CN107720571B - Tower crane and its fixed operating condition on-line monitoring method of structure, device and storage medium - Google Patents
Tower crane and its fixed operating condition on-line monitoring method of structure, device and storage medium Download PDFInfo
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- CN107720571B CN107720571B CN201711113910.0A CN201711113910A CN107720571B CN 107720571 B CN107720571 B CN 107720571B CN 201711113910 A CN201711113910 A CN 201711113910A CN 107720571 B CN107720571 B CN 107720571B
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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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- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of tower crane and its fixed operating condition on-line monitoring methods of structure, device and storage medium, it is monitored on-line for the fixed operating condition of structure to tower crane, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of tower crane of the present invention, monitoring method of the present invention includes: to receive in tower crane installation process and/or correspond under light condition after installation the corresponding multiple location parameters in different angles of revolution detected through position detecting device；The fixed operating condition of structure of tower crane is judged according to the corresponding horizontal position coordinate of multiple location parameters and/or altitude data.It solves the problems, such as that the fixed operating condition of the structure of tower crane cannot achieve on-line monitoring, is conducive to anticipation tower body structure in advance and fastens defect, promote the safety and reliability of tower crane operation.
Description
Technical field
The present invention relates to crane fields, particularly, be related to a kind of tower crane and its fixed operating condition on-line monitoring method of structure,
Device and storage medium.
Background technique
Derrick crane (hereinafter referred to as tower crane) is heavy duty work equipment, and main function is used in industrial or agricultural construction
Vertical material conveying, with the continuous development of modernization construction level, 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 swing mechanism, for flat-head tower, last time transfer part
Subpackage contains boom, counter-jib；It also include tower cap for tip tower；Swing arm is hung, there is boom, revolution counterweight platform and A shape
Frame is constituted.Rotating part all refers mainly to tower body under all tower cranes, and tower body passes through pin shaft or spiral shell by the standard knot of several equidimensions
Bolt connects and composes, tower body have standard knot quantity number, just determine the height of this tower crane.Except a small amount of is fixedly mounted on
Tower crane on building, increases with building and changing fixed point can maintain tower body constant outer, is fixed on the tower crane on ground mostly
Will increasing with building, be meet job requirements by increasing tower body height, and height if it exceeds this tower
After the unattached height of machine, tower body also needs to be fixed on building the stability for guaranteeing tower crane tower body by attaching structure.
That is, in actual use, thering is one to reassemble process after tower crane factory.One complete tower crane is big by several
Type structural member composition, these components 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 component all reserve it is larger, this requires in-site installation link must have one it is fine
Position adjustment, and do not infused slightly in tower crane from doing basis, supernumerary segment, doing attachment and scene manufactures the links such as counterweight
Meaning, can all cause tower crane overall structure dimensional discrepancy excessive, to destroy the structural stability of tower crane, run and brought seriously to it
Security risk, meanwhile, the connection of tower crane standard knot at present mostly uses greatly high-strength bolt mode, and huge number, every tower crane
It tower body few then tens, more then several hundred, is loosened as long as connection occurs in a bolt, shadow can bring about to the safe operation of tower crane
It rings, and scene can not almost check structural member in time and the defective locations loosened occurs.Tower crane in-site installation complicated condition simultaneously, peace
Dress proficiency is irregular, how scientificlly and effectively to solve in installation process and mounted configuration part fixes the monitoring of operating condition,
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 in the industry is asked
Topic.
Summary of the invention
The present invention provides a kind of tower crane and its fixed operating condition on-line monitoring methods of structure, device and storage medium, with solution
Certainly existing tower crane cannot achieve the technology monitored on-line to the fixed operating condition of its structure during the installation process and/or after installation
Problem.
The technical solution adopted by the invention is as follows:
According to an aspect of the present invention, a kind of fixed operating condition on-line monitoring method of tower crane structure is provided, for tower crane
The fixed operating condition of structure monitored on-line, be equipped on the revolving platform of tower crane of the present invention for positioning real-time geographical locations letter
The position detecting device of breath, monitoring method of the present invention include:
It receives in tower crane installation process and/or the corresponding difference detected through position detecting device is returned after installation under light condition
The corresponding multiple location parameters of gyration；
Judge that the structure of tower crane is fixed according to the corresponding horizontal position coordinate of multiple location parameters and/or altitude data
Operating condition.
