CN113911922B - Intelligent tower crane rotation overall process condition monitoring and sensing method and system - Google Patents
Intelligent tower crane rotation overall process condition monitoring and sensing method and system Download PDFInfo
- Publication number
- CN113911922B CN113911922B CN202111069050.1A CN202111069050A CN113911922B CN 113911922 B CN113911922 B CN 113911922B CN 202111069050 A CN202111069050 A CN 202111069050A CN 113911922 B CN113911922 B CN 113911922B
- Authority
- CN
- China
- Prior art keywords
- lifting
- tower crane
- lifting hook
- tower
- spatial position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
-
- 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
- B66C23/88—Safety gear
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The embodiment of the application provides an intelligent tower crane rotation overall process condition monitoring and sensing method and system. The method comprises the following steps: when the obstacle sensor monitors that an obstacle exists in a preset range, judging a first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to position sensor data; if the first spatial position relation accords with a first preset early warning condition, judging a second spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relation and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling a plurality of tower cranes to slow down until stopping; and receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning the lifting paths and the lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and the lifting hook and the other tower cranes and the lifting hooks. According to the method and the device, collision risks can be effectively avoided when a plurality of tower cranes simultaneously execute lifting tasks, safety is improved, and scientific planning is performed when paths conflict.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to a method and a system for monitoring and sensing the condition of the whole process of the rotation of an intelligent tower crane.
Background
At present, the tower crane is basically operated by personnel in a central control room on the tower crane. For the tower crane industry, the current development direction is unmanned tower crane and intelligent tower crane, so that a plurality of technical problems are encountered in the process of industrial upgrading.
At present, in the process of hoisting a plurality of tower cranes simultaneously, because hoisting task routes may overlap, two or more tower cranes may collide with each other.
Disclosure of Invention
In view of this, the purpose of the present application is to provide a method and a system for monitoring and sensing the status of the whole process of the rotation of an intelligent tower crane, which can solve the problem of the risk of the operation of the existing multi-tower crane in a targeted manner.
Based on the above purpose, the application provides an intelligent tower crane rotation overall process condition monitoring and sensing method, which comprises the following steps:
when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set at the same time, speed sensors, position sensors and obstacle sensors are arranged at two ends of a main beam of each tower crane and on a lifting hook;
acquiring obstacle sensor data of the two ends of the main beam of each tower crane and the lifting hook in real time, and starting the position sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data when the obstacle sensor monitors that an obstacle exists in a preset range;
judging a first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data;
judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping;
and receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning the lifting paths and the lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and the lifting hook and the other tower cranes and the lifting hooks.
Further, the tower crane comprises a luffing trolley, wherein the luffing trolley is used for controlling the lifting height and the transverse position of the lifting hook.
Further, the method further comprises the steps of:
and when the obstacle sensor detects that no obstacle exists in the preset range, the position sensors at the two ends of the main beam of each tower crane and the lifting hook are not started.
Further, the first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks is judged in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hooks and acquiring real-time data, wherein the method comprises the following steps:
calculating the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the space position coordinates of the lifting hooks and the space position coordinates of the two ends of the main beam of other tower cranes and the space position coordinates of the lifting hooks;
if the space distance is larger than a first preset early warning distance, not starting speed sensors at two ends of a main beam of each tower crane and a lifting hook; if the space distance is smaller than the first preset early warning distance, starting the speed sensors at the two ends of the main beam of at least two tower cranes and the lifting hook corresponding to the space distance smaller than the first preset early warning distance, and acquiring real-time data.
Further, judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping, including:
calculating the space position coordinates of each tower crane and lifting hook after a preset time period according to the data of the speed sensor;
calculating the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the space position coordinates of the lifting hooks and the space position coordinates of the two ends of the main beam of other tower cranes and the space position coordinates of the lifting hooks;
if the space distance is larger than the second preset early warning distance, not starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hook; and if the space distance is smaller than a second preset early warning distance, controlling the plurality of tower cranes to slow down until stopping.
Further, each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the number of the materials.
