CN117945292A - Anti-collision and control method for project inner group tower operation - Google Patents
Anti-collision and control method for project inner group tower operation Download PDFInfo
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- CN117945292A CN117945292A CN202410351473.XA CN202410351473A CN117945292A CN 117945292 A CN117945292 A CN 117945292A CN 202410351473 A CN202410351473 A CN 202410351473A CN 117945292 A CN117945292 A CN 117945292A
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- 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
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Abstract
The invention relates to the technical field of tower crane operation safety monitoring and control, in particular to an in-project group tower operation anti-collision and control method, which comprises the following steps of S1: static information and dynamic information of a plurality of tower cranes are obtained, and a crossing area of the operation of the tower cranes is established; step S2: judging whether the trolley enters a crossing area or not according to the real-time position of the trolley; step S3: calculating to obtain the shortest distance between the trolley and the crane arm of the adjacent tower crane in the crossing area; step S4: driving the tower crane according to the shortest distance to perform deceleration or braking control; the method has the advantages that monitoring, prediction and speed reduction and braking control of the tower crane operation are realized, the early judgment and early braking of the collision risk of the tower crane are realized through the acquisition of the data of the tower crane and the acquisition of signals in the operation process, the collision accident of the tower crane is avoided, and the operation efficiency is improved while the safe operation is ensured.
Description
Technical Field
The invention relates to the technical field of tower crane operation safety monitoring and control, in particular to an in-project group tower operation anti-collision and control method.
Background
In many large engineering projects, in order to improve construction operation efficiency, a plurality of tower cranes are often set up to cooperatively operate on site, so that the situation of cross operation of the tower cranes is unavoidable, the risk of collision between the tower cranes is greatly increased, the safety of construction operation and the life and property safety of on-site personnel are ensured, and more attention is paid.
With the development of sensor technology, at present, a plurality of methods are to acquire operation information of a plurality of field tower cranes to obtain space three-dimensional motion by installing sensor equipment on the tower cranes, calculate the distance between the tower cranes according to the obtained position information of the field tower cranes and the operation state data of the lifting hooks, and judge the risk degree to make early warning according to the distance.
However, practice has shown that in order to avoid collisions of the tower, the range of operation of the tower is often limited outside the cross-work area in conjunction with mission planning, or alternately enters the cross-work area. In the actual production process, the operation of the crossed area is quite common and cannot be avoided, and the mode cannot meet the requirements, so that the operation efficiency is affected.
Therefore, it is necessary to invent an in-project tower cluster operation anti-collision and control method to solve the above problems.
Disclosure of Invention
The invention provides an in-project tower group operation anti-collision and control method for solving the problem of low operation efficiency of the existing anti-collision method.
The invention is realized by adopting the following technical scheme:
an intra-project group tower operation anti-collision and control method comprises the following steps:
Step S1: static information and dynamic information of a plurality of tower cranes are obtained, and a crossing area of the operation of the tower cranes is established;
When the rotation range of the lifting arm of the tower crane is different from the rotation range of the lifting arm of the adjacent tower crane, the overlapped range is a crossing area, the crossing area is determined by the length of the GPS and the lifting arm arranged on the trolley, and the crossing area is marked;
Step S2: judging whether the trolley enters a crossing area or not according to the real-time position of the trolley;
When the crane arm rotates outside the crossing area, the crane arm and the trolley work normally, and collision early warning can not be carried out; when the trolley of the crane arm rotates into the intersection area, collision early warning is carried out;
step S3: calculating to obtain the shortest distance between the trolley and the crane arm of the adjacent tower crane in the crossing area;
Two tower cranes in the crossing area are defined as a tower crane A and a tower crane B respectively, meanwhile, the height of the tower crane A is larger than that of the tower crane B, the shortest distance between a trolley of the tower crane A and a crane arm of the tower crane B is defined as D min, the position of the trolley of the tower crane A is defined as S 1, the shortest distance between the crane arm of the tower crane B and the trolley on the tower crane A is defined as S 2, the length of a suspended object is Lm, and the length of the suspended object is obtained through radar identification arranged on the trolley; then the shortest distance D min is the length of S 1 S2 minus L/2;
When the crane arm of the tower crane A rotates to a crossing area, the crane arm of the tower crane B and the crane arm of the tower crane A are in a different-plane crossing state, then the length of S 1 S2 is the vertical distance from the point S 1 to the crane arm of the tower crane B, S 2 is the vertical point from the point S 1 to the crane arm of the tower crane B, and D min which is the shortest distance between the trolley of the tower crane A and the crane arm of the tower crane B is the length of the line segment S 1 S2 minus L/2;
When the crane arm of the tower crane A rotates to a crossing area, the crane arm of the tower crane B and the crane arm of the tower crane A are in a different-plane parallel state, and then the length of S 1 S2 is the distance from the point S 1 to the crane arm tip of the tower crane B, wherein S 2 is the crane arm tip position of the tower crane B, and the shortest distance between the trolley of the tower crane A and the crane arm of the tower crane B is D min, namely the length of the line segment S 1 S2 minus L/2;
step S4: driving the tower crane according to the shortest distance to perform deceleration or braking control;
Defining a deceleration distance of a 1 m, and a braking distance of a 2 m, wherein a 1＞a2; when D min is larger than a 1, the tower crane performs early warning; when D min is smaller than or equal to a 1 and larger than a 2, the tower crane decelerates; when D min is less than a 2, the tower crane brakes.
