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Movable arm tower crane arm rest anti-collision identification and control method based on behavior sensitivity

A technology of a boom tower crane and a control method, which is applied to cranes, load hanging components, safety devices, etc., can solve problems such as control problems that do not involve anti-collision of tower cranes, and solve the problem of space anti-collision collision recognition and control. , improve efficiency and accuracy

Active Publication Date: 2020-02-18
XIAN MAPLE TREE ELECTRONICSAL TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing patent "A behavior-based three-dimensional anti-collision algorithm for multi-tower cranes" is mainly aimed at the collision detection of horizontal tower cranes, and does not involve the control of tower crane anti-collision

Method used

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  • Movable arm tower crane arm rest anti-collision identification and control method based on behavior sensitivity
  • Movable arm tower crane arm rest anti-collision identification and control method based on behavior sensitivity
  • Movable arm tower crane arm rest anti-collision identification and control method based on behavior sensitivity

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Experimental program
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Embodiment

[0072] There are two adjacent luffing jib tower cranes TC a and TC b , let the site coordinate positions (in meters) of the two tower cranes be TC a (x a =10,y a =0,z a = 0) and TC b (x b =56.5,y b =7.02,z b =0); the structural parameters of the two tower cranes are: TC a The jib length is 45 meters and the jib height is 40 meters; TC b The length of the boom is 50 meters, and the height of the boom is 45 meters; the current rotation angle θ and the pitch angle γ of the two tower cranes are shown in Table 1.

[0073] Table 1. The positions of the booms of the two tower cranes

[0074] Tower crane Boom rotation angle θ Jib pitch angleγ Tower crane Boom rotation angle θ Jib pitch angleγ TC a

0° 42.89° TC b

190.55° 18.76°

[0075] According to the above-mentioned anti-collision identification and control method of the present invention, the specific implementation process is as follows:

[0076] Step 1: Obtain the two-tower cra...

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Abstract

The invention discloses a movable arm tower crane arm rest anti-collision identification and control method based on behavior sensitivity. The method comprises the steps that 1, a movable arm tower crane arm rest model is established; 2, the shortest distance between two movable arm tower crane arm rest spaces is calculated; 3, the movable arm tower crane collision danger degree is judged; 4, themovable arm tower crane behavior sensitivity is analyzed; and 5, anti-collision passive cut-off control over movable arm tower crane arm rests is achieved. By means of the method, dangerous operationjudgment on the space distance behavior sensitivity is realized, and the efficiency and accuracy of collision recognition are improved; and passive cut-off control over the dangerous operation of a tower crane is achieved, deceleration control strategies or stop control strategies are adopted by using the dangerous degree, and the problems of space collision avoidance and collision control of movable arm tower crane arm rest complex attitudes are solved.

Description

technical field [0001] The invention belongs to the technical field of tower group safety control, and relates to an anti-collision identification and control method for a jib of a boom tower crane based on behavior sensitivity. Background technique [0002] At present, the commonly used tower cranes on the construction site include horizontal jib tower cranes (hereinafter referred to as horizontal tower cranes) and jib jib tower cranes (hereinafter referred to as luffing jib tower cranes). With the development of the economy, the density of buildings makes the working space of the tower crane limited. At the same time, due to the small footprint of the structural engineering and the heavy steel structure components of high-rise buildings, the lifting capacity and lifting moment of the horizontal arm tower crane are very limited. Difficult to meet requirements; luffing jib tower cranes are becoming more and more common in the construction industry due to their high capacity ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C23/88B66C15/04
CPCB66C15/045B66C23/88
Inventor 贺俊刘栋徐苍博
Owner XIAN MAPLE TREE ELECTRONICSAL TECH DEV