Further, the receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning lifting paths and lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks, including:
receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the quantity of materials to be hoisted;
according to the lifting tasks, matching a plurality of materials to be lifted in each lifting hook and a material set, and selecting at least one material to be lifted, which accords with the type of the material to be lifted, for each lifting hook;
when the number of the materials to be lifted matched with one lifting hook is multiple, the space distance from the lifting hook to each matched material to be lifted is obtained and the materials to be lifted are ordered;
selecting a matching material closest to the space distance of the lifting hook as a final target lifting material;
planning a lifting path from the lifting hook to the target lifting material according to the spatial position relation between the lifting hook and the target lifting material;
when the lifting paths of the lifting hooks are crossed, the lifting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the lifting tasks.
Based on the above-mentioned purpose, the application still provides an intelligent tower crane gyration overall process situation monitoring sensing system, includes:
the sensor module is used for arranging speed sensors, position sensors and obstacle sensors at two ends of a main beam of each tower crane and on the lifting hook when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set simultaneously;
the position acquisition module is used for acquiring the data of the obstacle sensors at the two ends of the main beam of each tower crane and the lifting hook in real time, and starting the position sensors at the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data when the obstacle sensors monitor that the obstacle exists in a preset range;
the first early warning module is used for judging first spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data;
the second early warning module is used for judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping;
and the matching planning module is used for receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning the lifting paths and the lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and the lifting hook and the other tower cranes and the lifting hooks.
Overall, the advantages of the present application and the experience brought to the user are:
according to the method and the device, when a plurality of tower cranes simultaneously execute the lifting tasks, collision risks among the tower cranes or lifting hooks can be effectively avoided through real-time obstacle monitoring, position detection, speed monitoring and expected calculation, the safety of the tower crane group during operation is improved, and scientific planning is performed when the paths of the lifting tasks of the tower cranes conflict.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application.
Fig. 2 shows a flowchart of an intelligent tower crane swing overall process condition monitoring sensing method according to an embodiment of the present application.
Fig. 3 shows a construction diagram of an intelligent tower crane swing overall process condition monitoring sensing system according to an embodiment of the present application.
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application. In the embodiment of the application, as shown in the left part of fig. 1, a construction site is provided with a position sensor and an image sensor on each tower crane hook. The data of each sensor is collected in real time and sent to the background of the Internet of things in a wired or wireless mode. Four tower cranes surround the material field, and four materials are arranged in the material field: material 1, material 2, material 3, material 4. The four materials may be of the same material type or of different material types, such as steel bars, prefabricated panels, wood boards, plastics, etc.; the four materials may be the same or different in number.
In the embodiment of the invention, the platform of the internet of things can adopt a server with communication capability, and can also be terminal equipment with calculation capability and signal receiving and transmitting capability such as a smart phone, a smart watch and the like.
Fig. 2 shows a flowchart of an intelligent tower crane swing overall process condition monitoring sensing method according to an embodiment of the present application. As shown in fig. 2, the intelligent tower crane rotation overall process condition monitoring and sensing method comprises the following steps:
step 101: when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set simultaneously, speed sensors, position sensors and obstacle sensors are arranged at two ends of a main beam of each tower crane and on a lifting hook. The tower crane comprises an amplitude changing trolley, and the amplitude changing trolley is used for controlling the lifting height and the transverse position of the lifting hook.
In the embodiment of the invention, the position sensor is a nano sensor, and the nano sensor is a sensor with a size of nano-level to millimeter-level, so that the nano sensor can only comprise a position feedback function but not comprise other functions in order to make the size of the nano sensor small enough.
The nano sensor can be an original electronic chip with the diameter of 1 mm, the electronic chip only has a position feedback function, and after the electronic chip is started, the electronic chip starts to feed back the position information to the terminal equipment. After receiving the position information, the terminal equipment determines the distribution position of each sensor according to the acquired plurality of position information.
The obstacle sensor includes one or more of the following: visual sensor, laser sensor, infrared sensor, ultrasonic sensor.
The speed sensor adopts a laser speed measurement or radar speed measurement mode, and the measured speed comprises a speed absolute value and a space vector direction of the speed.
Step 102: and acquiring obstacle sensor data of the two ends of the main beam of each tower crane and the lifting hook in real time, and starting the position sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data when the obstacle sensor monitors that an obstacle exists in a preset range. And when the obstacle sensor detects that no obstacle exists in the preset range, the position sensors at the two ends of the main beam of each tower crane and the lifting hook are not started.
