CN103342304A - Tower crane collision prevention monitoring system based on attitude and heading reference system (AHRS) and implementation method thereof - Google Patents
Tower crane collision prevention monitoring system based on attitude and heading reference system (AHRS) and implementation method thereof Download PDFInfo
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- CN103342304A CN103342304A CN201310322866XA CN201310322866A CN103342304A CN 103342304 A CN103342304 A CN 103342304A CN 201310322866X A CN201310322866X A CN 201310322866XA CN 201310322866 A CN201310322866 A CN 201310322866A CN 103342304 A CN103342304 A CN 103342304A
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Abstract
The invention discloses a tower crane collision prevention monitoring system based on an attitude and heading reference system (AHRS) and an implementation method thereof, and mainly solves the problems of high cost, low use flexibility and low data transmission stability of an existing tower crane collision prevention monitoring system in the prior art. The tower crane collision prevention monitoring system based on the AHRS comprises a data processing center, an attitude data acquisition module of which the output end is connected with the data processing center, a collision prevention prewarning module of which the input end is connected with the data processing center, a user interface of which the input end is connected with the data processing center, and a communication module which is in bidirectional connection with the data processing center. According to the scheme, the aims of low cost, high precision, stable transmission and convenience in mounting and dismounting are fulfilled; the tower crane collision prevention monitoring system has extremely high practical and popularization values.
Description
Technical field
The present invention relates to the crashproof monitored control system of a kind of tower crane, specifically, relate to the crashproof monitored control system of a kind of tower crane based on AHRS and its implementation.
Background technology
Tower crane also claims tower crane, is a kind of weight-lifting equipment the most frequently used on the building ground, is widely used in hanging construction raws MAT'L such as working reinforcing bar, stupefied, the scaffold tubes of wood, is a kind of imperative equipment in the building operation.It is comparatively convenient that tower crane is used, but if taking place, bump then can cause serious safety misadventure, cause very big harm to the people's lives and property, thereby the crashproof monitored control system of multiple tower crane is developed out, yet, the crashproof monitored control system of existing tower crane mostly adopts mechanical sensor, calculate the current location of tower crane based on the rotation of gear, and use the GPRS technology to realize the transmission of tower crane attitude data, this monitor mode has realized the crashproof function of tower crane to a certain extent, but its cost is higher, needs to install with the tower crane one, be not easy to remove and install at any time on other tower cranes and use, use alerting ability relatively poor; And the stability of system's attitude data transmission seriously is limited by the GPRS network of mobile operator, transmission delay instability.
Summary of the invention
The object of the present invention is to provide the crashproof monitored control system of a kind of tower crane based on AHRS and its implementation, the cost that mainly solves the crashproof monitored control system of tower crane that exists in the prior art is higher, use alerting ability relatively poor, the problem that data transmission stability is not high.
To achieve these goals, the technical solution used in the present invention is as follows:
Based on the crashproof monitored control system of the tower crane of AHRS, comprise data processing center, the attitude data acquisition module that mouth links to each other with data processing center, anti-collision early warning module and user interface that input end links to each other with data processing center respectively, and with the two-way communication module that is connected of data processing center.
Specifically, described attitude data acquisition module comprises two above microprocessors that mouth links to each other with data processing center respectively, the AHRS sensor groups that mouth links to each other with microprocessor, and described microprocessor links to each other one to one with the AHRS sensor groups.
Further, described AHRS sensor groups comprises gyroscope, accelerometer and the magnetometer that mouth links to each other with microprocessor respectively.
Among the present invention, also provide a kind of implementation method of the crashproof monitored control system of tower crane based on AHRS, may further comprise the steps:
(1) on this tower crane and the tower crane adjacent with this tower crane, installs respectively and be integrated with the attitude data acquisition module of interconnective AHRS sensor groups and microprocessor, and the data processing center that links to each other with the microprocessor of each tower crane and be connected with communication module, anti-collision early warning module and user interface is set respectively;
(2) the attitude data acquisition module on each tower crane uses the AHRS sensor groups that the original data of tower crane is gathered, and by microprocessor the original data that collects is resolved attitude data into tower crane, afterwards the attitude data that resolves is passed to data processing center separately;
(3) data processing center of each tower crane sends by the attitude data of communication module with self, and receives the attitude data of adjacent tower crane by communication module;
Attitude data of carving copy tower crane and the attitude data in adjacent this moment of tower crane were assessed the operation conditions of this tower crane when (4) data processing center of each tower crane was according to this, and driving user interface and anti-collision early warning module, return step (2) afterwards, next tower crane operation conditions is constantly monitored.