Further, the fixed operating condition packet of structure of tower crane is judged according to the corresponding horizontal position coordinate of multiple location parameters
It includes:
Judge whether the corresponding horizontal position coordinate of multiple location parameters falls into tower crane corresponding verticality circle, according to sentencing
Disconnected result generates the prompt information for prompting the fixed operating condition failure of tower crane structure.
Further, the fixed operating condition packet of structure of tower crane is judged according to the corresponding horizontal position coordinate of multiple location parameters
It includes:
Tower crane is recorded in the corresponding original horizontal position track of setting height, it is unloaded that original horizontal position track is based on tower crane
And the location parameter that position detecting device acquires when revolving one-turn under verticality situation up to standard generates；
Corresponding real standard location track, real standard location track are based under setting height after acquisition tower crane operation
The location parameter that position detecting device acquires when tower crane zero load revolves one-turn generates；
Real standard location track and original horizontal position track are compared, is generated for prompting the fixed operating condition event of tower crane structure
The prompt information of barrier.
Further, the fixed operating condition packet of structure of tower crane is judged according to the corresponding altitude data of multiple location parameters
It includes:
Judge whether the difference of the corresponding altitude data of multiple location parameters exceeds given threshold, according to judging result
Generate the prompt information for prompting the fixed operating condition failure of tower crane structure.
Further, the fixed operating condition packet of structure of tower crane is judged according to the corresponding altitude data of multiple location parameters
It includes:
Tower crane is recorded in the corresponding elemental height location track of setting height, it is unloaded that elemental height location track is based on tower crane
And the location parameter that position detecting device acquires when revolving one-turn under verticality situation up to standard generates；
Corresponding actual height location track, actual height location track are based under setting height after acquisition tower crane operation
The location parameter that position detecting device acquires when tower crane zero load revolves one-turn generates；
Actual height location track and elemental height location track are compared, is generated for prompting the fixed operating condition event of tower crane structure
The prompt information of barrier.
Further, prompt information includes that the orientation loosened occurs in structural member in tower crane and/or the attachment support of tower crane is strong
Spend not corresponding enough azimuth information.
According to another aspect of the present invention, a kind of fixed operating condition on-Line Monitor Device of tower crane structure is also provided, for tower
The fixed operating condition of the structure of machine is monitored on-line, is equipped on the revolving platform of tower crane of the present invention for positioning real-time geographical locations
The position detecting device of information, monitoring device of the present invention include:
Data acquisition unit is examined for corresponding under light condition after receiving in tower crane installation process and/or installing through position
Survey the corresponding multiple location parameters in different angles of revolution of device detection；
Fault verification unit, for according to the corresponding horizontal position coordinate of multiple location parameters and/or altitude data
Judge the fixed operating condition of the structure of tower crane.
Further, fault verification unit includes at least one of:
First determination module, for judging it is corresponding whether the corresponding horizontal position coordinate of multiple location parameters falls into tower crane
In verticality circle, and the prompt information for prompting the fixed operating condition failure of tower crane structure is generated according to judging result；
Second determination module, for judging whether the difference of the corresponding altitude data of multiple location parameters exceeds setting
Threshold value generates the prompt information for prompting the fixed operating condition failure of tower crane structure according to judging 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
In program operation, equipment where control storage medium executes monitoring method of the invention.
According to another aspect of the present invention, a kind of tower crane is also provided, is used for including being set on the revolving platform of tower crane
The position detecting device for positioning real-time geographical locations information further includes the processor with position detecting device communication connection, processing
Device executes monitoring method of the invention when running for running program, program.