For example, when an obstacle sensor at one end of the main beam of a tower crane detects that an obstacle exists in the range of 20 meters, the risk of collision may exist, and position sensors at two ends of the main beam and the lifting hook of each tower crane are started to acquire real-time data and send the real-time data to a monitoring background to judge which tower crane or lifting hook possibly collides with.
Step 103: judging a first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hooks and acquiring real-time data, wherein the method comprises the following steps:
calculating the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the space position coordinates of the lifting hooks and the space position coordinates of the two ends of the main beam of other tower cranes and the space position coordinates of the lifting hooks;
if the space distance is larger than a first preset early warning distance, not starting speed sensors at two ends of a main beam of each tower crane and a lifting hook; if the space distance is smaller than the first preset early warning distance, starting the speed sensors at the two ends of the main beam of at least two tower cranes and the lifting hook corresponding to the space distance smaller than the first preset early warning distance, and acquiring real-time data.
For example, assuming that an obstacle sensor S at one end of a main beam of a first tower crane a detects that an obstacle enters a range of 20 meters, after position sensors of all tower cranes are started, a monitoring background builds a space coordinate system according to position sensor data of all tower cranes, and calculates space position coordinates of two ends of the main beam of each tower crane and a lifting hook in the space coordinate system in real time, for example, position coordinates (X0, Y0 and Z0) of the obstacle sensor S and coordinate positions of the other two position sensors are (X10, Y10, Z10), (X11, Y11 and Z11); position coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of three position sensors of the other tower crane B; position coordinates (X4, Y4, Z4), (X5, Y5, Z5), (X6, Y6, Z6) of three position sensors of the third tower crane C; position coordinates (X7, Y7, Z7), (X8, Y8, Z8), (X9, Y9, Z9) of the three position sensors of the fourth tower crane D.
According to the solid space geometrical relationship, according to the basic mathematical physical relationship, the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main beam of other tower cranes and the lifting hook can be calculated; for example, first, the spatial distances L1 … … L9 between the position coordinates (X0, Y0, Z0) and (X1, Y1, Z1), … …, (X9, Y9, Z9) where the obstacle sensor S is located are calculated.
If the space distances L1 … … L9 are all larger than a first preset early warning distance, for example, 15 meters, the tower crane A is considered to be temporarily prevented from colliding with other tower cranes, and the speed sensors of the two ends of the main beam of each tower crane and the lifting hook are not started in order to save resources; however, if one of the spatial distances L1 … … L9, for example L1, is smaller than 15 meters, it is considered that the tower crane a may collide with the tower crane B soon, and the speed sensors of the tower crane a, the main beam two ends of the tower crane B, and the hooks are activated and real-time data is acquired to determine whether two tower cranes collide in the future according to the speed.
Step 104: judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping, including:
calculating the space position coordinates of each tower crane and lifting hook after a preset time period according to the data of the speed sensor;
calculating the space distance between the space position coordinates of the two ends of the main beam of each tower crane and the space position coordinates of the lifting hooks and the space position coordinates of the two ends of the main beam of other tower cranes and the space position coordinates of the lifting hooks;
if the space distance is larger than the second preset early warning distance, not starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hook; and if the space distance is smaller than a second preset early warning distance, controlling the plurality of tower cranes to slow down until stopping.
For example, according to the speed sensor of the first tower crane a and the second tower crane B being 1 m/s, three spatial position coordinates (X0 ', Y0', Z0 '), X10', Y10 ', Z10', X11 ', Y11', Z11 ') of the tower crane a after 2 s are calculated, three spatial position coordinates (X1', Y1 ', Z1'), X2 ', Y2', Z10 ', X2', Y2 ', Z2', etc. of the tower crane B, but of course, the present application is not limited to calculating the position coordinates of one time point, but may also calculate 1 s, 3 s, etc. and draw the future spatial movement track of each position according thereto.
According to the solid space geometrical relationship, according to the basic mathematical physical relationship, the space distance between the space position coordinates of the two ends of the main beam and the lifting hook of each tower crane after time updating and the space position coordinates of the two ends of the main beam and the lifting hook of other tower cranes can be calculated; for example, first, the spatial distances L1 ', L2 ', L3 ' of the position coordinates (X0 ', Y0 ', Z0 ') of the obstacle sensor S of the tower crane a and the updated three spatial position coordinates (X1 ', Y1 ', Z1 '), X2 ', Y2 ', Z10 ', X2 ', Y2 ', Z2 ') of the tower crane B are calculated.
