Self-stabilization control method and system for tower crane

Abstract

The invention discloses a self-stabilization control method and system for a tower crane. The system comprises a cab installed on a tower body, and a main control box and a course sensor are installed in the cab; a suspension arm trolley is installed on a suspension arm, an inertia measurement unit is installed in the suspension arm trolley, and a camera facing the lifting hook is installed on the lower portion of the suspension arm trolley; wherein the camera acquires an image of an object on a lifting hook in real time and sends the image to the main control box, the inertial measurement unit acquires acceleration, speed and position information of the suspension arm trolley in real time and sends the information to the main control box, and the course sensor acquires angular acceleration, angular speed and angle of rotation of the tower crane in real time and sends the angular acceleration, angular speed and angle to the main control box; and the main control box analyzes the real-time position of the object according to the object image, controls the movement of the suspension arm trolley and the suspension arm according to the deviation of the real-time position of the object from the preset range, so that the real-time position of the object is within the preset range. When the object deviates from the preset range, the hoisted object is quickly stabilized, so that the possible personal safety problem of constructors and the possible overturning problem of the tower crane are prevented.

Description

technical field [0001] The invention relates to the technical field of tower crane accessories, in particular to a tower crane self-stabilizing control method and system. Background technique [0002] At present, the balance of most tower cranes is completed by counterweights. The counterweights are adjusted according to the hoisting weight to complete the entire balance system, but the overall balance is passive and the stability is poor. There will be a certain range when hoisting heavy equipment. The swing, and the ability to resist strong winds is also weak, and the overall balance performance is not good. [0003] The existing Chinese invention patent CN104495643A discloses a tower crane active stability maintenance system, which is mainly composed of a longitudinal block, a transverse block, a steel cable and a balance ellipsoid, and the longitudinal pulleys on both sides of the longitudinal block are installed in the pulley groove of the tower crane arm Above, the tr...

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned patented technology only controls the stability of the tower crane from the perspective of the mechanical structure and the electronic system monitoring the inclination of the tower body

However, if the suspended object has a large shaking amplitude and excessive swing during the hanging and transportation process, it may cause personal safety problems for nearby construction workers, and cause the tower crane to overturn, resulting in serious safety production accidents.

[0005] At present, there is no way to actively control the suspended object to stabilize the suspended object if there is a large shaking amplitude or excessive swing during the suspension and transportation process.

Images