CN107720571A - Tower crane and its structure fix operating mode on-line monitoring method, device and storage medium - Google Patents
Tower crane and its structure fix operating mode on-line monitoring method, device and storage medium Download PDFInfo
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- CN107720571A CN107720571A CN201711113910.0A CN201711113910A CN107720571A CN 107720571 A CN107720571 A CN 107720571A CN 201711113910 A CN201711113910 A CN 201711113910A CN 107720571 A CN107720571 A CN 107720571A
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- tower crane
- operating mode
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- detecting device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of tower crane and its structure to fix operating mode on-line monitoring method, device and storage medium, monitored on-line for fixing operating mode to the structure of tower crane, the position detecting device for being used for positioning real-time geographical locations information is provided with the revolving dial of tower crane of the present invention, monitoring method of the present invention includes：Multiple location parameters corresponding to the different angles of revolution through position detecting device detection are corresponded to during reception tower crane installation and/or after installation under Light Condition；The structure for judging tower crane according to horizontal position coordinate and/or altitude data corresponding to multiple location parameters fixes operating mode.Solve the problem that the structure fixation operating mode of tower crane can not realize on-line monitoring, beneficial to tower body structure fastening defect is prejudged in advance, lift the security and reliability of tower crane operation.
Description
Technical field
The present invention relates to crane field, especially, be related to a kind of tower crane and its structure fix operating mode on-line monitoring method,
Device and storage medium.
Background technology
Derrick crane (hereinafter referred to as tower crane) is heavy duty work equipment, and its main function is used in industrial or agricultural construction
Vertical material conveys, and with the horizontal continuous development of modernization construction, the application demand of tower crane is more and more, but along with peace
Full accident also happens occasionally, and has a lot of tower crane severe and great casualties with personal injury every year.It is former from all accidents
From the point of view of analysis result, tower crane structure is an assignable cause safely.
Tower crane is as boundary, can be divided into upper rotary part and lower rotating part at slew gear, for flat-head tower, last time transfer part
Subpackage is containing arm, counter-jib；Also include tower cap for tip tower；Hung for swing arm, there is arm, revolution counterweight platform and A shapes
Frame is formed.Rotating part all refers mainly to tower body under all tower cranes, and tower body passes through bearing pin or spiral shell by the standard knot of several equidimensions
Bolt connects and composes, and tower body has the number of standard knot quantity, just determines the height of this tower crane.Except a small amount of is fixedly mounted on
Tower crane on building, increases with building and changing fixing point can maintain tower body constant outer, is fixed on the tower crane on ground mostly
Will increasing with building, be to meet job requirements by increasing tower body highly, and height is if it exceeds this tower
After the unattached height of machine, its tower body also needs to be fixed on building by attaching structure to ensure the stability of tower crane tower body.
That is, after tower crane is dispatched from the factory, in actual use, there is one to reassemble process.One complete tower crane is big by several
Type structural member forms, and these parts more or less some deformation can all occur in the fabrication process, in order to which the scene of keeping is easy to pacify
Dress, the installation size for connection tolerance between part all reserve it is larger, this require in-site installation link must have one it is fine
Position adjustment, and adhere to and scene manufactures the links such as counterweight from doing basis, supernumerary segment, do in tower crane, do not note slightly
Meaning, can all cause tower crane overall structure dimensional discrepancy excessive, so as to destroy the structural stability of tower crane, it is run and brought seriously
Potential safety hazard, meanwhile, the connection of tower crane standard knot at present uses high-strength bolt mode, and huge number mostly, every tower crane
Tower body tens at least, at most hundreds of, loosened as long as connection occurs in a bolt, the safe operation to tower crane can bring about shadow
Ring, and scene can not almost investigate the defects of structural member loosens position in time.Tower crane in-site installation complicated condition simultaneously, peace
Dress proficiency is uneven, how scientificlly and effectively to solve in installation process and mounted configuration part fixes the monitoring of operating mode,
To check the structure problem of appearance in time, the generation of tower crane human casualty accident is reduced, is that technology urgently to be resolved hurrily in the industry is asked
Topic.
The content of the invention
The invention provides a kind of tower crane and its structure to fix operating mode on-line monitoring method, device and storage medium, with solution
Certainly existing tower crane can not be realized in installation process and/or after installation fixes the technology that operating mode is monitored on-line to its structure
Problem.
