 of STM32 master control chip 7 connects wireless module, constantly will be current self attitude information packing send to tower crane on every side, their attitude information that receives simultaneously that tower crane on every side sends.The transmission distance of wireless module is 1800 meters (9600 baud rate open ground visual ranges), and the tower arm total length of tower crane is 30 meters～80 meters, two possible tower crane spacings of collision is arranged less than 160 meters, and transmission does not have any problem.
STM32 master control chip 7 is with the coordinate information computing of self attitude information and other tower cranes, judge thus whether the danger of colliding is arranged, be about to take place if collide, tower crane anti-collision instrument can send the dual alarm of flicker of LED lamp and buzzer call, in time remind tower crane driver, the generation of crash-avoidance accident.
Claims (5)
1. the self-organizing tower crane collision prevention device based on ARM is characterized in that: comprise supply module, main control chip module, indicating module, coordinate acquisition module, display module and interface module;
The voltage of described supply module output 5 ± 0.05V and the voltage of 3.3 ± 0.05V are interface module, main control chip module, indicating module, coordinate acquisition module and display module power supply;
Described main control chip module comprises STM32 master control chip, crystal oscillation loop A, crystal oscillation loop B, backup power, jtag interface and filter circuit;
Described STM32 master control pin of chip PA13 is connected with the JTAG emulator by being connected jtag interface with PA14, wherein pin PA13 is connected with the pin SWDIO of jtag interface, pin PA14 is connected with the pin SWCLK of jtag interface, connect JTAG emulator, the external computer of this JTAG emulator connection interface module by jtag interface;
STM32 master control pin of chip PC14 is connected crystal oscillation loop A with PC15, be connected crystal oscillation loop B with OSC_OUT by pin OSC_IN, described crystal oscillation loop A and crystal oscillation loop B provide the precise time benchmark for STM32 master control chip;
STM32 master control pin of chip VBAT connects backup power, and be connected to buck diode A at pin VBAT and emergency battery anode inter-burst, this pin VBAT also links to each other with 3.3 ± 0.05V voltage of supply module by connecting buck diode B anode, be used for after STM32 master control chip main power source cuts off, continuing as its power supply, prevent that the tower crane coordinate information of storing in the backing register of STM32 from losing;
Described STM32 master control pin of chip VDD_1, VDD_2, VDD_3, VDD_4 and after VDD_5 is connected 3.3 ± 0.05V high level respectively, be connected with VSS_5 with STM32 master control pin of chip VSS_1, VSS_2, VSS_3, VSS_4 respectively by connection electric capacity A, electric capacity B, capacitor C, electric capacity D, electric capacity E in turn, be used for to the filtering of STM32 master control chip;
Described STM32 master control pin of chip VDDA is connected with 3.3 ± 0.05V voltage of supply module by magnetic bead, the pin VDDA of STM32 also is connected back ground connection with electric capacity F respectively with electric capacity G in addition, is used for providing normal voltage to the A and D converter ADC of STM32 master control chip;
Described STM32 master control pin of chip BOOT0 ground connection; Connect 3.3 ± 0.05V voltage behind the described STM32 master control pin of chip NRST connecting resistance A (R=100K Ω), be used to forbid STM32 master control chip reset; Described STM32 master control pin of chip VREF-ground connection, STM32 master control pin of chip VREF+ connects 3.3 ± 0.05V voltage;
Described indicating module is made up of light-emitting diode A, light-emitting diode B, light-emitting diode C and buzzer phone; Wherein said STM32 master control pin of chip PD1 is connected to the negative electrode of light-emitting diode A by resistance B, and the anode of light-emitting diode A connects 3.3 ± 0.05V voltage; Light-emitting diode A is a red light emitting diodes, and when two tower crane desires were collided, light-emitting diode A flicker gave the alarm; Be connected to the negative electrode of light-emitting diode B behind the STM32 master control pin of chip PD3 connection resistance C, light-emitting diode B anode connects 3.3 ± 0.05V voltage, when the coordinate figure of tower crane is in input pattern, and light-emitting diode B flicker; Be connected to the negative electrode of light-emitting diode C behind the STM32 master control pin of chip PD4 connection resistance D, light-emitting diode C anode connects 3.3V ± 0.05V voltage; Light-emitting diode C is long under the normal circumstances goes out, and when external lithium cell that detects supply module or USB interface voltage below level, charging is reminded in this light-emitting diode C flicker;
STM32 master control pin of chip PD0 is connected to the base stage of aerotron by resistance E31, transistor collector connects 5 ± 0.05V voltage, transistor emitter connects the anodal stitch of buzzer phone, the negative pole stitch ground connection of buzzer phone, and aerotron is used to control buzzer call, warning;
Described coordinate acquisition module is used to obtain distance values between tower arm corner value and body of the tower and the steel rope, mainly comprise the metering circuit of tower arm corner and the distance measurement circuit of body of the tower and steel rope, the metering circuit of described tower arm corner is connected with STM32 master control pin of chip PB1, be specially: STM32 master control pin of chip PB1 is connected with the operational amplifier A output stage, and the output stage of operational amplifier A also is connected with the negative input stage of operational amplifier A; Ground connection after the positive input level of operational amplifier A is connected with resistance F and resistance G, wherein the middle bonded assembly node of resistance F and resistance G links to each other with the potential device of tower crane by three cushion grooves; The metering circuit of described tower arm corner is all identical with the distance measurement circuit connecting method of body of the tower and steel rope, and the metering circuit of tower arm corner is connected with STM32 master control pin of chip PA4;