Further, in the step S1: the static information comprises the height of each tower crane, the length of a crane arm, the length of a balance arm and the longitude and latitude position information of the tower crane; the dynamic information comprises amplitude changing distance, rotation angle, lifting hook lifting height, real-time position of the trolley and profile information of the suspended object;
The longitude and latitude position information of the tower crane is obtained through a GPS (global positioning system) arranged on the foundation of the tower crane, the amplitude changing distance, the rotation angle and the lifting hook lifting height are respectively obtained through an amplitude changing encoder arranged on an amplitude changing mechanism, a rotation encoder arranged on a rotation mechanism and a lifting encoder arranged on a lifting mechanism, the real-time position of the trolley is obtained through the GPS arranged on the trolley, and the profile information of the suspended object is obtained through a camera arranged at the root of a crane boom and a radar arranged on the trolley.
Further, the method for preventing and controlling the operation of the group towers in the project further comprises a data center, wherein each tower crane is provided with a controller, a display screen and an alarm;
In step S1, the static information and the dynamic information of each tower crane are transmitted to the data center through the controller, the data center constructs a cross area according to the static information and the dynamic information of the plurality of tower cranes, the cross area is transmitted to a display screen in each tower crane, and the cross area is updated in real time through the real-time dynamic information of each tower crane, so that a tower driver can check conveniently.
Further, in step S2, when the trolley on the crane arm rotates into the intersection area, the radar on the crane arm trolley can transmit the signal of "entering the intersection area" to the display screen through the controller and the data center to display, and meanwhile, the alarm on the tower crane starts to work, so that the attention of the tower crane can be conveniently reminded.
Further, in the step S4, as the crane boom of the tower crane continues to rotate, the data center compares the shortest distance between the trolley and the crane boom of the adjacent tower crane in the intersection area with a preset deceleration distance a 1, and if D min is greater than a 1, the data center controls the alarm of the tower crane a and the alarm of the tower crane B to alarm, so as to remind the tower crane; if D min is smaller than or equal to a 1 and larger than a 2, the data center controls the tower crane A and the tower crane B to automatically replace a low gear, decelerates the tower crane A and the tower crane B, and alarms; if D min is smaller than a 2, the data center controls the tower crane A and the tower crane B to brake and avoid collision of the tower crane A and the tower crane B.
The invention has reasonable and reliable structural design, realizes the monitoring, prediction and deceleration and braking control of the tower crane operation, realizes the early prediction and early braking of the collision risk of the tower crane by collecting the data of the tower crane and the signals in the running process, avoids the collision accident of the tower crane, ensures the safe operation and improves the operation efficiency.
Drawings
Fig. 1 is a schematic illustration of the shortest distance between a trolley and the boom of an adjacent tower crane when the boom of tower crane B intersects the boom of tower crane a at an out-of-plane intersection in the present invention.
Fig. 2 is a schematic illustration of the shortest distance between the trolley and the boom of an adjacent tower crane when the boom of tower crane B is out of plane parallel to the boom of tower crane a in the present invention.