Specifically, in the described step (2), the AHRS sensor groups is more than two groups, every group by the gyroscope that links to each other with microprocessor respectively, accelerometer and magnetometer formation, correspondingly, the attitude data that microprocessor resolved and be passed to data processing center is more than two groups, the final attitude data of each tower crane by this more than two groups attitude data merge and to form.
In the described step (2), the final attitude data of each tower crane is drawn by following steps:
(2a) two groups of above AHRS sensor groups are gathered cireular frequency, acceleration/accel and the magnetic-field intensity information of this tower crane respectively, and the information that collects is passed to the microprocessor that links to each other with this group AHRS sensor groups respectively;
(2b) two above microprocessors information that will receive is separately respectively resolved and is attitude data, and respectively the attitude data that resolves is passed to data processing center;
(2c) the breakdown of equipment threshold value of setting AHRS sensor groups, data processing center receives the attitude data more than two groups that receives, and calculate their average and variance, if variance is greater than the breakdown of equipment threshold value, data processing center control collision-proof alarm module is sent alarm message, there is breakdown of equipment in prompting AHRS sensor groups, otherwise with the final attitude data of average as this this tower crane of moment.
Described step (4) specifically may further comprise the steps:
To be in the rotating shaft of this tower crane is the center of circle, and radius is the adjacent tower crane that 200 meters the interior tower crane of border circular areas is defined as this tower crane;
(4a) according to this tower crane and the area division information of adjacent tower crane and the up-to-date attitude data of adjacent tower crane this tower crane is not divided into " safety " zone with the zone that adjacent tower crane intersects; This tower crane and adjacent tower crane zone are intersected, and the zone that adjacent tower crane is not in the intersecting area is divided into " warning " zone; This tower crane and adjacent tower crane zone are intersected, and the zone that adjacent tower crane is in the intersecting area is divided into " danger " zone;
Carving copy tower crane zone of living in when final attitude data of carving copy tower crane was judged this with the up-to-date attitude data of the adjacent tower crane that receives when (4b) data processing center was according to this is " safe operation " if this tower crane is in the operation conditions of carving copy tower crane when " safety " is regional then judges this; Be " warning " if this tower crane is in the operation conditions of carving copy tower crane when " warning " is regional then judges this, and trigger the anti-collision early warning module and send " warning " information; Be " warning " if this tower crane is in the operation conditions of carving copy tower crane when " danger " is regional then judges this, and trigger the anti-collision early warning module and send " danger " information;
(4c) the running state result of determination of carving copy tower crane is sent to user interface and shows when the final attitude data of data processing center this each tower crane of moment that will obtain and this.
Among the present invention, the Zigbee communication module of described communication module for being constituted by signal transmitter unit and signal receiving unit, described signal transmitter unit includes antenna, RF power amplification and the radio-frequency front-end that links to each other successively with signal receiving unit.
Compared with prior art, the present invention has following beneficial effect:
(1) the present invention is based on AHRS(boat appearance reference system) set up the crashproof monitored control system of tower crane, AHRS is a kind of technology that originates from aircraft, provide the course by sensors such as gyroscope, magnetometer and accelerometers for aircraft, information such as roll and rollover, the crashproof monitored control system cost of tower crane that the present invention is based on the AHRS realization is low, precision is high, data transmission is stablized, remove and install convenience, has very strong practical value.
(2) the present invention is based on the attitude data collection that the AHRS technology is carried out tower crane, greatly reduce system cost, make crashproof monitored control system to install with the tower crane one, use alerting ability stronger.
(3) the present invention uses many group AHRS sensor groups to carry out data fusion, has effectively improved the precision of attitude data; Use the Zigbee technology to carry out the attitude data transmission, strengthened stability of data transmission; Adopt actv. tower crane running state appraisal procedure and friendly user interface, make the tower crane operation information come into plain view, realistic demand is fit to large-scale promotion application.
Description of drawings
Fig. 1 is system chart of the present invention.
Fig. 2 is the schematic flow sheet of the present invention-embodiment.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples, and embodiments of the present invention include but not limited to the following example.