The invention has the following advantages:
The embodiment of the present invention, by receive in tower crane installation process and/or after installation under light condition it is corresponding through thereon
Position detecting device detection the corresponding multiple location parameters in different angles of revolution, according to the corresponding level of multiple location parameters
Position coordinates and/or altitude data judge the fixed operating condition of the structure of tower crane, and the fixed operating condition of structure for solving tower crane can not
It realizes the problem of on-line monitoring, is conducive to anticipation tower body structure in advance and fastens defect, promote the safety and reliability of tower crane operation.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow diagram of the fixed operating condition on-line monitoring method of preferred embodiment of the present invention tower crane structure；
Fig. 2 is to judge that the process of the fixed operating condition of structure of tower crane is shown using horizontal position parameter in the preferred embodiment of the present invention
It is intended to；
Fig. 3 is the structural schematic diagram of tower crane initial mounting state in the preferred embodiment of the present invention；
Fig. 4 is to judge that the principle of the fixed operating condition of structure of tower crane is shown using horizontal position parameter in the preferred embodiment of the present invention
It is intended to；
Fig. 5 is to judge that the process of the fixed operating condition of structure of tower crane is shown using altitude data in the preferred embodiment of the present invention
It is intended to；
Fig. 6 is to judge that the principle of the fixed operating condition of structure of tower crane is shown using altitude data in the preferred embodiment of the present invention
It is intended to；
Fig. 7 is the principle block diagram of the fixed operating condition on-Line Monitor Device of preferred embodiment of the present invention tower crane structure.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
One embodiment of the present of invention provides a kind of fixed operating condition on-line monitoring method of tower crane structure, for the knot to tower crane
The fixed operating condition of structure is monitored on-line, and position detecting device is equipped on the revolving platform of tower crane.The boom of the present embodiment tower crane
Distal end or Working cart or counter-jib are equipped with the position detecting device for positioning real-time geographical locations information, referring to figure
1, the present embodiment monitoring method includes:
Step S100, receives in tower crane installation process and/or correspondence is examined through position detecting device after installation under light condition
The corresponding multiple location parameters in the different angles of revolution of survey；
Step S200 judges tower crane according to the corresponding horizontal position coordinate of multiple location parameters and/or altitude data
The fixed operating condition of structure.
The present embodiment by receive in tower crane installation process and/or after installation under light condition it is corresponding through position thereon
The corresponding multiple location parameters in different angles of revolution of detection device detection are sat according to the corresponding horizontal position of multiple location parameters
Mark and/or altitude data judge the fixed operating condition of the structure of tower crane, and the fixed operating condition of structure for solving tower crane cannot achieve
The problem of line monitoring is conducive to anticipation tower body structure in advance and fastens defect, promotes the safety and reliability of tower crane operation.
Referring to fig. 2, in the present embodiment, judge that the structure of tower crane is solid according to the corresponding horizontal position coordinate of multiple location parameters
Determining operating condition includes:
Step S210, judges whether the corresponding horizontal position coordinate of multiple location parameters falls into the corresponding verticality circle of tower crane
It is interior, the prompt information for prompting the fixed operating condition failure of tower crane structure is generated according to judging result.
In the present embodiment, it is preferable that further include judging that the installation of tower crane is horizontal before carrying out the fixed operating condition of structure and determining
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 foundation face and all parts all connect it is errorless after, tower can be carried out
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 boom, in order to guarantee measurement accuracy, dynamic boom is kept be in initial elevation state, i.e., boom and
The angle of horizontal direction is minimum.Tower crane swing mechanism is started, tower crane boom is allowed to rotate around tower body center, in rotary course, position
The geographical location information that detection device constantly receives current longitude and latitude and height is set, after boom is completely rotated by 360 °,
The longitude and latitude and height value detected value that all position detecting devices receive are connected through data processing equipment, one can be formed
Closed three-dimensional track G, three-dimensional track G project to horizontal direction, form test circle, by simply calculating, can calculate
The center of circle O three dimensional space coordinate of the circle, the horizontal coordinate of the central coordinate of circle are the geographical location of the equipment centre of gyration of tower crane
Coordinate.Preferably, the height above sea level of center of circle O, 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 represents the base water Pingdu state of tower crane,
Difference is bigger, then the base water Pingdu for representing tower crane is poorer.Preferably, data processing equipment is by comparing each on the three-dimensional track
The difference of point height, and compared with preset threshold, that is, it can determine that whether the base water Pingdu of tower crane overproof problem occurs, once
It detects that the base water Pingdu of tower crane is unsatisfactory for requiring, then produces warning information and installed with timely prompting or administrative staff.