If the spatial distances L1 ', L2 ' and L3 ' are larger than the second preset early warning distance, for example, 10 meters, the distance between the two can be considered as far, and the speed reduction of the tower crane A, B is not required to be controlled; however, if any of the spatial distances L1 ', L2 ', L3 ' is less than 10 meters, the tower A, B is considered to have a significant risk of collision, and the tower A, B is immediately controlled to slow down until stopped. Therefore, collision risks between the tower cranes or the lifting hooks can be effectively avoided, and the safety of the tower crane group during operation is improved.
Step 105: each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the quantity of the material. Receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning lifting paths and lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks, wherein the method comprises the following steps:
receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the quantity of materials to be hoisted;
according to the lifting tasks, matching a plurality of materials to be lifted in each lifting hook and a material set, and selecting at least one material to be lifted, which accords with the type of the material to be lifted, for each lifting hook;
when the number of the materials to be lifted matched with one lifting hook is multiple, the space distance from the lifting hook to each matched material to be lifted is obtained and the materials to be lifted are ordered;
selecting a matching material closest to the space distance of the lifting hook as a final target lifting material;
planning a lifting path from the lifting hook to the target lifting material according to the spatial position relation between the lifting hook and the target lifting material;
when the lifting paths of the lifting hooks are crossed, the lifting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the lifting tasks.
For example, through analyzing the hoisting task, the lifting hook 1 is required to hoist the prefabricated plate, and through monitoring the types and the amounts of various materials pre-stored in the background, analysis and matching can be performed, so that only the prefabricated plate in the materials 2 can be known. According to the lifting hook 1, the materials 2 are selected for combination, and corresponding lifting tasks are executed.
For another example, through analyzing the hoisting task, the lifting hook 1 is required to hoist the steel plate, and through monitoring types and numbers of various materials pre-stored in the background, analysis and matching can be performed, so that the steel plates in the materials 1 and 4 can be known. By analyzing the distance relation between the material 1 and the material 4 and the lifting hook 1, the material 1 is closer to the lifting hook 1, and then the lifting hook 1 selects the material 1 for combination according to the principle of nearby, and executes corresponding lifting tasks.
For another example, if the lifting hook 1 at the upper left corner of fig. 1 is to lift the material 4 at the lower right corner, and at the same time, the lifting hook 4 at the lower right corner is to lift the material 1 at the upper left corner, the lifting paths overlap, if performed simultaneously, resulting in two tower cranes colliding, which causes a safety accident. At this time, the occurrence of such safety accidents can be avoided by reasonably arranging the lifting time of the overlapped lifting hooks and executing the time-division lifting.
For another example, if the lifting routes of the lifting hooks are not coincident, for example, the lifting hook 1 at the upper left corner is required to lift the material 1 at the upper left corner, the lifting hook 2 at the upper right corner is required to lift the material 2 at the upper right corner, the lifting hook 3 at the lower left corner is required to lift the material 3 at the lower left corner, and the lifting hook 4 at the lower right corner is required to lift the material 4 at the lower right corner, the lifting tasks can be simultaneously executed, and the most lifting tasks are completed in unit time, so that the lifting efficiency is improved.
More preferably, for example, if the number of steel plates to be lifted by the lifting hook 1 exceeds the number of steel plates of the material 1, when planning, the material 1 is lifted in advance, and after the steel plates of the material 1 are used, the steel plates in the material 4 are continuously lifted.
According to the method and the device, when a plurality of tower cranes simultaneously execute the lifting tasks, collision risks among the tower cranes or lifting hooks can be effectively avoided through real-time obstacle monitoring, position detection, speed monitoring and expected calculation, the safety of the tower crane group during operation is improved, and scientific planning is performed when the paths of the lifting tasks of the tower cranes conflict.