Described display module has two groups, is connected with STM32 master control chip respectively, is respectively applied for the tower arm corner value that the displaing coordinate acquisition module records and the distance values of body of the tower and steel rope;
Described interface module comprises contact pins A, contact pin B, contact pin C and level transferring chip;
STM32 master control pin of chip PD8～PD15 is connected with external connection keyboard by contact pins A, is used for manually importing the coordinate figure of tower crane body of the tower, and this coordinate figure is the height coordinate of abscissa, ordinate and the body of the tower of the body of the tower in the three dimensional space coordinate system;
STM32 master control pin of chip TX1 is connected with serial ports by contact pin B with RX1, and then be connected with computer by serial ports, write and control is used to control STM32 master control chip and carries out tower crane anti-collision program by computer, and then the danger warning of realization to bumping, this warning realizes reporting to the police by flicker warning and the piping of buzzer phone of indicating module light-emitting diode A;
STM32 master control pin of chip PD5, TX4, RX4, PD6 are connected with wireless module by contact pin C with PD7; By the attitude information of wireless module with tower crane, abscissa, ordinate, body of the tower height coordinate, coordinate tower arm corner value and the body of the tower and the peripherad tower crane of steel rope spacing that are respectively body of the tower send, and the attitude information that tower crane sends around receiving;
Described level transferring chip is connected with RX5 with STM32 master control pin of chip TX5, is used to finish the conversion between Transistor-Transistor Logic level and the RS-232 level, and the level of output is by pin T1OUT and T2OUT output.
2. a kind of self-organizing tower crane collision prevention device based on ARM according to claim 1 is characterized in that: described supply module is by external lithium cell or USB interface supply 5 ± 0.05V voltage and 3.3 ± 0.05V voltage; Be specially the voltage that external direct current power supply is converted to 5 ± 0.05V by the voltage transitions chip by external lithium battery power supply, and then the voltage transitions of this 5V is become the voltage of 3.3 ± 0.05V by the voltage transitions chip, when supply module is powered by USB interface, USB interface is imported the voltage of 5 ± 0.05V, by the voltage transitions chip voltage transitions of 5 ± 0.05V is become the voltage of 3.3 ± 0.05V then.
3. a kind of self-organizing tower crane collision prevention device according to claim 1 based on ARM, it is characterized in that: described interface module comprises contact pin D and contact pin E; Described level transferring chip T1OUT is connected contact pin E with the T2OUT mouth, and this contact pin is used for standby connection to be used; STM32 master control pin of chip TX3 is connected with the GPS module by the contact pin D interface with RX3, when the abscissa of unmanned manually input tower crane, ordinate and body of the tower height coordinate, is determined abscissa, ordinate and the body of the tower height coordinate of tower crane by the GPS module.
4. a kind of self-organizing tower crane collision prevention device according to claim 1 based on ARM, it is characterized in that: described display module is a charactron, concrete method of attachment is: section control pin a, b, c, d, e, f, g and the dp of charactron are connected to STM32 master control pin of chip PE3, PE4, PE5, PE6 respectively, PC0, PC1, PC2 and PC3, the position control pin of charactron are connected to PE8～PE11 or PE12～PE15 respectively after by aerotron.
5. a kind of self-organizing tower crane collision prevention device according to claim 1 based on ARM, it is characterized in that: described tower crane angle and body of the tower are specially with the spacing preparation method of steel rope: the voltage that drives the variation of exporting when the potential device that is meshed rotates when rotating by tower crane, the voltage of this variation is through after the operational amplifier A, magnitude of voltage is input in the STM32 master control chip, and STM32 master control chip draws the spacing of tower crane angle and body of the tower and steel rope according to the changing value conversion of voltage.
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| CN2011100938259A CN102167264B (en) | 2011-04-14 | 2011-04-14 | Advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for tower crane |
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| CN2011100938259A CN102167264B (en) | 2011-04-14 | 2011-04-14 | Advanced-reduced-instruction-set-computer(RISC)-machine(ARM)-based self-organization anti-collision device for tower crane |
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| CN104495655A (en) * | 2014-11-19 | 2015-04-08 | 成都嵌智捷科技有限公司 | Tower crane anticollision mechanism with excellent performance |
| CN110482423A (en) * | 2019-09-11 | 2019-11-22 | 广州力环工程科技有限公司 | A kind of tower crane multimachine anticollision device, collision-prevention device |
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| CN102167264B (en) | 2012-11-21 |
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