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 set at remote server to have with the position detecting device in tower crane
Line or the processing unit of wireless 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 the equipment centre of gyration of the geographical position coordinates and tower crane detected according to position detecting device
Real standard distance, can construct horizontal reference circle R1.At this point, tower body is rigidly big, horizontal reference since tower crane height is low
Circle R1 and the radius of test circle are essentially identical.
In the present embodiment, further includes the corresponding verticality circle of building tower crane, boom side is located at for position detecting device
Embodiment, building verticality circle include:
Taking the equipment centre of gyration is the center of circle, and the tower body axial line for taking radius to subtract tower crane for the radius of horizontal reference circle is default
Side offset distance, building verticality circle.
It is located at the embodiment of counter-jib side for position detecting device, building verticality circle includes:
Taking the equipment centre of gyration is the center of circle, takes the radius that radius is horizontal reference circle default plus the tower body axial line of tower crane
Side offset distance, building verticality circle.
In the present embodiment, preset side offset distance is the tower body height value of tower crane multiplied by the perpendicularity deviation of permission
Value.
In view of the boom elevation angle is less when 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, since tower crane counter-jib is provided with counterweight, the moment of flexure that the weight of the counterweight generates tower body is generally according to rated moment
50% or so designs, i.e., in the unloaded state, due to counterweight, tower body can generate tower crane after increasing towards counter-jib direction
Flexible deformation, i.e. tower crane in the unloaded state can hypsokinesis, at this point, the geographical coordinate point that position detecting device receives can be towards tower body
Center is mobile, and the distance of movement is the side offset distance of tower body axial line L (referring to Fig. 3).It " is applied according to professional standard
Work site machinery equipment Examined effect regulation " 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, with reference to radius of circle subtract tower body height multiplied by
0.4% (0.2%) is the circle of radius as the corresponding verticality circle of 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 connect bolt with standard knot, during increasing, the present embodiment preferably, passes through position detection in reception tower crane
The location parameter that device generates forms test circle, and the measuring for verticality of tower crane is realized in the round comparison with verticality circle after tested, from
And the whether satisfactory on-line monitoring of tower crane verticality may be implemented.Preferably, the present embodiment was installed by receiving tower crane
The corresponding corresponding multiple location parameters in different angles of revolution detected through position detecting device under light condition in journey, according to multiple
The distribution situation of location parameter, can quickly whether the fixed operating condition of the structure of tower crane there is exception at judgement.Position position if it exists
The region that the corresponding horizontal position coordinate of parameter is fallen into tower crane corresponding verticality circle is set, then shows the tower crane there are structures and is tight
Gu abnormal defect, and then generate prompt information.In the present embodiment, prompt information include in tower crane structural member there is the side loosened
Not corresponding enough the azimuth information of attachment support strength of position and/or tower crane.Specifically, when there are certain coordinate points to fall into vertically
When in degree circle, that is, can determine that: the standard knot connection in the corresponding orientation of abnormal coordinate points, which is bolted, not to be fastened or tower body attachment
Pull rod stress is inadequate, and either the attachment support strength in the orientation of 180 degree opposite with the orientation is not enough or standard knot installation occurs
Dislocation.It specifically may refer to shown in Fig. 4, Fig. 4 is R1 for horizontal reference circle, and R2 is that the position detecting device in reception tower crane is real-time
The location track circle that position coordinates generate；R3 is the test circle generated after R2 floor projection, and R4 is verticality circle.Art technology
Personnel are appreciated that the present embodiment detection method is also suitable for the on-line monitoring of the fixed operating condition of the structure after tower crane is installed.Pass through
The on-line monitoring that the structure to tower crane during the installation process and/or after installation fixes operating condition may be implemented in the monitoring method, can
Strong operability may in time give warning in advance to dangerous working condition, improve the safety and reliability of tower crane operation conscientiously.