An embodiment of the application provides an intelligent tower crane rotation overall process condition monitoring and sensing system, which is used for executing the intelligent tower crane rotation overall process condition monitoring and sensing method described in the above embodiment, as shown in fig. 3, and the system includes:
the sensor module 501 is used for arranging a speed sensor, a position sensor and an obstacle sensor at two ends of a main beam and a lifting hook of each tower crane when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set simultaneously;
the position acquisition module 502 is configured to acquire, in real time, obstacle sensor data of both ends of the main beam of each tower crane and the lifting hook, and when the obstacle sensor detects that an obstacle exists in a preset range, start the position sensor of both ends of the main beam of each tower crane and the lifting hook and acquire real-time data;
the first early warning module 503 is configured to determine, in real time, a first spatial position relationship between each tower crane and lifting hook and other tower cranes and lifting hooks according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data;
the second early warning module 504 is configured to determine, according to the first spatial position relationship and the speed sensor data, a second spatial position relationship between each tower crane and the lifting hook after a preset period of time and other tower cranes and lifting hooks; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping;
and the matching planning module 505 is configured to receive and analyze the lifting tasks of the multiple tower cranes, and plan lifting paths and lifting sequences of the multiple tower cranes according to the current spatial position relations between the tower cranes and the lifting hooks and between the other tower cranes and the lifting hooks.
The intelligent tower crane rotation whole process condition monitoring and sensing system provided by the embodiment of the application and the intelligent tower crane rotation whole process condition monitoring and sensing method provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the stored application program because of the same inventive concept.
The embodiment of the application also provides electronic equipment corresponding to the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment, so as to execute the intelligent tower crane rotation overall process condition monitoring and sensing method. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the intelligent tower crane slewing whole-process condition monitoring and sensing method provided by any of the foregoing embodiments of the present application is executed.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the intelligent tower crane rotation overall process condition monitoring and sensing method due to the same inventive concept.
The present embodiment further provides a computer readable storage medium corresponding to the intelligent tower crane rotation overall process condition monitoring and sensing method provided in the foregoing embodiment, referring to fig. 5, the computer readable storage medium is shown as an optical disc 30, and a computer program (i.e. a program product) is stored thereon, where the computer program, when executed by a processor, performs the intelligent tower crane rotation overall process condition monitoring and sensing method provided in any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application and the intelligent tower crane rotation overall process condition monitoring and sensing method provided by the embodiment of the present application are the same inventive concept, and have the same beneficial effects as the method adopted, operated or implemented by the application program stored therein.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and the above description of specific languages is provided for disclosure of preferred embodiments of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as a device or system program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. The intelligent tower crane rotation overall process condition monitoring and sensing method is characterized by comprising the following steps of:
when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set at the same time, speed sensors, position sensors and obstacle sensors are arranged at two ends of a main beam of each tower crane and on a lifting hook; each material to be hoisted in the material set is provided with a position sensor and a label, and the label comprises the type and the number of the materials;
acquiring obstacle sensor data of the two ends of the main beam of each tower crane and the lifting hook in real time, and starting the position sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data when the obstacle sensor monitors that an obstacle exists in a preset range;
judging a first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data;
judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping;
receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning lifting paths and lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks, wherein the method comprises the following steps: receiving and analyzing a hoisting task; the hoisting task comprises a label of each lifting hook and the type and the quantity of materials to be hoisted; according to the lifting tasks, matching a plurality of materials to be lifted in each lifting hook and a material set, and selecting at least one material to be lifted, which accords with the type of the material to be lifted, for each lifting hook; when the number of the materials to be lifted matched with one lifting hook is multiple, acquiring a first space distance from the lifting hook to each matched material to be lifted, and sequencing; selecting a matching material closest to the first space distance of the lifting hook as a final target lifting material; planning a lifting path from the lifting hook to the target lifting material according to the spatial position relation between the lifting hook and the target lifting material; when the lifting paths of the lifting hooks are crossed, the lifting sequence of all the lifting hooks is optimized comprehensively according to the urgent degree of the lifting tasks.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
the tower crane comprises an amplitude changing trolley, and the amplitude changing trolley is used for controlling the lifting height and the transverse position of the lifting hook.
3. The method as recited in claim 2, further comprising:
and when the obstacle sensor detects that no obstacle exists in the preset range, the position sensors at the two ends of the main beam of each tower crane and the lifting hook are not started.