Embodiment
There is the cost height in the crashproof monitored control system of tradition tower crane, the data transmission instability, remove and install inconvenience, use shortcomings such as very flexible, in order to remedy above-mentioned shortcoming, as Fig. 1, shown in Figure 2, it is low to the invention discloses a kind of a kind of cost of realizing based on the AHRS technology, the precision height, data transmission is stable, remove and install the crashproof monitored control system of tower crane easily, it comprises the attitude data acquisition module, communication module, data processing center, anti-collision early warning module and user interface five parts, the attitude data acquisition module, comprise that many groups carry out the AHRS sensor groups of tower crane raw data acquisition and a plurality of microprocessors that resolve the tower crane attitude data respectively of correspondence with it, the many groups attitude data that obtains after resolving is sent to data processing center to be handled; Data processing center is carried out data fusion with the many groups attitude data that receives, the final attitude data of carving copy tower crane when obtaining this; The final attitude data of carving copy tower crane when communication module outwards sends this, and by receiving this moment attitude data that contiguous tower crane sends.Among the present invention, the AHRS sensor groups comprises gyroscope, accelerometer and the magnetometer of respectively cireular frequency, acceleration/accel and the magnetic-field intensity information of tower crane being gathered.
During monitoring, data processing center according to obtain this time the final attitude data of carving copy tower crane and the attitude data in contiguous this moment of tower crane of receiving the operation conditions of this tower crane is assessed, and driving user interface and anti-collision early warning module, and trigger the anti-collision early warning module according to assessment result and carry out early warning, so far, finished the crashproof monitoring and early warning in this moment of this tower crane, repeating data receives and treatment step afterwards, and next tower crane operation conditions is constantly carried out crashproof monitoring and early warning.
In order to improve the accuracy of final attitude data, the final attitude data of tower crane draws by following steps: set the breakdown of equipment threshold value of AHRS sensor groups, calculate average and variance that this tower crane is organized attitude data more; If variance greater than threshold value, provides alarm message, there is breakdown of equipment in the prompting sensor groups, withdraws from this crashproof monitored control system, otherwise, with the final attitude data of average as this moment tower crane.
As preferably, the communication module among the present invention communicates based on the Zigbee technology, and it comprises for the transmitter unit of broadcast message and is used for the receiving element of reception information.In order further to enlarge communication distance, have additional the one-level RF power amplification between the antenna of transmitter unit and receiving element and the radio-frequency front-end, the final attitude data of carving copy tower crane when outwards broadcasting this by the transmitter unit of communication module, and receive the attitude data of contiguous tower crane broadcasting by receiving element, add up for the ease of the later stage, if the overlay area of this contiguous tower crane and this tower crane is non-intersect, then abandon this attitude data; Otherwise preserve this attitude data, after being used for, the running state of tower crane is assessed.
Among the present invention, as follows to the monitoring and evaluation of tower crane:
To be the center of circle with the rotating shaft of this tower crane, radius be the overlay area that the border circular areas of L+5 rice (L is the tower crane brachium) divides this tower crane into; According to the up-to-date attitude data of the covering area range information of this tower crane and contiguous tower crane and the contiguous tower crane that receives, with the overlay area of this tower crane be divided into " safety " zone, " warning " regional with " danger " zone.Wherein, crossing zone is not " safety " zone with being close to tower crane; For intersecting area, when contiguous tower crane is not " warning " zone in intersecting area; When contiguous tower crane is " danger " zone in intersecting area; In addition, the user can be as required in the overlay area of this tower crane self-defined other " warning " zone and " danger " zone.
The final attitude data of carving copy tower crane during according to this, carving copy tower crane zone of living in when judging this: if this tower crane is in " safety " zone, operation conditions of carving copy tower crane is " safe operation " when then assessing this; If this tower crane is in " warning " zone, operation conditions of carving copy tower crane is " warning " when then assessing this; If this tower crane is in " danger " zone, operation conditions of carving copy tower crane is " danger " when then assessing this;
Carving copy tower crane running state assessment result was sent to user interface when attitude data of the final attitude data of carving copy tower crane and the contiguous tower crane that receives was with this during with this, graphically showed;
Running state of carving copy tower crane is " warning " during as if this, then triggers " warning " information of anti-collision early warning module, prompting tower crane operating personal careful operation tower crane; Running state of carving copy tower crane is " danger " during as if this, then triggers " danger " information of anti-collision early warning module, and alert is braked tower crane immediately, and after examining, safety withdraws from " danger " zone as early as possible.
Principle of work of the present invention is as follows: suppose that a certain tower crane is this tower crane, install the crashproof monitored control system that is constituted by attitude data acquisition module, communication module, data processing center, anti-collision early warning module and user interface among the present invention at this this tower crane and the tower crane that is adjacent respectively, when each tower crane operation, open this monitored control system, at this moment, the attitude data acquisition module is gathered the real-time attitude data of this tower crane based on the AHRS sensor groups, and it is sent to data processing center handles; Communication module is transmitted the real-time attitude data between tower crane; Data processing center is handled the tower crane attitude data of gathering and receive, and according to these attitude datas the running state of this tower crane is assessed, the graphical display interface that drives user interface shows, and triggers the anti-collision early warning module according to assessment result and carry out early warning; The anti-collision early warning module is carried out the tower crane anti-collision early warning by forms such as LED and buzzer phones.
In order to confirm monitoring accuracy of the present invention, provide one group of concrete monitoring data at this.
Will be whole the tower crane collision avoidance system lie against ground after starting, transfixion finds that the shake of attitude data is less than ± 0.2 ° after observing attitude data for a long time; In the ward, the performance of communication module to be tested, its Packet Error Ratio test result is as shown in table 1, and the packet loss test result is as shown in table 2.
Table 1
Table 2
From table 1, can find out, adopt the signalling methods among the present invention after, communication distance is in 200 meters the time, almost bag by mistake.In table 2, increase along with communication distance, packet loss is constantly becoming big, communication distance is in the time of 200 meters, and packet loss is about 1.0%, still is in the tolerable scope, so, the communication module effective communication distance is greater than 200 meters, and greater than two tower crane length of boom sums, reached the user demand of system.
For the present invention is described better, provide a kind of concrete case study on implementation at this.
Suppose to have in the monitored area " tower crane 1 ", " tower crane 2 " and " tower crane 3 " three tower cranes, wherein, intersect in twos the overlay area of " tower crane 1 ", " tower crane 2 " and " tower crane 3 ", and " tower crane 1 ", " tower crane 2 " have identical structure with " tower crane 3 ", include attitude data acquisition module, communication module, data processing center, anti-collision early warning module and user interface five parts.When monitoring:
At first, the attitude data acquisition module of " tower crane 1 ", " tower crane 2 " and " tower crane 3 " is gathered original attitude data separately respectively, and the data processing center that is sent to respectively separately carries out data fusion, obtains this moment final attitude data separately;
Then, " tower crane 1 ", " tower crane 2 " and " tower crane 3 " utilize separately the transmitter unit of communication module outwards to broadcast this moment final attitude data separately, and utilize the receiving element of communication module separately to receive the information of other tower cranes broadcasting;
At last, " tower crane 1 ", " tower crane 2 " and " tower crane 3 " are assessed running state separately according to this moment final attitude data separately and the attitude data of other tower cranes that receive, and show graphically that by user interface this moment reaches the operation conditions of contiguous tower crane separately, and when being necessary, trigger the anti-collision early warning module of oneself and carry out early warning.
Table 3 is " tower crane 1 " running state assessment result and anti-collision early warning situation statistics under different situations.Table 3
As can be seen from Table 3, native system has been realized the anti-collision early warning function.For effective minimizing tower crane collision case significance is arranged.
According to above-described embodiment, just can realize the present invention well.
Claims (8)
1. based on the crashproof monitored control system of the tower crane of AHRS, it is characterized in that, comprise data processing center, the attitude data acquisition module that mouth links to each other with data processing center, anti-collision early warning module and user interface that input end links to each other with data processing center respectively, and with the two-way communication module that is connected of data processing center.
2. the crashproof monitored control system of the tower crane based on AHRS according to claim 1, it is characterized in that, described attitude data acquisition module comprises two above microprocessors that mouth links to each other with data processing center respectively, the AHRS sensor groups that mouth links to each other with microprocessor, described microprocessor links to each other one to one with the AHRS sensor groups.
3. the crashproof monitored control system of the tower crane based on AHRS according to claim 2 is characterized in that, described AHRS sensor groups comprises gyroscope, accelerometer and the magnetometer that mouth links to each other with microprocessor respectively.
4. based on the implementation method of the crashproof monitored control system of tower crane of AHRS, it is characterized in that, may further comprise the steps:
(1) on this tower crane and the tower crane adjacent with this tower crane, installs respectively and be integrated with the attitude data acquisition module of interconnective AHRS sensor groups and microprocessor, and the data processing center that links to each other with the microprocessor of each tower crane and be connected with communication module, anti-collision early warning module and user interface is set respectively;
(2) the attitude data acquisition module on each tower crane uses the AHRS sensor groups that the original data of tower crane is gathered, and by microprocessor the original data that collects is resolved attitude data into tower crane, afterwards the attitude data that resolves is passed to data processing center separately;
(3) data processing center of each tower crane sends by the attitude data of communication module with self, and receives the attitude data of adjacent tower crane by communication module;
Attitude data of carving copy tower crane and the attitude data in adjacent this moment of tower crane were assessed the operation conditions of this tower crane when (4) data processing center of each tower crane was according to this, and driving user interface and anti-collision early warning module, return step (2) afterwards, next tower crane operation conditions is constantly monitored.
5. the implementation method of the crashproof monitored control system of tower crane based on AHRS according to claim 4, it is characterized in that, in the described step (2), the AHRS sensor groups is more than two groups, every group by the gyroscope that links to each other with microprocessor respectively, accelerometer and magnetometer formation, correspondingly, the attitude data that microprocessor resolved and be passed to data processing center is more than two groups, the final attitude data of each tower crane by this more than two groups attitude data merge and to form.
6. the implementation method of the crashproof monitored control system of tower crane based on AHRS according to claim 5 is characterized in that in the described step (2), the final attitude data of each tower crane is drawn by following steps:
(2a) two groups of above AHRS sensor groups are gathered cireular frequency, acceleration/accel and the magnetic-field intensity information of this tower crane respectively, and the information that collects is passed to the microprocessor that links to each other with this group AHRS sensor groups respectively;
(2b) two above microprocessors information that will receive is separately respectively resolved and is attitude data, and respectively the attitude data that resolves is passed to data processing center;
(2c) the breakdown of equipment threshold value of setting AHRS sensor groups, data processing center receives the attitude data more than two groups that receives, and calculate their average and variance, if variance is greater than the breakdown of equipment threshold value, data processing center control collision-proof alarm module is sent alarm message, there is breakdown of equipment in prompting AHRS sensor groups, otherwise with the final attitude data of average as this this tower crane of moment.
7. the implementation method of the crashproof monitored control system of tower crane based on AHRS according to claim 6 is characterized in that described step (4) specifically may further comprise the steps:
To be in the rotating shaft of this tower crane is the center of circle, and radius is the adjacent tower crane that 200 meters the interior tower crane of border circular areas is defined as this tower crane;
(4a) according to this tower crane and the area division information of adjacent tower crane and the up-to-date attitude data of adjacent tower crane this tower crane is not divided into " safety " zone with the zone that adjacent tower crane intersects; This tower crane and adjacent tower crane zone are intersected, and the zone that adjacent tower crane is not in the intersecting area is divided into " warning " zone; This tower crane and adjacent tower crane zone are intersected, and the zone that adjacent tower crane is in the intersecting area is divided into " danger " zone;
Carving copy tower crane zone of living in when final attitude data of carving copy tower crane was judged this with the up-to-date attitude data of the adjacent tower crane that receives when (4b) data processing center was according to this is " safe operation " if this tower crane is in the operation conditions of carving copy tower crane when " safety " is regional then judges this; Be " warning " if this tower crane is in the operation conditions of carving copy tower crane when " warning " is regional then judges this, and trigger the anti-collision early warning module and send " warning " information; Be " warning " if this tower crane is in the operation conditions of carving copy tower crane when " danger " is regional then judges this, and trigger the anti-collision early warning module and send " danger " information;
(4c) the running state result of determination of carving copy tower crane is sent to user interface and shows when the final attitude data of data processing center this each tower crane of moment that will obtain and this.
8. the implementation method of the crashproof monitored control system of tower crane based on AHRS according to claim 7, it is characterized in that, the Zigbee communication module of described communication module for being made of signal transmitter unit and signal receiving unit, described signal transmitter unit includes antenna, RF power amplification and the radio-frequency front-end that links to each other successively with signal receiving unit.
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| CN107342111A (en) * | 2017-08-25 | 2017-11-10 | 上海核工程研究设计院有限公司 | A kind of double crane common rail method for arranging of PWR nuclear power plant fuel factory building |
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