Optionally, referring to Fig. 2, the structure regular worker of tower crane is judged according to the corresponding horizontal position coordinate of multiple location parameters
Condition includes:
Step S211 records tower crane in the corresponding original horizontal position track of setting height, original horizontal position track base
Unloaded in tower crane and position detecting device acquisition when revolving one-turn under verticality situation up to standard location parameter generates；
Step S212, acquisition tower crane operation after under setting height corresponding real standard location track, real standard position
The location parameter that position detecting device acquires when track is revolved one-turn based on tower crane zero load is set to generate；
Step S213 compares real standard location track and original horizontal position track, generates for prompting tower crane structure
The prompt information of fixed operating condition failure.
Verticality is up to standard after tower body is newly increased, and system will record the GPS track of this height, the i.e. GPS of original state
Track after tower crane runs a period of time, periodically or non-periodically can carry out unloaded revolution detection to tower crane, if position detection at this time
The track of GPS track value and original record that device receives cannot coincide, after the normal fluctuation for excluding GPS signal, system
It can determine that loosening occurs in tower body fixed structure piece (attachment or bolt), will be convenient to according to ibid principle analysis, system
It provides the problem of fixed structure piece (attachment or bolt) is likely to occur and provides warning note at the same time.
Preferably, referring to Fig. 5, the present embodiment judges the knot of tower crane according to the corresponding altitude data of multiple location parameters
Structure fixes operating condition
Step S220, judges whether the difference of the corresponding altitude data of multiple location parameters exceeds given threshold, root
It is judged that result generates the prompt information for prompting the fixed operating condition failure of tower crane structure.
Since the tower body of tower crane is to be bolted to constitute by several standard knots, each standard knot is by four masters
Chord member is constituted plus some web members, and corresponding main chord is joined together to form tower by high-strength bolt 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, it is few then tens, more then several hundred, it is concerning to tower crane energy that whether each bolt, which connects firm,
The significant problem of no safe operation, even if being fastened completely when installation, but tower crane is after a period of use, will appear mostly attached
Or standard knot connection bolt looseness the case where, by previous embodiment describe method be to go out in the horizontal plane to location track
The some basic detections now carried out extremely and result judgement, and tower crane structure is not connected firmly, and is not merely reacted in positional number
It is also embodied according to the variation on horizontal plane, and in terms of the height of position data, and the variation pair of position data height value
It is more sensitive that standard knot connects bolt looseness reaction.
Referring in Fig. 6, in the Grid Track of position, A, C, E, G point correspond to the center line in four faces of standard knot, B, D, F,
H point corresponds to standard knot diagonal line, and whether the position coordinates actual measurement height value of these points is equal to criterion section connection bolt
Weighing apparatus stress plays a key role, according to tower crane structure it is found that when all structure materials are consistent, size is identical, bolt fastening
Proper, outside attachment fixation is intact, then tower crane zero load at this time is revolved one-turn and is formed by location track, the height that A-H is obtained
Angle value should be substantially close to, and certainly due to the difference of material, error in structural member production adheres to the difference of fixing piece, these
The height value of point is not necessarily identical, and the present embodiment sets an incremental range, is highly normally, otherwise in this range
Abnormal, system provides warning note simultaneously.
After tower crane is newly increased, in location track, the height for occurring certain 2-3 point in point A-H is apparently higher than other points
When position, system can provide warning note staff's emphasis and check bolt fastening situation under the point direction.In Fig. 6, when
The obvious superelevation of tri- point height of ABC, just should emphasis check whether the connection bolt of northeast orientation and adjacent two main chords occurs
It is abnormal.
Optionally, judge that the structure of tower crane fixes operating condition and includes: according to the corresponding altitude data of multiple location parameters
Step S221 records tower crane in the corresponding elemental height location track of setting height, elemental height location track base
Unloaded in tower crane and position detecting device acquisition when revolving one-turn under verticality situation up to standard location parameter generates；
Step S222, acquisition tower crane operation after under setting height corresponding actual height location track, actual height position
The location parameter that position detecting device acquires when track is revolved one-turn based on tower crane zero load is set to generate；
Step S223 compares actual height location track and elemental height location track, generates for prompting tower crane structure
The prompt information of fixed operating condition failure.
It will be understood by those skilled in the art that existing to realize to the fixed operating condition of structure during tower crane follow-up operation
Line monitoring, after tower crane fixed structure is completed to rectify and improve and determine normally, idle position track of the tower crane under this height will be remembered
Record.
After tower crane puts into normal use, it can periodically or non-periodically carry out unloaded revolution and detect, in detection, when discovery position
The height value of corresponding A-H point and the height value of original record are not inconsistent on track, and system will provide alarm and prompt to require to detect
Corresponding main chord is bolted situation.
When the height for test point occur occur it is abnormal, and after determining that bolt fastening is errorless, it is possible to determine that attachment fastener or
Tower crane structure itself goes wrong.
In the present embodiment, prompt information includes the attachment support that the orientation loosened and/or tower crane occurs in structural member in tower crane
Not corresponding enough the azimuth information of intensity.
In the present embodiment, position detecting device is positioned in real time using GPS receiver device.Preferably, whole in order to improve
The precision of a system monitoring, GPS receiver device are positioned based on real time dynamic differential RTK (Real-time kinematic), can be with
Positioning accuracy is promoted to Centimeter Level.Specifically, in the present embodiment, GPS receiver device includes being set to boom distal end or moving
The benchmark GPS receiver unit for moving the mobile GPS receiving unit on trolley and being fixedly arranged on ground.
In the present embodiment, satellite navigation and location system is made of three parts: Aerospace Satellite constellation, ground monitoring and use
Family equipment, satellite successively send navigator fix signal, by that can generate certain error, ground when atmosphere and ionosphere
Face monitoring system calculates establishment satellite ephemeris according to satellite data, and injects through injection station to each satellite, and satellite ephemeris includes
Two kinds, one is broadcast ephemeris, real-time reception satellite data is only used for reality in this way since error causes precision relatively low
When navigator fix.Another kind is precise ephemeris, and satellite data is calculated through subsequent accurate processing, which only supplies subsequent high-precision
Degree positioning is used, and not can be carried out real-time positioning.In the present embodiment, the principle of RTK technology is two stations of setting, base station (i.e. benchmark
GPS receiver unit), position coordinates with determination fixed on ground are set, then a mobile GPS end is set and (is moved
GPS receiver unit), mobile GPS end can be at stationary state, can also be in motion state；It can first be carried out on fixed point initial
Dynamic job is entered back into after change, can also be directly switched in a dynamic condition, and completes the search of all fuzzinesses in a dynamic environment
It solves.Base station sends its observation and survey station coordinate information to mobile GPS end by data-link together, and mobile GPS end is not
The data from base station are only received by data-link, also to acquire observation data, the accurate and non-accurate 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 compared, the reality of position is calculated
Shi Jingdu can achieve the high accuracy positioning of Centimeter Level as a result, lasting less than one second, to realize high-precision fixed in real time
Position, to meet the required precision of tower crane boom distal end or the Working cart positioning for being moved to boom distal end.
Preferably, the present embodiment tower crane monitoring method further include:
It will be prompted to information and be sent to locally or remotely monitor terminal.For example, the prompt information generated through processing unit is sent out
It send on the display terminal of tower crane driver's cabin side or being sent in the handheld monitor terminal of manager or be sent to control room
At interior remotely administered server etc..
According to another aspect of the present invention, a kind of fixed operating condition on-Line Monitor Device of tower crane structure is also provided, for tower
The fixed operating condition of the structure of machine is monitored on-line, is set on the boom distal end of the present embodiment tower crane or 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 corresponding under light condition after receiving in tower crane installation process and/or installing through position
The corresponding multiple location parameters in different angles of revolution of detection device detection；
Fault verification unit 200, for according to the corresponding horizontal position coordinate of multiple location parameters and/or height above sea level degree
It is judged that the fixed operating condition of the structure of tower crane.
Preferably, the present embodiment fault verification unit includes at least one of:
First determination module 210, for judging whether the corresponding horizontal position coordinate of multiple location parameters falls into tower crane pair
In the verticality circle answered, and the prompt information for prompting the fixed operating condition failure of tower crane structure is generated according to judging result；
Second determination module 220, for judging whether the difference of the corresponding altitude data of multiple location parameters exceeds
Given threshold generates the prompt information for prompting the fixed operating condition failure of tower crane structure according to judging 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, this will not be repeated 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
In program operation, equipment where control storage medium executes monitoring method embodiment of the invention.
According to another aspect of the present invention, a kind of tower crane is also provided, boom distal end or work including being set to tower crane
Trolley or counter-jib are equipped with the position detecting device for positioning real-time geographical locations information, further include filling with position detection
The processor of communication connection is set, processor executes monitoring method embodiment of the invention when running for running program, program.
The embodiment of the present invention, by receive in tower crane installation process and/or after installation under light condition it is corresponding through thereon
Position detecting device detection the corresponding multiple location parameters in different angles of revolution, according to the corresponding level of multiple location parameters
Position coordinates and/or altitude data judge the fixed operating condition of the structure of tower crane, and the fixed operating condition of structure for solving tower crane can not
It realizes the problem of on-line monitoring, is conducive to anticipation tower body structure in advance and fastens defect, promote the safety and reliability of tower crane operation.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
If function described in the present embodiment method is realized in the form of SFU software functional unit and as independent product pin
It sells or in use, can store in one or more compute device readable storage medium.Based on this understanding, this hair
The part of bright embodiment the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a calculating equipment (can be a
People's computer, server, mobile computing device or network equipment etc.) execute the whole of each embodiment the method for the present invention
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. is various to can store journey
The medium of sequence code.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fixed operating condition on-line monitoring method of tower crane structure is monitored on-line for the fixed operating condition of structure to tower crane,
It is characterized in that, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of the tower crane,
The monitoring method includes:
It receives in the tower crane installation process and/or correspondence detects not through the position detecting device after installation under light condition
Corresponding multiple location parameters with angle of revolution；
The structure of the tower crane is judged according to the corresponding horizontal position coordinate of the multiple location parameter and/or altitude data
Fixed operating condition.
2. the fixed operating condition on-line monitoring method of tower crane structure according to claim 1, which is characterized in that
Judge that the structure of the tower crane fixes operating condition and includes: according to the corresponding horizontal position coordinate of the multiple location parameter
Judge whether the corresponding horizontal position coordinate of the multiple location parameter falls into the corresponding verticality circle of the tower crane, root
It is judged that result generates the prompt information for prompting the fixed operating condition failure of tower crane structure.
3. the fixed operating condition on-line monitoring method of tower crane structure according to claim 2, which is characterized in that
Judge that the structure of the tower crane fixes operating condition and includes: according to the corresponding horizontal position coordinate of the multiple location parameter
The tower crane is recorded in the corresponding original horizontal position track of setting height, the original horizontal position track is based on described
Tower crane is unloaded and the location parameter of the position detecting device acquisition generates when revolving one-turn under verticality situation up to standard；
Acquire 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 acquisition 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 information of condition failure.
4. the fixed operating condition on-line monitoring method of tower crane structure according to claim 1, which is characterized in that
Judge that the structure of the tower crane fixes operating condition and includes: according to the corresponding altitude data of the multiple location parameter
Judge whether the difference of the corresponding altitude data of the multiple location parameter exceeds given threshold, according to judging result
Generate the prompt information for prompting the fixed operating condition failure of tower crane structure.
5. the fixed operating condition on-line monitoring method of tower crane structure according to claim 4, which is characterized in that
Judge that the structure of the tower crane fixes operating condition and includes: according to the corresponding altitude data of the multiple location parameter
The tower crane is recorded in the corresponding elemental height location track of setting height, the elemental height location track is based on described
Tower crane is unloaded and the location parameter of the position detecting device acquisition generates when revolving one-turn under verticality situation up to standard；
Acquire 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 acquisition 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 information of condition failure.
6. according to the fixed operating condition on-line monitoring method of any tower crane structure of claim 2 to 5, which is characterized in that
The prompt information includes the attachment support strength that the orientation loosened and/or the tower crane occurs in structural member in the tower crane
Not corresponding enough azimuth information.
7. a kind of fixed operating condition on-Line Monitor Device of tower crane structure is monitored on-line for the fixed operating condition of structure to tower crane,
It is characterized in that, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of the tower crane,
The monitoring device includes:
Data acquisition unit, for corresponding under light condition after receiving in the tower crane installation process and/or installing through institute's rheme
Set the corresponding multiple location parameters in different angles of revolution of detection device detection；
Fault verification unit, for according to the corresponding horizontal position coordinate of the multiple location parameter and/or altitude data
Judge the fixed operating condition of the structure of the tower crane.
8. the fixed operating condition on-Line Monitor Device of tower crane structure according to claim 7, which is characterized in that
The fault verification unit includes at least one of:
First determination module, for judging whether the corresponding horizontal position coordinate of the multiple location parameter falls into the tower crane pair
In the verticality circle answered, and the prompt information for prompting the fixed operating condition failure of tower crane structure is generated according to judging result；
Second determination module, for judging whether the difference of the corresponding altitude data of the multiple location parameter exceeds setting
Threshold value generates the prompt information for prompting the fixed operating condition failure of tower crane structure according to judging result.
9. a kind of storage medium, the storage medium includes the program of storage, wherein is deposited described in control in described program operation
Equipment perform claim where storage media requires 1 to 6 any monitoring method.
10. a kind of tower crane, which is characterized in that for positioning real-time geographic position on the revolving platform including being set to the tower crane
The position detecting device of confidence breath, further includes the processor with position detecting device communication connection, and the processor is used for
Program is run, the monitoring method as described in claim 1 to 6 is any is executed 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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| CN113094823B (en) * | 2021-03-23 | 2022-11-08 | 中联重科股份有限公司 | Tower crane rotary impact optimization method and device, control equipment and tower crane |
| CN113233333B (en) * | 2021-05-26 | 2024-01-30 | 长沙海川自动化设备有限公司 | Tower crane, working parameter detection method thereof and storage medium |
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| CN201686412U (en) * | 2010-04-30 | 2010-12-29 | 广东力特工程机械有限公司 | Levelness real-time monitoring device for arm support of large crane |
| CN102923573A (en) * | 2012-11-09 | 2013-02-13 | 中钢集团武汉安全环保研究院有限公司 | On-line detecting device and method for descending brake distance of crane hoisting mechanism |
| CN103557890A (en) * | 2013-11-15 | 2014-02-05 | 中国科学院上海微***与信息技术研究所 | Multi-layer multi-collection-point hoisting machine structure health monitoring system |
| CN103613017B (en) * | 2013-12-06 | 2016-01-13 | 辽宁省安全科学研究院 | Tower crane lifting alliance state online monitoring system and method for supervising |
| CN205916916U (en) * | 2016-02-29 | 2017-02-01 | 上海睿技土木工程咨询有限公司 | Distributing type hoist safety monitoring early warning device |
| CN205527452U (en) * | 2016-03-29 | 2016-08-31 | 义乌华盟电器有限公司 | Tower set -top that monitor function is taken one's place to strap bolt rises protection system |
| CN106957019A (en) * | 2017-01-25 | 2017-07-18 | 辽宁省安全科学研究院 | Tower crane lifting platform monitoring system |
| CN107235419A (en) * | 2017-07-11 | 2017-10-10 | 长沙海川自动化设备有限公司 | Safety monitoring system for tower crane and the derrick crane with it |
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