4. The method of claim 3, wherein the step of,
the first spatial position relation between each tower crane and lifting hook and other tower cranes and lifting hooks is judged in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hooks and acquiring real-time data, wherein the method comprises the following steps:
calculating the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook in real time according to the position sensor data;
calculating a second space distance between the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main beam of the other tower cranes and the lifting hook;
if the second space distance is larger than the first preset early warning distance, not starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hook; if the second space distance is smaller than the first preset early warning distance, starting the speed sensors at the two ends of the main beam of at least two tower cranes and the lifting hook corresponding to the second space distance smaller than the first preset early warning distance, and acquiring real-time data.
5. The method of claim 4, wherein the step of determining the position of the first electrode is performed,
judging second spatial position relations among each tower crane and lifting hook, other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping, including:
calculating the space position coordinates of each tower crane and lifting hook after a preset time period according to the data of the speed sensor;
calculating a third space distance between the space position coordinates of the two ends of the main beam of each tower crane and the lifting hook and the space position coordinates of the two ends of the main beam of the other tower cranes and the lifting hook;
if the third space distance is larger than the second preset early warning distance, not starting the speed sensors at the two ends of the main beam of each tower crane and the lifting hook; and if the third space distance is smaller than the second preset early warning distance, controlling the plurality of tower cranes to slow down until stopping.
6. An intelligent tower crane swing whole process condition monitoring sensing system using the intelligent tower crane swing whole process condition monitoring sensing method of any one of claims 1-5, comprising:
the sensor module is used for arranging speed sensors, position sensors and obstacle sensors at two ends of a main beam of each tower crane and on the lifting hook when a plurality of tower cranes hoist a plurality of materials to be hoisted in a material set simultaneously;
the position acquisition module is used for acquiring the data of the obstacle sensors at the two ends of the main beam of each tower crane and the lifting hook in real time, and starting the position sensors at the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data when the obstacle sensors monitor that the obstacle exists in a preset range;
the first early warning module is used for judging first spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks in real time according to the position sensor data; if the first spatial position relation accords with a first preset early warning condition, starting the speed sensors of the two ends of the main beam of each tower crane and the lifting hook and acquiring real-time data;
the second early warning module is used for judging second spatial position relations between each tower crane and lifting hook and other tower cranes and lifting hooks after a preset time period according to the first spatial position relations and the speed sensor data; if the second spatial position relation meets a second preset early warning condition, controlling the plurality of tower cranes to slow down until stopping;
and the matching planning module is used for receiving and analyzing the lifting tasks of the plurality of tower cranes, and planning the lifting paths and the lifting sequences of the plurality of tower cranes according to the current spatial position relation between each tower crane and the lifting hook and the other tower cranes and the lifting hooks.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of any one of claims 1-5.
8. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069050.1A CN113911922B (en) | 2021-09-13 | 2021-09-13 | Intelligent tower crane rotation overall process condition monitoring and sensing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069050.1A CN113911922B (en) | 2021-09-13 | 2021-09-13 | Intelligent tower crane rotation overall process condition monitoring and sensing method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113911922A CN113911922A (en) | 2022-01-11 |
| CN113911922B true CN113911922B (en) | 2023-06-02 |
Family
ID=79234774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111069050.1A Active CN113911922B (en) | 2021-09-13 | 2021-09-13 | Intelligent tower crane rotation overall process condition monitoring and sensing method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113911922B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212688B (en) * | 2022-02-22 | 2022-08-05 | 杭州未名信科科技有限公司 | Motion control method and device of intelligent tower crane |