Detailed Description
An intra-project group tower operation anti-collision and control method comprises the following steps:
Step S1: static information and dynamic information of a plurality of tower cranes are obtained, and a crossing area of the operation of the tower cranes is established;
the system also comprises a data center, and each tower crane is provided with a controller, a display screen and an alarm;
The static information comprises the height of each tower crane, the length of a crane arm, the length of a balance arm and the longitude and latitude position information of the tower crane; the dynamic information comprises amplitude changing distance, rotation angle, lifting hook lifting height, real-time position of the trolley and profile information of the suspended object;
The longitude and latitude position information of the tower crane is obtained through a GPS (global positioning system) arranged on the foundation of the tower crane, the luffing distance, the rotation angle and the lifting height of the lifting hook are respectively obtained through a luffing encoder arranged on the luffing mechanism, a rotation encoder arranged on the rotation mechanism and a lifting encoder arranged on the lifting mechanism, the real-time position of the trolley is obtained through the GPS arranged on the trolley, and the profile information of the suspended object is obtained through a camera arranged at the root of the boom of the lifting arm and a radar arranged on the trolley;
When the rotation range of the lifting arm of the tower crane is different from the rotation range of the lifting arm of the adjacent tower crane, the overlapped range is a crossing area, the crossing area is determined by the length of the GPS and the lifting arm arranged on the trolley, and the crossing area is marked;
the static information and the dynamic information of each tower crane are transmitted to the data center through the controller, the data center constructs an intersection area according to the static information and the dynamic information of the plurality of tower cranes, the intersection area is transmitted to a display screen in each tower crane, and the intersection area is updated in real time through the real-time dynamic information of each tower crane, so that a tower driver can conveniently check.
The data center and each controller transmit information through a wireless network, so that the sharing of the position and state information of a plurality of tower cranes is realized, and each tower crane can acquire the position information of the adjacent tower crane and the operation parameters of the current three mechanisms (an amplitude changing mechanism, a rotating mechanism and a lifting mechanism).
Step S2: judging whether the trolley enters a crossing area or not according to the real-time position of the trolley;
When the crane arm rotates outside the crossing area, the crane arm and the trolley work normally, and collision early warning can not be carried out; when the trolley of the crane arm rotates into the intersection area, collision early warning is carried out;
When the trolley on the crane boom rotates to the intersection area, the radar on the crane boom trolley can transmit a signal of 'entering the intersection area and please travel carefully' to the display screen through the controller and the data center to display, and meanwhile, the alarm on the tower crane starts to work, so that attention of a tower driver is conveniently reminded.
Step S3: calculating to obtain the shortest distance between the trolley and the crane arm of the adjacent tower crane in the crossing area;
The project group tower generally ensures that the heights of two adjacent tower cranes differ by at least 2m in the tower erecting process, and the distance between the boom tip of the tower crane and the tower body of the adjacent tower crane is at least 2m; the risk of collision in the project tower-swarm operation scene is mostly caused by the collision of the boom of the low tower with the lifting rope and the lifting object of the high tower, so that the risk is caused.
Therefore, two towers in the crossing area are defined as a tower crane A and a tower crane B respectively, the height of the tower crane A is larger than that of the tower crane B, the shortest distance between a trolley of the tower crane A and a crane arm of the tower crane B is defined as D min, the position of the trolley of the tower crane A is defined as S 1, the shortest distance between the crane arm of the tower crane B and the trolley on the tower crane A is defined as S 2, the length of a suspended object is Lm, and the length of the suspended object is obtained through radar identification arranged on the trolley; then the shortest distance D min is the length of S 1 S2 minus L/2;
As shown in fig. 1, when the boom of the tower crane a rotates to the intersection area, the boom of the tower crane B and the boom of the tower crane a are in a different-plane intersecting state, then the length of S 1 S2 is the vertical distance from the point S 1 to the vertical line of the boom of the tower crane B, wherein S 2 is the vertical point from the point S 1 to the vertical line of the boom of the tower crane B, and the shortest distance D min between the trolley of the tower crane a and the boom of the tower crane B is the length of the line segment S 1 S2 minus L/2;
As shown in fig. 2, when the boom of the tower crane a rotates to the intersection area, the boom of the tower crane B and the boom of the tower crane a are in a different-plane parallel state, and then the length of S 1 S2 is the distance from the point S 1 to the boom tip of the tower crane B, where S 2 is the boom tip position of the tower crane B, and the shortest distance between the trolley of the tower crane a and the boom of the tower crane B is D min, which is the length of the line segment S 1 S2 minus L/2;
step S4: driving the tower crane according to the shortest distance to perform deceleration or braking control;
defining a deceleration distance of a 1 m, and a braking distance of a 2 m, wherein a 1＞a2; when D min is larger than a 1, the tower crane performs early warning; when D min is smaller than or equal to a 1 and larger than a 2, the tower crane decelerates; when D min is less than a 2, the tower crane brakes.
Along with the continuous rotation of the crane boom of the tower crane, the data center compares the shortest distance between the trolley and the crane boom of the adjacent tower crane in the crossing area with a preset deceleration distance a 1, if D min is larger than a 1, the data center controls the alarm of the tower crane A and the alarm of the tower crane B to alarm and reminds the tower crane, and at the moment, the left side (right side) of the crane is displayed in the display screen to drive the crane carefully; if D min is smaller than or equal to a 1 and larger than a 2, the data center controls the tower crane A and the tower crane B to automatically replace a low gear, the tower crane A and the tower crane B are decelerated, and an alarm gives an alarm, and at the moment, a display screen displays that collision risk exists currently and the vehicle runs carefully; if D min is smaller than a 2, the data center controls the tower crane A and the tower crane B to brake and avoid collision of the tower crane A and the tower crane B; meanwhile, the tower can select to wait in situ or drive in the opposite direction according to the actual situation.
According to the invention, the collected static information and dynamic information of each tower crane are displayed and analyzed in a data center in a centralized manner, so that the running intersection area of the tower crane is established, the running condition of the tower crane is convenient to grasp from a macroscopic angle, when the tower crane enters the intersection area, an alarm starts to alarm, the phenomenon that the tower crane enters the intersection area and is carelessly driven is displayed to remind a tower, and meanwhile, the control operation of decelerating and braking is carried out according to the rule of the distance, so that the operation of simultaneously allowing the tower crane to operate in the intersection area is realized while early warning, the safe running of the tower crane is ensured through decelerating and braking, and the occurrence of collision is prevented.
In the specific implementation process, the real-time amplitude distance, the rotation angle and the lifting height of each tower crane can be displayed in a display screen of each tower crane, so that a tower crane can conveniently master the running condition of the tower crane;
In the concrete implementation process, the monitoring display screen is also installed, the camera is installed at the arm root of the crane boom, the monitoring display screen is electrically connected with the camera installed at the arm root of the crane boom, the profile of the suspended object is accurately scanned through the radar on the trolley, the 3D point cloud identification profile is constructed, the length, the width and the height information of the suspended object during operation can be obtained, and the profile information of the suspended object can be displayed on the monitoring display screen.
In the implementation process, the controller is a PLC controller.
In the specific implementation process, the alarm comprises a buzzer and a voice prompt.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, and is merely for convenience in describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. An intra-project group tower operation anti-collision and control method is characterized in that: the method comprises the following steps:
Step S1: static information and dynamic information of a plurality of tower cranes are obtained, and a crossing area of the operation of the tower cranes is established;
When the rotation range of the lifting arm of the tower crane is different from the rotation range of the lifting arm of the adjacent tower crane, the overlapped range is a crossing area, the crossing area is determined by the length of the GPS and the lifting arm arranged on the trolley, and the crossing area is marked;
Step S2: judging whether the trolley enters a crossing area or not according to the real-time position of the trolley;
When the crane arm rotates outside the crossing area, the crane arm and the trolley work normally, and collision early warning can not be carried out; when the trolley of the crane arm rotates into the intersection area, collision early warning is carried out;
step S3: calculating to obtain the shortest distance between the trolley and the crane arm of the adjacent tower crane in the crossing area;
Two tower cranes in the crossing area are defined as a tower crane A and a tower crane B respectively, meanwhile, the height of the tower crane A is larger than that of the tower crane B, the shortest distance between a trolley of the tower crane A and a crane arm of the tower crane B is defined as D min, the position of the trolley of the tower crane A is defined as S 1, the shortest distance between the crane arm of the tower crane B and the trolley on the tower crane A is defined as S 2, the length of a suspended object is Lm, and the length of the suspended object is obtained through radar identification arranged on the trolley; then the shortest distance D min is the length of S 1 S2 minus L/2;
When the crane arm of the tower crane A rotates to a crossing area, the crane arm of the tower crane B and the crane arm of the tower crane A are in a different-plane crossing state, then the length of S 1 S2 is the vertical distance from the point S 1 to the crane arm of the tower crane B, S 2 is the vertical point from the point S 1 to the crane arm of the tower crane B, and D min which is the shortest distance between the trolley of the tower crane A and the crane arm of the tower crane B is the length of the line segment S 1 S2 minus L/2;
When the crane arm of the tower crane A rotates to a crossing area, the crane arm of the tower crane B and the crane arm of the tower crane A are in a different-plane parallel state, and then the length of S 1 S2 is the distance from the point S 1 to the crane arm tip of the tower crane B, wherein S 2 is the crane arm tip position of the tower crane B, and the shortest distance between the trolley of the tower crane A and the crane arm of the tower crane B is D min, namely the length of the line segment S 1 S2 minus L/2;
step S4: driving the tower crane according to the shortest distance to perform deceleration or braking control;
Defining a deceleration distance of a 1 m, and a braking distance of a 2 m, wherein a 1＞a2; when D min is larger than a 1, the tower crane performs early warning; when D min is smaller than or equal to a 1 and larger than a 2, the tower crane decelerates; when D min is less than a 2, the tower crane brakes.
2. The method for preventing and controlling the operation of the tower group in the project according to claim 1, wherein the method comprises the following steps: in the step S1: the static information comprises the height of each tower crane, the length of a crane arm, the length of a balance arm and the longitude and latitude position information of the tower crane; the dynamic information comprises amplitude changing distance, rotation angle, lifting hook lifting height, real-time position of the trolley and profile information of the suspended object;
The longitude and latitude position information of the tower crane is obtained through a GPS (global positioning system) arranged on the foundation of the tower crane, the amplitude changing distance, the rotation angle and the lifting hook lifting height are respectively obtained through an amplitude changing encoder arranged on an amplitude changing mechanism, a rotation encoder arranged on a rotation mechanism and a lifting encoder arranged on a lifting mechanism, the real-time position of the trolley is obtained through the GPS arranged on the trolley, and the profile information of the suspended object is obtained through a camera arranged at the root of a crane boom and a radar arranged on the trolley.
3. The method for preventing and controlling the operation of the tower group in the project according to claim 1, wherein the method comprises the following steps: the system also comprises a data center, and each tower crane is provided with a controller, a display screen and an alarm;
In step S1, the static information and the dynamic information of each tower crane are transmitted to the data center through the controller, the data center constructs a cross area according to the static information and the dynamic information of the plurality of tower cranes, the cross area is transmitted to a display screen in each tower crane, and the cross area is updated in real time through the real-time dynamic information of each tower crane, so that a tower driver can check conveniently.
4. The method for preventing and controlling the operation of the tower group in the project according to claim 3, wherein the method comprises the following steps: in the step S2, when the trolley on the crane arm rotates into the intersection area, the radar on the crane arm trolley can transmit the signal of 'entering the intersection area and please travel carefully' to the display screen through the controller and the data center to display, and meanwhile, the alarm on the tower crane starts to work, so that the attention of the tower crane can be conveniently reminded.
5. The method for preventing and controlling the operation of the tower group in the project according to claim 3, wherein the method comprises the following steps: in the step S4, as the crane boom of the tower crane continues to rotate, the data center compares the shortest distance between the trolley and the crane boom of the adjacent tower crane in the intersection area with a preset deceleration distance a 1, if D min is greater than a 1, the data center controls the alarm of the tower crane a and the alarm of the tower crane B to alarm, and reminds the tower crane, and at the moment, the left side (right side) of the crane is displayed on the display screen to drive the crane with care; if D min is smaller than or equal to a 1 and larger than a 2, the data center controls the tower crane A and the tower crane B to automatically replace a low gear, the tower crane A and the tower crane B are decelerated, and an alarm gives an alarm, and at the moment, a display screen displays that collision risk exists currently and the vehicle runs carefully; if D min is smaller than a 2, the data center controls the tower crane A and the tower crane B to brake and avoid collision of the tower crane A and the tower crane B.
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