The technical solution adopted by the present invention is as follows：
According to an aspect of the present invention, there is provided a kind of tower crane structure fixes operating mode on-line monitoring method, for tower crane
Structure fix operating mode monitored on-line, on the revolving dial of tower crane of the present invention be provided be used for position real-time geographical locations letter
The position detecting device of breath, monitoring method of the present invention include：
The corresponding difference through position detecting device detection is returned during reception tower crane installation and/or after installation under Light Condition
Multiple location parameters corresponding to gyration；
Judge that the structure of tower crane is fixed according to horizontal position coordinate and/or altitude data corresponding to multiple location parameters
Operating mode.
Further, the horizontal position coordinate according to corresponding to multiple location parameters judges that the structure of tower crane fixes operating mode bag
Include：
Judge whether horizontal position coordinate corresponding to multiple location parameters is fallen into corresponding to tower crane in perpendicularity circle, according to sentencing
Disconnected result generates the prompt message for prompting tower crane structure to fix operating mode failure.
Further, the horizontal position coordinate according to corresponding to multiple location parameters judges that the structure of tower crane fixes operating mode bag
Include：
Tower crane is recorded in original horizontal position track corresponding to setting height, original horizontal position track is based on tower crane zero load
And the location parameter generation that position detecting device gathers when being revolved one-turn under perpendicularity situation up to standard；
Corresponding real standard location track, real standard location track are based under setting height after collection tower crane operation
The location parameter generation that position detecting device gathers when tower crane zero load revolves one-turn；
Real standard location track and original horizontal position track are compared, is generated for prompting tower crane structure to fix operating mode event
The prompt message of barrier.
Further, the altitude data according to corresponding to multiple location parameters judges that the structure of tower crane fixes operating mode bag
Include：
Judge whether the difference of altitude data corresponding to multiple location parameters exceeds given threshold, according to judged result
Generate the prompt message for prompting tower crane structure to fix operating mode failure.
Further, the altitude data according to corresponding to multiple location parameters judges that the structure of tower crane fixes operating mode bag
Include：
Tower crane is recorded in elemental height location track corresponding to setting height, elemental height location track is based on tower crane zero load
And the location parameter generation that position detecting device gathers when being revolved one-turn under perpendicularity situation up to standard；
Corresponding actual height location track, actual height location track are based under setting height after collection tower crane operation
The location parameter generation that position detecting device gathers when tower crane zero load revolves one-turn；
Actual height location track and elemental height location track are compared, is generated for prompting tower crane structure to fix operating mode event
The prompt message of barrier.
Further, the attachment that prompt message occurs the orientation loosened and/or tower crane including structural member in tower crane supports by force
Not corresponding enough the azimuth information of degree.
According to another aspect of the present invention, a kind of tower crane structure is also provided and fixes operating mode on-Line Monitor Device, for tower
The structure of machine is fixed operating mode and monitored on-line, is provided with the revolving dial of tower crane of the present invention and is used to position real-time geographical locations
The position detecting device of information, monitoring device of the present invention include：
Data acquisition unit, for receive during tower crane installation and/or installation after corresponding under Light Condition examined through position
Survey multiple location parameters corresponding to the different angles of revolution of device detection；
Fault verification unit, for horizontal position coordinate and/or altitude data according to corresponding to multiple location parameters
Judge that the structure of tower crane fixes operating mode.
Further, fault verification unit includes at least one of：
First determination module, for judging whether horizontal position coordinate is fallen into corresponding to tower crane corresponding to multiple location parameters
In perpendicularity circle, and the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result；
Second determination module, for judging the difference of altitude data corresponding to multiple location parameters whether beyond setting
Threshold value, the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein,
Equipment performs the monitoring method of the present invention where controlling storage medium when program is run.
According to another aspect of the present invention, a kind of tower crane is also provided, including is arranged on the revolving dial of tower crane and is used for
Position the position detecting device of real-time geographical locations information, in addition to the processor with position detecting device communication connection, processing
Device is used for operation program, and the monitoring method of the present invention is performed when program is run.
The invention has the advantages that：
The embodiment of the present invention, by receive during tower crane installation and/or installation after under Light Condition corresponding to through thereon
Position detecting device detection different angles of revolution corresponding to multiple location parameters, it is horizontal according to corresponding to multiple location parameters
Position coordinates and/or altitude data judge that the structure of tower crane fixes operating mode, and the structure fixation operating mode for solving tower crane can not
The problem of on-line monitoring is realized, beneficial to tower body structure fastening defect is prejudged in advance, lifts the security and reliability of tower crane operation.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to accompanying drawings, the present invention is further detailed explanation.
Brief description of the drawings
The accompanying drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its illustrate to be used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the schematic flow sheet that preferred embodiment of the present invention tower crane structure fixes operating mode on-line monitoring method；
Fig. 2 is that the flow for judging the structure fixation operating mode of tower crane using horizontal level parameter in the preferred embodiment of the present invention is shown
It is intended to；
Fig. 3 is the structural representation of tower crane initial mounting state in the preferred embodiment of the present invention；
Fig. 4 is that the principle for judging the structure fixation operating mode of tower crane using horizontal level parameter in the preferred embodiment of the present invention is shown
It is intended to；
Fig. 5 is that the flow for judging the structure fixation operating mode of tower crane using altitude data in the preferred embodiment of the present invention is shown
It is intended to；
Fig. 6 is that the principle for judging the structure fixation operating mode of tower crane using altitude data in the preferred embodiment of the present invention is shown
It is intended to；
Fig. 7 is the principle block diagram that preferred embodiment of the present invention tower crane structure fixes operating mode on-Line Monitor Device.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
One embodiment of the present of invention provides a kind of tower crane structure and fixes operating mode on-line monitoring method, for the knot to tower crane
Structure is fixed operating mode and monitored on-line, and position detecting device is provided with the revolving dial of tower crane.The arm of the present embodiment tower crane
Either Working cart or counter-jib are provided with the position detecting device for being used for positioning real-time geographical locations information, reference picture for distal end
1, the present embodiment monitoring method includes：
Step S100, receive during tower crane installation and/or corresponding under Light Condition after installation examined through position detecting device
Multiple location parameters corresponding to the different angles of revolution of survey；
Step S200, tower crane is judged according to horizontal position coordinate and/or altitude data corresponding to multiple location parameters
Structure fix operating mode.
The present embodiment by receive during tower crane installation and/or installation after under Light Condition corresponding to through position thereon
Multiple location parameters corresponding to the different angles of revolution of detection means detection, sit according to horizontal level corresponding to multiple location parameters
Mark and/or altitude data judge that the structure of tower crane fixes operating mode, and the structure fixation operating mode for solving tower crane can not be realized
The problem of line monitoring, beneficial to tower body structure fastening defect is prejudged in advance, lift the security and reliability of tower crane operation.
Referring to Fig. 2, in the present embodiment, the structure for judging tower crane according to horizontal position coordinate corresponding to multiple location parameters is consolidated
Determining operating mode includes：
Step S210, judges whether horizontal position coordinate corresponding to multiple location parameters falls into perpendicularity corresponding to tower crane and justify
It is interior, the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result.
In the present embodiment, it is preferable that before carrying out structure and fixing operating mode judgement, in addition to judge that the installation of tower crane is horizontal
Whether face meets the step of requirement of base water Pingdu.Referring to Fig. 3, (corresponding tower crane is most under the initial mounting state of tower crane
Low clearance), i.e., desirable criterion section is installed on tower crane installation base surface and all parts all connect it is errorless after, you can carry out tower
The equipment centre of gyration of machine and installation horizontal plane detection.If position detecting device is installed on Working cart, by Working cart
It is moved to distalmost end.For moving arm, in order to ensure measurement accuracy, keep dynamic arm be in initial elevation state, i.e., arm and
The angle of horizontal direction is minimum.Tower crane slew gear is started, allows tower crane arm around tower body central rotation, in rotary course, position
Put detection means and constantly receive current longitude and latitude and the geographical location information of height, after arm is intactly rotated by 360 °,
The longitude and latitude and height value detected value received through all position detecting devices of data processing equipment connection, you can form one
The three-dimensional track G of closing, three-dimensional track G project to horizontal direction, test circle are formed, by simply calculating, you can calculate
The center of circle O three dimensional space coordinates of the circle, the horizontal coordinate of the central coordinate of circle are the geographical position of the equipment centre of gyration of tower crane
Coordinate.Preferably, center of circle O height above sea level, which subtracts, just fills foundation for tower crane to the actual height of position detecting device, as tower crane
Basic height above sea level.The size of the difference of each point height on three-dimensional track G, that is, the base water Pingdu state of tower crane is represented,
Difference is bigger, then the base water Pingdu for representing tower crane is poorer.Preferably, data processing equipment is each on the three-dimensional track by comparing
The difference of point height, and compared with predetermined threshold value, you can judge whether the base water Pingdu of tower crane the problem of overproof occurs, once
Detect that the base water Pingdu of tower crane is unsatisfactory for requiring, then can generate warning information and remind installation or administrative staff with timely.
Data processing equipment in the present embodiment can be the processing unit being integrated on the processor of tower crane driver's cabin side, can also be
The processing unit being separately set in tower crane, can also be to be arranged at remote server to have with the position detecting device in tower crane
Line or the processing unit of radio communication connection.In the present embodiment, data processing equipment records tower under the original state of generation
The equipment centre of gyration of machine, and detect according to position detecting device the equipment centre of gyration of obtained geographical position coordinates and tower crane
Real standard distance, you can construct horizontal reference circle R1.Now, because tower crane is highly low, tower body is rigidly big, horizontal reference
Circle R1 and test circle radius are essentially identical.
In the present embodiment, in addition to perpendicularity circle corresponding to structure tower crane, it is located at arm side for position detecting device
Embodiment, structure perpendicularity circle include：
The taking equipment centre of gyration is the center of circle, takes radius to subtract the tower body axial line of tower crane for the radius of horizontal reference circle and presets
Side offset distance, structure perpendicularity circle.
It is located at the embodiment of counter-jib side for position detecting device, structure perpendicularity circle includes：
The taking equipment centre of gyration is the center of circle, takes radius to be preset for the radius of horizontal reference circle plus the tower body axial line of tower crane
Side offset distance, structure perpendicularity circle.
In the present embodiment, default side offset distance is multiplied by the perpendicularity deviation of permission for the tower body height value of tower crane
Value.
In view of the arm elevation angle is less during tower crane hypsokinesis under Light Condition and position detecting device installation site is from tower body
In the case that the heart is remote enough, it is believed that：Increase tower body on the foundation for tower crane of initial mounting state, when supernumerary segment to certain altitude
Afterwards, because tower crane counter-jib is provided with counterweight, the weight of the counterweight is to moment of flexure caused by tower body generally according to rated moment
50% or so designs, i.e., in the unloaded state, due to counterweight, tower body can produce tower crane after increasing towards counter-jib direction
Elastic deformation, i.e. tower crane in the unloaded state can hypsokinesis, now, the geographical coordinate point that position detecting device receives can be towards tower body
Center is moved, and its distance moved is tower body axial line L (referring to Fig. 3) side offset distance.According to professional standard《Apply
Work site machinery equipment Examined effect code》JGJ160-2008 compulsive clause 6.5.7 regulation defined 0.4% or
0.2% requirement, in the present embodiment, using the equipment centre of gyration of tower crane as center of circle O, highly it is multiplied by with subtracting tower body with reference to radius of circle
0.4% (0.2%) is justified for the circle of radius as perpendicularity corresponding to tower crane.
In the continuous supernumerary segment elevation process of tower crane, there are the mainly tower body of significant impact and consolidating for building to structural stability
Determine attachment members and standard knot connecting bolt, during increasing, the present embodiment preferably, detects by receiving position in tower crane
The location parameter of device generation forms test circle, and the measuring for verticality of tower crane is realized in the comparison of circle and perpendicularity circle after tested, from
And the whether satisfactory on-line monitoring of tower crane perpendicularity can be realized.Preferably, the present embodiment is by receiving tower crane installation mistake
Multiple location parameters corresponding to the corresponding different angles of revolution through position detecting device detection under Light Condition in journey, according to multiple
The distribution situation of location parameter, you can the structure of tower crane fixes whether operating mode exception occurs at quick judgement.If Present site position
Put horizontal position coordinate corresponding to parameter and fall into the region corresponding to tower crane in perpendicularity circle, then it is tight to show that the tower crane has structure
Gu the defects of abnormal, and then generate prompt message.In the present embodiment, prompt message includes structural member in tower crane and the side loosened occurs
Position and/or not corresponding enough the azimuth information of attachment support strength of tower crane.Specifically, fall into vertically when some coordinate points being present
When in degree circle, you can judge：The standard knot connecting bolt connection in orientation corresponding to abnormal coordinate points does not fasten or tower body attachment
Pull bar stress is inadequate, and either the attachment support strength in the orientation of 180 degree relative with the orientation is not enough or standard knot installation occurs
Dislocation.Specifically it may refer to shown in Fig. 4, Fig. 4 is that R1 justifies for horizontal reference, and R2 is that the position detecting device received in tower crane is real-time
The location track circle of position coordinates generation；R3 is the test circle generated after R2 floor projections, and R4 is that perpendicularity is justified.Art technology
Personnel are appreciated that the present embodiment detection method also fixes the on-line monitoring of operating mode suitable for the structure after tower crane installation.Pass through
The monitoring method, it is possible to achieve the structure to tower crane in installation process and/or after installation fixes the on-line monitoring of operating mode, and it can
Strong operability, dangerous working condition may be given warning in advance in time, improve the security and reliability of tower crane operation conscientiously.
Alternatively, reference picture 2, the structure regular worker of tower crane is judged according to horizontal position coordinate corresponding to multiple location parameters
Condition includes：
Step S211, record tower crane is in original horizontal position track corresponding to setting height, original horizontal position track base
Unloaded in tower crane and position detecting device collection when being revolved one-turn under perpendicularity situation up to standard location parameter generation；
Step S212, collection tower crane operation after under setting height corresponding real standard location track, real standard position
Put the location parameter generation that position detecting device gathers when track is revolved one-turn based on tower crane zero load；
Step S213, real standard location track and original horizontal position track are compared, generated for prompting tower crane structure
The prompt message of fixed operating mode failure.
Perpendicularity is up to standard after tower body is newly increased, and system will record the GPS of the GPS track of this height, i.e. original state
Track, after tower crane operation a period of time, unloaded revolution detection can be periodically or non-periodically carried out to tower crane, if now position is detected
The GPS track value and the track of original record that device receives can not coincide, after the normal fluctuation of gps signal is excluded, system
It can determine that loosening occurs in tower body fixed structure piece (attachment or bolt), will can be easily according to ibid principle analysis, system
Provide the problem of fixed structure piece (attachment or bolt) is likely to occur and provide alarm at the same time.
Preferably, the knot of tower crane is judged referring to Fig. 5, the present embodiment altitude data according to corresponding to multiple location parameters
Structure, which fixes operating mode, to be included：
Step S220, judges whether the difference of altitude data corresponding to multiple location parameters exceeds given threshold, root
It is judged that result generates the prompt message for prompting tower crane structure to fix operating mode failure.
Formed because the tower body of tower crane is bolted by several standard knots, each standard knot is by four masters
Chord member is formed plus some web members, and tower is joined together to form by high-strength bolt main chord corresponding between two standard knots
Body, each standard knot are contour, the tower crane tower bodies of a normal operation, it may be desirable to multiple standard knots, so connecting on tower body
Contact is more, and bolt requirement is also big, at least tens, at most hundreds of, and it is to concern tower crane energy that whether each bolt, which connects firm,
The significant problem of no safe operation, though fastened completely during installation, but tower crane occurs attached mostly using after a period of time
Or standard knot connecting bolt loosen situation, by previous embodiment describe method be that location track is gone out in the horizontal plane
Some now carried out extremely detect substantially and result judgement, and tower crane structure occurs connecting loosely, not merely reacts in positional number
According to the change on horizontal plane, and also embodied in terms of the height of position data, and the change pair of position data height value
It is more sensitive that standard knot connecting bolt loosens reaction.
In reference picture 6, in the Grid Track of position, A, C, E, G point position correspond to the center line in four faces of standard knot, B, D, F,
H points position corresponds to standard knot diagonal, and whether the position coordinates actual measurement height value of these point positions is equal to criterion section connecting bolt
Weighing apparatus stress plays the effect of key, it can be seen from tower crane structure, when all structure materials are consistent, size is identical, bolt fastening
Proper, outside attachment fixation is intact, then now tower crane zero load is revolved one-turn in formed location track, the height that A-H is obtained
Angle value should be substantially close to, certainly due to the difference of material, error that structural member makes, adheres to the difference of fixture, these
Point position height value be not necessarily identical, the present embodiment set an incremental range, be highly in this scope it is normal, otherwise
Abnormal, system provides alarm simultaneously.
After tower crane is newly increased, in location track, put in the A-H of position and the height of certain 2-3 point occur apparently higher than other points
During position, system can provide alarm staff's emphasis and check that the bolt under the point position direction fastens situation.In Fig. 6, when
The highly obvious superelevation of 3 points of ABC, just should emphasis check whether the connecting bolt of northeast orientation and adjacent two main chords occurs
It is abnormal.
Alternatively, the altitude data according to corresponding to multiple location parameters judges that the structure of tower crane is fixed operating mode and included：
Step S221, record tower crane is in elemental height location track corresponding to setting height, elemental height location track base
Unloaded in tower crane and position detecting device collection when being revolved one-turn under perpendicularity situation up to standard location parameter generation；
Step S222, collection tower crane operation after under setting height corresponding actual height location track, actual height position
Put the location parameter generation that position detecting device gathers when track is revolved one-turn based on tower crane zero load；
Step S223, actual height location track and elemental height location track are compared, generated for prompting tower crane structure
The prompt message of fixed operating mode failure.
It will be understood by those skilled in the art that the structure fixation operating mode during tower crane follow-up operation is existed in order to realize
Line monitors, tower crane fixed structure complete to rectify and improve and judge it is normal after, idle position track of the tower crane herein under height will be remembered
Record.
After tower crane input normal use, unloaded revolution detection can be periodically or non-periodically carried out, in detection, when discovery position
The height value of corresponding A-H points and the height value of original record are not inconsistent on track, and system, which will provide, to be alarmed and prompt to require to detect
Corresponding main chord bolt connection situation.
When the height for test point occur occur it is abnormal, and after judging that bolt fastening is errorless, it is possible to determine that attachment fastener or
Tower crane structure goes wrong in itself.
In the present embodiment, prompt message includes the attachment support that the orientation loosened and/or tower crane occurs in structural member in tower crane
Azimuth information corresponding to insufficient strength.
In the present embodiment, position detecting device is positioned in real time using GPS receiver device.Preferably, it is whole in order to improve
The precision of individual system monitoring, GPS receiver device are positioned based on real time dynamic differential RTK (Real-time kinematic), can be with
Positioning precision is promoted to Centimeter Level.Specifically, in the present embodiment, GPS receiver device includes being arranged at arm distal end or moved
Move the mobile GPS receiving unit on dolly and the benchmark GPS receiver unit being fixedly arranged on ground.
In the present embodiment, satellite navigation and location system is made up of three parts：Aerospace Satellite constellation, ground monitoring and use
Family equipment, satellite successively send navigator fix signal, by that can produce certain error, ground when atmosphere and ionosphere
Face monitoring system calculates establishment satellite ephemeris according to satellite data, and injects through injection station and include to each satellite, satellite ephemeris
Two kinds, one kind is broadcast ephemeris, real-time reception satellite data, so because error causes precision to be only used for reality than relatively low
When navigator fix.Another kind is precise ephemeris, and satellite data is calculated through accurate processing afterwards, and the ephemeris is only for afterwards high-precision
Degree positioning is used, it is impossible to is positioned in real time.In the present embodiment, the principle of RTK technologies is to set two stations, base station (i.e. benchmark
GPS receiver unit) to be arranged on ground fixed, there is defined location coordinate, then set a mobile GPS end (to move
GPS receiver unit), mobile GPS end can be at inactive state, can also be in motion state；Can first it be carried out on fixing point initial
Dynamic job is entered back into after change, also can directly be started shooting in a dynamic condition, and the search of all fuzzinesses is completed under dynamic environment
Solve.Base station sends its observation and survey station coordinate information to mobile GPS end together by Data-Link, and mobile GPS end is not
The data from base station are only received by Data-Link, also to gather observation data, the accurate and non-accurately number that will be received
According to real-time resolving is carried out, difference observation is formed in system and is handled in real time, data are contrasted, calculate the reality of position
Shi Jingdu, the high accuracy positioning result of Centimeter Level can be reached, lasted less than one second, it is high-precision fixed in real time so as to realize
Position, so as to meet tower crane arm distal end or be moved to arm distal end Working cart positioning required precision.
Preferably, the present embodiment tower crane monitoring method also includes：
It will be prompted to information and be sent to locally or remotely monitor terminal.For example, the prompt message through processing unit generation is sent out
Deliver on the display terminal of tower crane driver's cabin side and either to send in the handheld monitor terminal of manager or sending to control room
At interior remotely administered server etc..
According to another aspect of the present invention, a kind of tower crane structure is also provided and fixes operating mode on-Line Monitor Device, for tower
The structure of machine is fixed operating mode and monitored on-line, and the arm distal end of the present embodiment tower crane is either set on Working cart or counter-jib
There is the position detecting device for positioning real-time geographical locations information, it is real that the present embodiment monitoring device can run above-mentioned method
Apply example.Referring to Fig. 7, the present embodiment monitoring device includes：
Data acquisition unit 100, for receive during tower crane installation and/or installation after under Light Condition it is corresponding through position
Multiple location parameters corresponding to the different angles of revolution of detection means detection；
Fault verification unit 200, for the horizontal position coordinate according to corresponding to multiple location parameters and/or the height above sea level number of degrees
It is judged that the structure of tower crane fixes operating mode.
Preferably, the present embodiment fault verification unit includes at least one of：
First determination module 210, for judging whether horizontal position coordinate falls into tower crane pair corresponding to multiple location parameters
In the perpendicularity circle answered, and the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result；
Second determination module 220, for judging whether the difference of altitude data corresponding to multiple location parameters exceeds
Given threshold, the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result.
In the present embodiment, the specific implementation procedure of the first determination module 210 and the second determination module 220 is referred to above-mentioned
Embodiment of the method, it will not be described here.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein,
Equipment performs the monitoring method embodiment of the present invention where controlling storage medium when program is run.
According to another aspect of the present invention, a kind of tower crane is also provided, including is arranged at arm distal end or the work of tower crane
Dolly or counter-jib are provided with the position detecting device for being used for positioning real-time geographical locations information, in addition to detect and fill with position
The processor of communication connection is put, processor is used for operation program, and the monitoring method embodiment of the present invention is performed when program is run.
The embodiment of the present invention, by receive during tower crane installation and/or installation after under Light Condition corresponding to through thereon
Position detecting device detection different angles of revolution corresponding to multiple location parameters, it is horizontal according to corresponding to multiple location parameters
Position coordinates and/or altitude data judge that the structure of tower crane fixes operating mode, and the structure fixation operating mode for solving tower crane can not
The problem of on-line monitoring is realized, beneficial to tower body structure fastening defect is prejudged in advance, lifts the security and reliability of tower crane operation.
It should be noted that can be in such as one group of computer executable instructions the flow of accompanying drawing illustrates the step of
Performed in computer system, although also, show logical order in flow charts, in some cases, can be with not
The order being same as herein performs shown or described step.
If the function described in the present embodiment method is realized in the form of SFU software functional unit and is used as independent product pin
Sell or in use, can be stored in one or more computing device read/write memory medium.Based on such understanding, this hair
The part or the part of the technical scheme that bright embodiment contributes to prior art can be embodied in the form of software product
Out, the software product is stored in a storage medium, including some instructions are causing a computing device (can be
People's computer, server, mobile computing device or network equipment etc.) perform the whole of each embodiment methods described of the present invention
Or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can to store journey
The medium of sequence code.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be with it is other
The difference of embodiment, between each embodiment same or similar part mutually referring to.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of tower crane structure fixes operating mode on-line monitoring method, monitored on-line for fixing operating mode to the structure of tower crane,
Characterized in that, the position detecting device for being used for positioning real-time geographical locations information is provided with the revolving dial of the tower crane,
The monitoring method includes：
Receive during the tower crane installation and/or after installation under Light Condition it is corresponding through position detecting device detection not
With multiple location parameters corresponding to angle of revolution；
The structure of the tower crane is judged according to horizontal position coordinate and/or altitude data corresponding to the multiple location parameter
Fixed operating mode.
2. tower crane structure according to claim 1 fixes operating mode on-line monitoring method, it is characterised in that
Judge that the structure of the tower crane is fixed operating mode and included according to horizontal position coordinate corresponding to the multiple location parameter：
Judge whether horizontal position coordinate corresponding to the multiple location parameter is fallen into corresponding to the tower crane in perpendicularity circle, root
It is judged that result generates the prompt message for prompting tower crane structure to fix operating mode failure.
3. tower crane structure according to claim 2 fixes operating mode on-line monitoring method, it is characterised in that
Judge that the structure of the tower crane is fixed operating mode and included according to horizontal position coordinate corresponding to the multiple location parameter：
Record the tower crane and be based on described in original horizontal position track corresponding to setting height, the original horizontal position track
Tower crane is unloaded and the location parameter of the position detecting device collection generates when being revolved one-turn under perpendicularity situation up to standard；
Gather after tower crane operation corresponding real standard location track, the real standard position under the setting height
The location parameter generation of track position detecting device collection when being revolved one-turn based on the tower crane zero load；
The real standard location track and the original horizontal position track are compared, is generated for prompting tower crane structure regular worker
The prompt message of condition failure.
4. tower crane structure according to claim 1 fixes operating mode on-line monitoring method, it is characterised in that
Judge that the structure of the tower crane is fixed operating mode and included according to altitude data corresponding to the multiple location parameter：
Judge whether the difference of altitude data corresponding to the multiple location parameter exceeds given threshold, according to judged result
Generate the prompt message for prompting tower crane structure to fix operating mode failure.
5. tower crane structure according to claim 4 fixes operating mode on-line monitoring method, it is characterised in that
Judge that the structure of the tower crane is fixed operating mode and included according to altitude data corresponding to the multiple location parameter：
Record the tower crane and be based on described in elemental height location track corresponding to setting height, the elemental height location track
Tower crane is unloaded and the location parameter of the position detecting device collection generates when being revolved one-turn under perpendicularity situation up to standard；
Gather after tower crane operation corresponding actual height location track, the actual height position under the setting height
The location parameter generation of track position detecting device collection when being revolved one-turn based on the tower crane zero load；
The actual height location track and the elemental height location track are compared, is generated for prompting tower crane structure regular worker
The prompt message of condition failure.
6. tower crane structure according to any one of claims 1 to 5 fixes operating mode on-line monitoring method, it is characterised in that
The prompt message includes structural member in the tower crane and the attachment support strength of the orientation loosened and/or the tower crane occurs
Not corresponding enough azimuth information.
7. a kind of tower crane structure fixes operating mode on-Line Monitor Device, monitored on-line for fixing operating mode to the structure of tower crane,
Characterized in that, the position detecting device for being used for positioning real-time geographical locations information is provided with the revolving dial of the tower crane,
The monitoring device includes：
Data acquisition unit, for receive during the tower crane installation and/or installation after under Light Condition it is corresponding through institute's rheme
Put multiple location parameters corresponding to the different angles of revolution of detection means detection；
Fault verification unit, for horizontal position coordinate and/or altitude data according to corresponding to the multiple location parameter
Judge that the structure of the tower crane fixes operating mode.
8. tower crane structure according to claim 7 fixes operating mode on-Line Monitor Device, it is characterised in that
The fault verification unit includes at least one of：
First determination module, for judging whether horizontal position coordinate falls into the tower crane pair corresponding to the multiple location parameter
In the perpendicularity circle answered, and the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result；
Second determination module, for judging the difference of altitude data corresponding to the multiple location parameter whether beyond setting
Threshold value, the prompt message for prompting tower crane structure to fix operating mode failure is generated according to judged result.
9. a kind of storage medium, the storage medium includes the program of storage, wherein, deposited when described program is run described in control
1 to 6 any described monitoring method of equipment perform claim requirement where storage media.
10. a kind of tower crane, it is characterised in that be used to position real-time geographic position including being arranged on the revolving dial of the tower crane
The position detecting device of confidence breath, in addition to the processor with position detecting device communication connection, the processor are used for
Operation program, the monitoring method as described in claim 1 to 6 is any is performed when described program is run.
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| CN201711113910.0A CN107720571B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its fixed operating condition on-line monitoring method of structure, device and storage medium |
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| CN201711113910.0A CN107720571B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its fixed operating condition on-line monitoring method of structure, device and storage medium |
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| CN107720571B (en) | 2019-09-03 |
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