| CN114634108B (en) * | 2022-05-17 | 2023-06-16 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
| CN115465784B (en) * | 2022-08-24 | 2024-05-24 | 杭州大杰智能传动科技有限公司 | Regional tower crane monitoring control method and system based on project control |
| CN115838119A (en) * | 2022-12-23 | 2023-03-24 | 北京东土科技股份有限公司 | On-site safety control method, controller and computing device for tower crane |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005104665A (en) * | 2003-09-30 | 2005-04-21 | Mitsui Eng & Shipbuild Co Ltd | Method and device for preventing collision of container |
| JP2007323112A (en) * | 2006-05-30 | 2007-12-13 | Ishikawajima Transport Machinery Co Ltd | Collision prevention controller and method for transport device |
| CN107879260A (en) * | 2017-10-11 | 2018-04-06 | 武汉科技大学 | Tower crane collision avoidance system and safety-protection system based on BIM |
| CN109052201A (en) * | 2018-10-17 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of lifting equipment anti-collision early warning system and its method |
| CN209242526U (en) * | 2018-12-29 | 2019-08-13 | 威海市华塔建筑机械有限公司 | A kind of tower crane with barrier avoiding function |
| CN110733981A (en) * | 2019-12-20 | 2020-01-31 | 广东博智林机器人有限公司 | Tower crane safety monitoring method and system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3048545C (en) * | 2016-12-27 | 2022-04-05 | Xuzhou Heavy Machinery Co., Ltd. | Operation control method and system for crane, and crane |
| CN110526142A (en) * | 2018-05-23 | 2019-12-03 | 阳程（佛山）科技有限公司 | Intelligent tower crane |
-
2021
- 2021-09-13 CN CN202111069050.1A patent/CN113911922B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005104665A (en) * | 2003-09-30 | 2005-04-21 | Mitsui Eng & Shipbuild Co Ltd | Method and device for preventing collision of container |
| JP2007323112A (en) * | 2006-05-30 | 2007-12-13 | Ishikawajima Transport Machinery Co Ltd | Collision prevention controller and method for transport device |
| CN107879260A (en) * | 2017-10-11 | 2018-04-06 | 武汉科技大学 | Tower crane collision avoidance system and safety-protection system based on BIM |
| CN109052201A (en) * | 2018-10-17 | 2018-12-21 | 中国水利水电第七工程局有限公司 | A kind of lifting equipment anti-collision early warning system and its method |
| CN209242526U (en) * | 2018-12-29 | 2019-08-13 | 威海市华塔建筑机械有限公司 | A kind of tower crane with barrier avoiding function |
| CN110733981A (en) * | 2019-12-20 | 2020-01-31 | 广东博智林机器人有限公司 | Tower crane safety monitoring method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113911922A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113911922B (en) | Intelligent tower crane rotation overall process condition monitoring and sensing method and system | |
| CN113911916B (en) | Lifting hook material combined positioning control method and system for intelligent tower crane | |
| KR102369031B1 (en) | APPARATUS FOR Real-Time MONITORING COLLISION PREVENTING OF CRANE AND CONTROL METHOD THEREOF | |
| CN107215792A (en) | Group's tower anticollision control method, control device and control system | |
| CN115465784B (en) | Regional tower crane monitoring control method and system based on project control | |
| CN114455490B (en) | Tower crane safety control method and system | |
| CN110615368A (en) | Building construction tower crane anti-collision early warning system considering wind speed influence | |
| CN114408778A (en) | Anti-collision system | |
| CN111170184B (en) | Real-time monitoring and early warning system and method for tower crane | |
| CN113901600B (en) | Automatic monitoring and controlling method and system for lifting load balance of intelligent tower crane | |
| CN116281635A (en) | Tower crane group anti-collision system based on laser radar | |
| CN114014188A (en) | Crane risk prevention method and device | |
| CN113763369B (en) | Tower crane clamp material matching identification method and device based on image feature analysis | |
| CN113911908B (en) | Internet of things background control method and system for intelligent tower crane driving | |
| CN113911918B (en) | Fault emergency dispatch control method and system for intelligent tower crane cluster | |
| CN116692705A (en) | Anti-collision monitoring method and device for group tower crane, electronic equipment and storage medium | |
| CN114604764B (en) | Automatic detection and control method and device for loosening of intelligent tower crane lifting hook | |
| CN115465794A (en) | Virtual collision detection method and system for transmission product design | |
| CN116395573A (en) | Group tower collision prediction method and group tower anti-collision system | |
| CN111137792A (en) | Three-dimensional anti-collision method and equipment for tower crane | |
| CN111196572A (en) | Safety protection method for tower crane | |
| CN114647011B (en) | Anti-hanging monitoring method, device and system for integrated cards | |
| CN113277431B (en) | Tower crane anti-collision monitoring system | |
| CN113911917B (en) | Auxiliary remote control method for intelligent tower crane main control room | |
| CN111348559B (en) | Control system and control method for predicting and avoiding collision between cable crane and gantry crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |