A method for preventing collision of tower cranes in tower operation

Abstract

The invention discloses a tower crane group tower operation anti-collision method. The method first sets tower crane parameters. During the setting, the tower crane group is divided into a self-tower crane and an associated tower crane. The parameters of the self-tower crane and the associated tower crane are set respectively. Then, anti-collision data is calculated, an origin coordinate system, a low-position tower crane coordinate system and a high-position tower crane coordinate system are established, and coordinate transformation is performed between the three coordinate systems by a homogeneous coordinate transformation method to obtain anti-collision data. The vertical distance d between the high-position tower crane trolley and the x-axis in the low-position tower crane coordinate system is calculated. 1 , the distance d between the high-rise tower crane trolley and the origin of the low-rise tower crane coordinate system 2 ; Finally, the anti-collision data d is processed by the anti-collision MCU 1 and d 2 Make a judgment, and combine the working conditions of the two tower cranes to make anti-collision adjustments through the linkage table, so that d 1 The width of the tower arm of the low-position tower crane is greater than half of the width of the tower arm of the low-position tower crane, so as to realize anti-collision control. The present invention can not only avoid collision during tower crane group tower operation, but also has the advantages of good construction safety and convenient operation.

Description

Technical Field

[0001] The invention relates to a tower crane group tower operation control method, in particular to a tower crane group tower operation anti-collision method. Background Art

[0002] In the field of modern construction, multiple tower cranes are often used to operate simultaneously during construction, forming a group tower operation to improve construction efficiency. In the actual construction process, the distance between two adjacent tower cranes is generally greater than the length of the tower crane boom, but in order to facilitate construction, the distance between two adjacent tower cranes is generally less than the sum of the lengths of the two tower crane booms; therefore, when the tower booms of the two tower cranes are in operation, the hook suspended under the tower crane trolley with a relatively high tower boom position is prone to collide with the tower boom of the tower crane with a relatively low tower boom position, resulting in unsatisfactory construction safety. Therefore, the existing tower crane group tower operation has the problem of easy collision between the hook and the tower boom and unsatisfactory construction safety. Summary of the invention

[0003] The purpose of the present invention is to provide a method for preventing collisions during tower crane group tower operations. The present invention can not only prevent collisions during tower crane group tower operations, but also has the advantage of good construction safety.

[0004] The technical solution of the present invention is a method for preventing collisions in tower crane group tower operations, comprising the following steps:

[0005] S1. Tower crane parameter setting, dividing the tower crane group into its own tower crane and associated tower crane; the parameter setting of its own tower crane includes tower crane basic parameters and anti-collision parameters, tower crane basic parameters include tower boom height and tower boom length, anti-collision parameters include its own tower crane serial number, channel, anti-collision warning distance, low-speed slewing frequency, slewing stop angle and function switch; associated tower crane parameters include manually set parameters and automatically acquired parameters, manually set parameters include associated tower crane serial number and associated tower crane distance, and automatically acquired parameters include calibration angle, tower boom height and tower boom length;

[0006] S2. Calculate anti-collision data and establish the origin coordinate system O xyz , low tower crane coordinate system O 1xyz and the high-rise tower crane coordinate system O 2xyz ; Low tower crane coordinate system O 1xyz The low-level tower crane tower body is taken as the origin, and the low-level tower crane tower arm direction is the x-axis; the high-level tower crane coordinate system O 2xyz The tower of the high-rise tower crane is taken as the origin, and the direction of the tower arm of the high-rise tower crane is taken as the x-axis; the anti-collision data is obtained by the homogeneous coordinate transformation method, and the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane is obtained. 1xyz The vertical distance d1 of the x-axis between the high-level tower crane trolley and the low-level tower crane coordinate system O 1xyz The distance from the origin d2, d1 = |A m*sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|, Where (x1, y1) is the coordinate system of the low-level tower crane at the origin O xyz The coordinate value on (x2, y2) is the coordinate value of the tower crane at the origin coordinate system O xyz The coordinate values ​​on the left and right sides are as follows: θ1 is the tower arm rotation angle of the low-level tower crane, θ2 is the tower arm rotation angle of the high-level tower crane, and A m The trolley amplitude of the high-rise tower crane;

[0007] S3. The anti-collision data is judged by the anti-collision MCU. When d2 is less than or equal to the length of the low-level tower crane's tower arm l1, the high-level tower crane trolley enters the interference area. The working conditions of the own tower crane and the associated tower crane are judged by the anti-collision MCU on the own tower crane and the associated tower crane. Finally, the anti-collision adjustment of the own tower crane and the associated tower crane is performed through the linkage table to make d1 greater than half of the width of the low-level tower crane's tower arm, so that the hook hanging under the high-level tower crane trolley will not collide with the low-level tower crane's tower arm, thereby realizing anti-collision control.

[0008] In the aforementioned anti-collision method for tower crane group operation, the calibration angle in step S1 is obtained by the following method: when the associated tower crane and the own tower crane are powered on normally and stopped, the tower arm of the own tower crane is controlled to align with the tower body of the associated tower crane. At this time, the clamping between the tower arm of the own tower crane and the angle zero point is the calibration angle; the angle zero point is the origin coordinate system O xyz The x-axis direction.

[0009] In the above-mentioned tower crane group tower operation anti-collision method, the homogeneous coordinate transformation method in step S2 is to list the coordinate system O from the origin xyz To the low tower crane coordinate system O 1xyz The homogeneous transformation matrix T 10 , represents the origin coordinate system O xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O 1xyz The coordinates within;

[0010]

[0011] Among them, θ1 is the tower arm rotation angle of the low-level tower crane, (x1, y1) is the tower body of the low-level tower crane at the origin coordinate system O xyz The coordinate values ​​on the coordinate system O are as follows: h1 is the height of the tower arm of the low-level tower crane; similarly, the coordinate values ​​from the coordinate system O of the high-level tower crane are listed. 2xyz To the origin coordinate system O xyz The homogeneous transformation matrix T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the origin coordinate system O xyzThe coordinates within;

[0012]

[0013] Among them, θ2 is the tower arm rotation angle of the high-rise tower crane, (x2, y2) is the tower body of the high-rise tower crane at the origin coordinate system O xyz coordinate value on the top, h2 is the tower arm height of the high-rise tower crane; according to T 10 and T 02 Get the homogeneous transformation matrix T 12 =T 10 *T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O 1xyz The coordinates within;

[0014]

[0015] ; Set the high-rise tower crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 12 The coordinate system of the high-rise tower crane trolley in the low-rise tower crane coordinate system O can be obtained. 1xyz The coordinates (x m1 ,y m1 ,z m1 ); where A m is the trolley amplitude of the high-rise tower crane, d1=|y m1 |=|A m *sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|; Set the high-rise crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 02 The coordinate system O of the origin of the high-rise tower crane can be obtained. xyz The coordinates (x m0 ,y m0 ,z m0 );have to x m0 =A m *cosθ2+x2,y m0 =A m *sinθ2+y2, combined with the low-position tower crane body at the origin coordinate system O xyz The coordinate value (x1, y1) on Get the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane 1xyz The vertical distance d1 between the middle x-axis and the coordinate system O of the high-level tower crane trolley and the low-level tower crane1xyz The distance d2 from the origin.

[0016] In the aforementioned anti-collision method for tower crane group tower operations, the operating conditions in step S3 include the tower crane same-direction operating conditions, tower crane reverse operating conditions and single tower crane operating conditions.

[0017] In the aforementioned anti-collision method for tower crane group operation, the tower crane same-direction operation condition is that the rotation directions of the high-level tower crane and the low-level tower crane are consistent. If the high-level tower crane trolley and the low-level tower crane tower arm are both outside the interference area, the high-level tower crane is controlled to enter first, and the low-level tower crane is controlled to wait outside the interference area; if the high-level tower crane trolley is located in the interference area and the low-level tower crane tower arm is located outside the interference area, the high-level tower crane operates normally, and the low-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; if the high-level tower crane trolley is outside the interference area and the low-level tower crane tower arm is in the interference area, the low-level tower crane is controlled to operate normally, and the high-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; if the high-level tower crane trolley and the low-level tower crane tower arm are both located in the interference area, when they are close to each other, the low-level tower crane is controlled to exit in the opposite direction, and the high-level tower crane waits for the low-level tower crane to exit before running, and operates normally when they are far away from each other.

[0018] In the aforementioned anti-collision method for tower crane group operation, the reverse operation condition of the tower crane is that the rotation directions of the high-level tower crane and the low-level tower crane are opposite. If the high-level tower crane trolley is in the interference area and the tower arm of the low-level tower crane is outside the interference area, the high-level tower crane operates normally, and the rotation speed of the tower arm of the low-level tower crane is controlled to make the tower arm of the low-level tower crane stop outside the interference area or the rotation speed of the low-level tower crane is less than the rotation speed of the high-level tower crane after entering the interference area; if the high-level tower crane trolley is outside the interference area and the tower arm of the low-level tower crane is in the interference area, the low-level tower crane operates normally, and the rotation speed of the high-level tower crane is controlled to make the tower arm of the high-level tower crane stop outside the interference area or the rotation speed of the high-level tower crane is less than the rotation speed of the low-level tower crane after entering the interference area; if the high-level tower crane trolley and the tower arm of the low-level tower crane are both in the interference area, the rotation speed of the chasing tower crane is controlled to be less than or equal to the rotation speed of the chased tower crane.

[0019] In the aforementioned anti-collision method for tower crane group operation, the operating condition of the single tower crane is that only one of the high-level tower crane and the low-level tower crane is in operation. If the high-level tower crane trolley and the low-level tower crane tower arm are both outside the interference area, the two tower cranes operate normally. If the high-level tower crane trolley operates in the interference area and the low-level tower crane tower arm is stopped outside the interference area, the high-level tower crane operates normally. If the high-level tower crane trolley stops in the interference area and the low-level tower crane tower arm is operated outside the interference area, the tower arm position of the low-level tower crane at the time of stopping is predicted. If it enters the interference area, the low-level tower crane is decelerated to stop. When stopping, d1 is greater than half of the width of the low-level tower crane tower arm. If the high-level tower crane trolley is in the interference area, the low-level tower crane is stopped. If the high-level tower crane is operating outside the interference area and the low-level tower crane boom is located in the interference area and stops, the boom position of the high-level tower crane at the time of stopping is predicted. If it enters the interference area, the high-level tower crane is decelerated to stop, and d1 is greater than half of the width of the low-level tower crane boom when it stops. If the high-level tower crane trolley is located outside the interference area and stops, and the low-level tower crane boom is located in the interference area and operates, the low-level tower crane operates normally. If both the high-level tower crane trolley and the low-level tower crane boom are located in the interference area, when the operating tower crane runs with its back to the stopped tower crane, it operates normally. When the operating tower crane runs toward the stopped tower crane, the operating tower crane is controlled to decelerate to stop, and d1 is greater than half of the width of the low-level tower crane boom when it stops.

[0020] In the above-mentioned anti-collision method for tower crane group tower operation, the origin coordinate system O xyz The coordinate system is established with the tower body of the own tower crane as the origin, then the coordinates of the own tower crane are (0,0), and the coordinates of the associated tower crane are calculated to be (sinθ*L,cosθ*L), where L is the distance from the associated tower crane to the own tower crane, and θ is the calibration angle; then substitute the formula in step S3 according to the height relationship of the tower cranes. If the own tower crane is a high-level tower crane and the associated tower crane is a low-level tower crane, then (x2,y2)=(0,0), (x1,y1)=(sinθ*L,cosθ*L); if the own tower crane is a low-level tower crane and the associated tower crane is a high-level tower crane, then (x1,y1)=(0,0), (x2,y2)=(sinθ*L,cosθ*L).

[0021] Compared with the prior art, the present invention designs a tower crane group tower operation anti-collision method, by dividing the tower crane group into its own tower crane and associated tower crane for parameter setting, it is convenient to perform anti-collision control on two tower cranes with collision possibility; setting the tower boom height, tower boom length, own tower crane serial number, channel, anti-collision warning distance, low-speed slewing frequency and slewing stop angle of its own tower crane, setting the serial number of associated tower crane, associated tower crane distance, associated tower crane calibration angle, associated tower crane tower boom height and associated tower crane tower boom length; constructing three coordinate system sets by establishing an origin coordinate system, a low-position tower crane coordinate system and a high-position tower crane coordinate system, and constructing a coordinate transformation model between the three coordinate systems by using a homogeneous coordinate transformation method, and obtaining the coordinate system of the high-position tower crane trolley and the low-position tower crane through the transformation model.1xyz The vertical distance d1 between the middle x-axis and the coordinate system O of the high-level tower crane trolley and the low-level tower crane 1xyz The two anti-collision data of the distance d2 from the origin are used. Finally, the anti-collision MCU makes a collision judgment according to the anti-collision data and the working condition. The linkage station makes anti-collision adjustments to the own tower crane and the associated tower crane, thereby realizing anti-collision control of the tower crane group operation, avoiding collisions during the tower crane group operation, and improving construction safety. In addition, the present invention can also obtain a calibration angle by controlling the tower arm of the own tower crane to align with the tower body of the associated tower crane, which is convenient for operation; distinguish high-level tower cranes from low-level tower cranes by comparing the tower arm heights of the own tower crane and the associated tower crane, which is convenient for coordinate transformation in subsequent anti-collision control; at the same time, the working conditions of the same-direction operation, reverse operation and single tower crane operation are combined for distinguishing and judging, which can improve the accuracy of anti-collision judgment and facilitate the linkage station to adjust the tower crane; by taking the tower body of the own tower crane as the origin coordinate system O xyz The origin method can calculate the distance between the associated tower crane and its own tower crane in the origin coordinate system O xyz Therefore, the present invention can not only avoid the collision of tower cranes during tower operation, but also has the advantages of good construction safety and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the coordinate system setting method;

[0023] Figure 2 It is a schematic diagram of the determination method of the calibration angle;

[0024] Figure 3 It is a schematic diagram of the slewing operation of high and low position tower cranes. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the embodiments, but they are not intended to limit the present invention.

[0026] Embodiment. A tower crane group tower operation anti-collision method, such as Figure 1 , 2 As shown in 3, the following steps are included:

[0027] S1. Tower crane parameter setting, dividing the tower crane group into its own tower crane and associated tower crane; the parameter setting of its own tower crane includes tower crane basic parameters and anti-collision parameters, tower crane basic parameters include tower boom height and tower boom arm length, anti-collision parameters include its own tower crane serial number, channel, anti-collision warning distance, low-speed slewing frequency, slewing stop angle and function switch; associated tower crane parameters include manually set parameters and automatically acquired parameters, manually set parameters include associated tower crane serial number and associated tower crane distance, automatically acquired parameters include calibration angle, tower boom height and tower boom arm length; the anti-collision warning parameters include its own tower crane serial number, channel, anti-collision warning distance, low-speed slewing frequency, slewing stop angle and function switch; associated tower crane parameters include manually set parameters and automatically acquired parameters, manually set parameters include associated tower crane serial number and associated tower crane distance, automatically acquired parameters include calibration angle, tower boom height and tower boom arm length; the anti-collision warning parameters include its own tower crane serial number, channel, anti-collision warning distance, low-speed slewing frequency, slewing stop angle and function switch; the anti-collision warning parameters include its own tower crane serial number, channel ... The warning distance, low-speed rotation frequency and rotation stop angle can be set selectively; the own tower crane serial number, channel, own tower crane tower boom length, associated tower crane serial number, associated tower crane distance and associated tower crane tower boom length are all set manually, among which the own tower crane serial number, channel and associated tower crane serial number cannot be repeated; the associated tower crane distance is the distance between the tower body of the associated tower crane and the tower body of the own tower crane. When the associated tower crane distance is less than the sum of the own tower boom length and the associated tower crane tower boom length, anti-collision needs to be started; the tower boom height can generally be detected by a height sensor or manually input.

[0028] S2. Calculate anti-collision data and establish the origin coordinate system O xyz , low tower crane coordinate system O 1xyz and the high-rise tower crane coordinate system O 2xyz ; Low tower crane coordinate system O 1xyz The tower of the low-level tower crane is taken as the origin, and the direction of the tower arm of the low-level tower crane is the x-axis; the coordinate system of the high-level tower crane is O 2xyz The tower of the high-rise tower crane is taken as the origin, and the direction of the tower arm of the high-rise tower crane is taken as the x-axis; the anti-collision data is obtained by the homogeneous coordinate transformation method, and the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane is obtained. 1xyz The vertical distance d1 of the x-axis between the high-level tower crane trolley and the low-level tower crane coordinate system O 1xyz The distance from the origin d2, d1 = |A m *sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|, Where (x1, y1) is the coordinate system of the low-level tower crane at the origin O xyz The coordinate value on (x2, y2) is the coordinate value of the tower crane at the origin coordinate system O xyz The coordinate values ​​on the left and right sides are as follows: θ1 is the tower arm rotation angle of the low-level tower crane, θ2 is the tower arm rotation angle of the high-level tower crane, and A m is the trolley amplitude of the high-rise tower crane; the tower arm rotation angle is generally detected by an angle sensor. When measuring the tower arm rotation angle of high-rise tower cranes and low-rise tower cranes, the origin coordinate system O is used. xyz The x-axis is the angle zero point, that is, the starting position of the rotation;

[0029] S3. The anti-collision data is judged by the anti-collision MCU. When d2 is less than or equal to the length of the low-level tower crane's tower arm l1, the high-level tower crane trolley enters the interference area. The working conditions of the own tower crane and the associated tower crane are judged by the anti-collision MCU on the own tower crane and the associated tower crane. Finally, the anti-collision adjustment of the own tower crane and the associated tower crane is performed through the linkage table to make d1 greater than half of the width of the low-level tower crane's tower arm, so that the hook hanging under the high-level tower crane trolley will not collide with the low-level tower crane's tower arm, thereby realizing anti-collision control.

[0030] The calibration angle in step S1 is obtained by the following method: when the associated tower crane and the own tower crane are powered on normally and stopped, the tower arm of the own tower crane is controlled to align with the tower body of the associated tower crane. At this time, the clamping between the tower arm of the own tower crane and the angle zero point is the calibration angle; the angle zero point is the origin coordinate system O xyz The homogeneous coordinate transformation method in step S2 is to list the coordinate system O from the origin. xyz To the low tower crane coordinate system O 1xyz The homogeneous transformation matrix T 10 , represents the origin coordinate system O xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O 1xyz The coordinates within;

[0031]

[0032] Among them, θ1 is the tower arm rotation angle of the low-level tower crane, (x1, y1) is the tower body of the low-level tower crane at the origin coordinate system O xyz The coordinate values ​​on the coordinate system O are as follows: h1 is the height of the tower arm of the low-level tower crane; similarly, the coordinate values ​​from the coordinate system O of the high-level tower crane are listed. 2xyz To the origin coordinate system O xyz The homogeneous transformation matrix T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the origin coordinate system O xyz The coordinates within;

[0033]

[0034] Among them, θ2 is the tower arm rotation angle of the high-rise tower crane, (x2, y2) is the tower body of the high-rise tower crane at the origin coordinate system O xyz coordinate value on the top, h2 is the tower arm height of the high-rise tower crane; according to T 10 and T 02 Get the homogeneous transformation matrix T 12 =T 10 *T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O1xyz The coordinates within;

[0035]

[0036] ; Set the high-rise tower crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 12 The coordinate system of the high-rise tower crane trolley in the low-rise tower crane coordinate system O can be obtained. 1xyz The coordinates (x m1 ,y m1 ,z m1 ); where A m is the trolley amplitude of the high-rise tower crane, d1=|y m1 |=|A m *sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|; Set the high-rise crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 02 The coordinate system O of the origin of the high-rise tower crane can be obtained. xyz The coordinates (x m0 ,y m0 ,z m0 );have to x m0 =A m *cosθ2+x2,y m0 =A m *sinθ2+y2, combined with the low-position tower crane body at the origin coordinate system O xyz The coordinate value (x1, y1) on Get the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane 1xyz The vertical distance d1 between the middle x-axis and the coordinate system O of the high-level tower crane trolley and the low-level tower crane 1xyz The distance d2 from the origin.

[0037] The working conditions in step S3 include the working conditions of tower cranes running in the same direction, the working conditions of tower cranes running in the opposite direction and the working conditions of a single tower crane; the working conditions of tower cranes running in the same direction are that the high-level tower crane and the low-level tower crane have the same rotation direction. If the high-level tower crane trolley and the low-level tower crane tower arm are both located outside the interference area, the high-level tower crane is controlled to enter first, and the low-level tower crane is controlled to wait outside the interference area; if the high-level tower crane trolley is located in the interference area and the low-level tower crane tower arm is located outside the interference area, the high-level tower crane runs normally, and the low-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; if the high-level tower crane trolley is outside the interference area and the low-level tower crane tower arm is in the interference area, the low-level tower crane is controlled to run normally, and the high-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; The trolley and the boom of the low-level tower crane are both located in the interference area. When they are close to each other, the low-level tower crane is controlled to withdraw in the opposite direction, and the high-level tower crane waits for the low-level tower crane to withdraw before running, and they run normally when they are far away from each other; the reverse operation condition of the tower crane is that the rotation directions of the high-level tower crane and the low-level tower crane are opposite. If the trolley of the high-level tower crane is in the interference area and the boom of the low-level tower crane is outside the interference area, the high-level tower crane runs normally, and the rotation speed of the boom of the low-level tower crane is controlled to make the boom of the low-level tower crane stop outside the interference area, or the rotation speed of the low-level tower crane is less than the rotation speed of the high-level tower crane after entering the interference area; if the trolley of the high-level tower crane is outside the interference area and the boom of the low-level tower crane is in the interference area, the low-level tower crane runs normally, and the rotation speed of the high-level tower crane is controlled to make the boom of the high-level tower crane stop outside the interference area. Or after entering the interference area, the rotation speed of the high-level tower crane is less than the rotation speed of the low-level tower crane; if the high-level tower crane trolley and the low-level tower crane boom are both in the interference area, then the rotation speed of the chasing tower crane is controlled to be less than or equal to the rotation speed of the chased tower crane; the operating condition of the single tower crane is that only one of the high-level tower crane and the low-level tower crane is in operation. If the high-level tower crane trolley and the low-level tower crane boom are both outside the interference area, then the two tower cranes operate normally. If the high-level tower crane trolley operates in the interference area and the low-level tower crane boom is stopped outside the interference area, then the high-level tower crane operates normally. If the high-level tower crane trolley stops in the interference area and the low-level tower crane boom is located outside the interference area, then the tower boom position of the low-level tower crane at the time of stopping is predicted. If it enters the interference area, the low-level tower crane is decelerated to stop. d1 is greater than half of the width of the low-level tower crane's tower arm; if the high-level tower crane trolley is located outside the interference area and the low-level tower crane's tower arm is located in the interference area and is stopped, then the tower arm position of the high-level tower crane at the time of stopping is predicted, and if it enters the interference area, the high-level tower crane is decelerated to stop, and when it stops, d1 is greater than half of the width of the low-level tower crane's tower arm; if the high-level tower crane trolley is located outside the interference area and is stopped, and the low-level tower crane's tower arm is located in the interference area and is running, then the low-level tower crane operates normally; if both the high-level tower crane trolley and the low-level tower crane's tower arm are located in the interference area, when the running tower crane runs with its back to the stopped tower crane, it runs normally, and when the running tower crane runs toward the stopped tower crane, the running tower crane is controlled to decelerate to stop, and when it stops, d1 is greater than half of the width of the low-level tower crane's tower arm; the origin coordinate system O xyzThe coordinate system is established with the tower body of the own tower crane as the origin, then the coordinates of the own tower crane are (0,0), and the coordinates of the associated tower crane are calculated to be (sinθ*L,cosθ*L), where L is the distance from the associated tower crane to the own tower crane, and θ is the calibration angle; then substitute the formula in step S3 according to the height relationship of the tower cranes. If the own tower crane is a high-level tower crane and the associated tower crane is a low-level tower crane, then (x2,y2)=(0,0), (x1,y1)=(sinθ*L,cosθ*L); if the own tower crane is a low-level tower crane and the associated tower crane is a high-level tower crane, then (x1,y1)=(0,0), (x2,y2)=(sinθ*L,cosθ*L).

[0038] If the above parameters are set with the anti-collision warning distance, low-speed slewing frequency and slewing stop angle, that is, when d1 is equal to the anti-collision warning distance, the moving tower crane boom can be controlled to enter the low-speed slewing frequency, and stop when the slewing angle reaches the slewing stop angle at the low-speed slewing frequency, to ensure accurate anti-collision control.

Claims

1. A tower crane group tower operation anti-collision method, characterized in that: The following steps are involved: S1. Tower crane parameter setting, dividing the tower crane group into its own tower crane and associated tower crane; the parameter setting of its own tower crane includes tower crane basic parameters and anti-collision parameters, tower crane basic parameters include tower boom height and tower boom arm length, anti-collision parameters include its own tower crane serial number, channel and function switch; associated tower crane parameters include manually set parameters and automatically acquired parameters, manually set parameters include associated tower crane serial number and associated tower crane distance, and automatically acquired parameters include calibration angle, tower boom height and tower boom arm length; S2. Calculate anti-collision data and establish the origin coordinate system O xyz , low tower crane coordinate system O 1xyz and the high-rise tower crane coordinate system O 2xyz ; Low tower crane coordinate system O 1xyz The tower of the low-level tower crane is taken as the origin, and the direction of the tower arm of the low-level tower crane is the x-axis; the coordinate system of the high-level tower crane is O 2xyz The tower of the high-rise tower crane is taken as the origin, and the direction of the tower arm of the high-rise tower crane is taken as the x-axis; the anti-collision data is obtained by the homogeneous coordinate transformation method, and the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane is obtained. 1xyz The vertical distance d1 of the x-axis between the high-level tower crane trolley and the low-level tower crane coordinate system O 1xyz The distance from the origin d2, d1 = |A m *sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|, Where (x1, y1) is the coordinate system of the low-level tower crane at the origin O xyz The coordinate value on (x2, y2) is the coordinate value of the tower crane at the origin coordinate system O xyz The coordinate values ​​on the left and right sides are as follows: θ1 is the tower arm rotation angle of the low-level tower crane, θ2 is the tower arm rotation angle of the high-level tower crane, and A m It is the trolley amplitude of the high-rise tower crane; S3, the anti-collision data is judged by the anti-collision MCU. When d2 is less than or equal to the length of the tower arm of the low-level tower crane l1, the high-level tower crane trolley enters the interference area; the working conditions of the own tower crane and the associated tower crane are judged by the anti-collision MCU on the own tower crane and the associated tower crane, and finally the anti-collision adjustment of the own tower crane and the associated tower crane is performed through the linkage table, so that d1 is greater than half of the width of the tower arm of the low-level tower crane, so that the hook hanging under the high-level tower crane trolley will not collide with the tower arm of the low-level tower crane, and anti-collision control is realized; The calibration angle in step S1 is obtained by the following method: when the associated tower crane and the own tower crane are powered on normally and stopped, the tower arm of the own tower crane is controlled to align with the tower body of the associated tower crane. At this time, the clamping between the tower arm of the own tower crane and the angle zero point is the calibration angle; the angle zero point is the origin coordinate system O xyz The x-axis direction; the homogeneous coordinate transformation method in step S2 is to list the origin coordinate system O xyz To the low tower crane coordinate system O 1xyz The homogeneous transformation matrix T 10 , represents the origin coordinate system O xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O 1xyz The coordinates within; Among them, θ1 is the tower arm rotation angle of the low-level tower crane, (x1, y1) is the tower body of the low-level tower crane at the origin coordinate system O xyz The coordinate values ​​on the coordinate system O are as follows: h1 is the height of the tower arm of the low-level tower crane; similarly, the coordinate values ​​from the coordinate system O of the high-level tower crane are listed. 2xyz To the origin coordinate system O xyz The homogeneous transformation matrix T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the origin coordinate system O xyz The coordinates within; Among them, θ2 is the tower arm rotation angle of the high-rise tower crane, (x2, y2) is the tower body of the high-rise tower crane at the origin coordinate system O xyz coordinate value on the top, h2 is the tower arm height of the high-rise tower crane; according to T 10 and T 02 Get the homogeneous transformation matrix T 12 =T 10 *T 02 , represents the high-rise tower crane coordinate system O 2xyz The result of multiplying any coordinate in the matrix with the low-level crane coordinate system O 1xyz The coordinates within; The high tower crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 12 The coordinate system of the high-rise tower crane trolley in the low-rise tower crane coordinate system O can be obtained. 1xyz The coordinates (x m1 ,y m1 ,z m1 ); where A m is the trolley amplitude of the high-rise tower crane, d1=|y m1 |=|A m *sin(θ2-θ1)+(x1-x2)sinθ1+(y2-y1)cosθ1|; The high tower crane coordinate system O 2xyz The coordinates of the high-rise tower crane trolley (A m ,0,0) into the homogeneous transformation matrix T 02 The coordinate system O of the origin of the high-rise tower crane can be obtained. xyz The coordinates (x m0 ,y m0 ,z m0 );have to x m0 =A m *cosθ2+x2,y m0 =A m *sinθ2+y2, combined with the low-position tower crane body at the origin coordinate system O xyz The coordinate value (x1, y1) on Get the coordinate system O of the high-rise tower crane trolley and the low-rise tower crane 1xyz The vertical distance d1 between the middle x-axis and the coordinate system O of the high-level tower crane trolley and the low-level tower crane 1xyz The distance d2 from the origin.

2. A tower crane group tower operation anti-collision method according to claim 1, characterized in that: The low-level tower crane and the high-level tower crane are distinguished by the following method: the height of the associated tower crane relative to the own tower crane is judged, and the tower crane with the lower tower arm height between the own tower crane and the associated tower crane is the low-level tower crane, and the tower crane with the higher tower arm height between the own tower crane and the associated tower crane is the high-level tower crane.

3. The anti-collision method for tower crane group tower operation according to claim 1, characterized in that: The operating conditions in step S3 include the tower crane same-direction operating condition, the tower crane reverse operating condition and the single tower crane operating condition.

4. A tower crane group tower operation anti-collision method according to claim 3, characterized in that: The same-direction operation condition of the tower cranes is that the rotation directions of the high-level tower crane and the low-level tower crane are consistent. If the high-level tower crane trolley and the low-level tower crane boom are both outside the interference area, the high-level tower crane is controlled to enter first, and the low-level tower crane is controlled to wait outside the interference area; if the high-level tower crane trolley is within the interference area and the low-level tower crane boom is outside the interference area, the high-level tower crane operates normally, and the low-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; if the high-level tower crane trolley is outside the interference area and the low-level tower crane boom is within the interference area, the low-level tower crane is controlled to operate normally, and the high-level tower crane is controlled to reduce the rotation frequency and stop and wait outside the interference area; if the high-level tower crane trolley and the low-level tower crane boom are both within the interference area, when they are close to each other, the low-level tower crane is controlled to exit in the opposite direction, and the high-level tower crane waits for the low-level tower crane to exit before running, and operates normally when they are far away from each other.

5. The anti-collision method for tower crane group tower operation according to claim 3 is characterized in that: The reverse operation condition of the tower crane is that the rotation directions of the high-level tower crane and the low-level tower crane are opposite. If the high-level tower crane trolley is in the interference area and the tower arm of the low-level tower crane is outside the interference area, the high-level tower crane operates normally, and the rotation speed of the tower arm of the low-level tower crane is controlled to make the tower arm of the low-level tower crane stop outside the interference area or the rotation speed of the low-level tower crane is less than the rotation speed of the high-level tower crane after entering the interference area; if the high-level tower crane trolley is outside the interference area and the tower arm of the low-level tower crane is in the interference area, the low-level tower crane operates normally, and the rotation speed of the high-level tower crane is controlled to make the tower arm of the high-level tower crane stop outside the interference area or the rotation speed of the high-level tower crane is less than the rotation speed of the low-level tower crane after entering the interference area; if the high-level tower crane trolley and the tower arm of the low-level tower crane are both in the interference area, the rotation speed of the chasing tower crane is controlled to be less than or equal to the rotation speed of the chased tower crane.

6. The anti-collision method for tower crane group tower operation according to claim 3, characterized in that: The operating condition of the single tower crane is that only one of the high-level tower crane and the low-level tower crane is operating. If the high-level tower crane trolley and the low-level tower crane boom are both outside the interference area, the two tower cranes are operating normally. If the high-level tower crane trolley is operating in the interference area and the low-level tower crane boom is stopped outside the interference area, the high-level tower crane is operating normally. If the high-level tower crane trolley is stopped in the interference area and the low-level tower crane boom is operating outside the interference area, the boom position of the low-level tower crane at the time of stopping is predicted. If it enters the interference area, the low-level tower crane is decelerated to stop. When it stops, d1 is greater than half of the width of the low-level tower crane boom. If the high-level tower crane trolley is located outside the interference area, the low-level tower crane is stopped. If the boom of the high-level tower crane stops within the interference area, the boom position of the high-level tower crane at the time of stopping is predicted. If it enters the interference area, the high-level tower crane is decelerated to stop, and d1 is greater than half of the width of the boom of the low-level tower crane when it stops. If the high-level tower crane trolley stops outside the interference area, and the boom of the low-level tower crane is running within the interference area, the low-level tower crane runs normally. If both the high-level tower crane trolley and the boom of the low-level tower crane are within the interference area, when the running tower crane runs with its back to the stopped tower crane, it runs normally. When the running tower crane runs toward the stopped tower crane, the running tower crane is controlled to decelerate to stop, and d1 is greater than half of the width of the boom of the low-level tower crane when it stops.

7. A tower crane group tower operation anti-collision method according to any one of claims 1 to 6, characterized in that: The origin coordinate system O xyz The coordinate system is established with the tower body of the own tower crane as the origin, then the coordinates of the own tower crane are (0,0), and the coordinates of the associated tower crane are calculated to be (sinθ*L,cosθ*L), where L is the distance from the associated tower crane to the own tower crane, and θ is the calibration angle; then substitute the formula in step S3 according to the height relationship of the tower cranes. If the own tower crane is a high-level tower crane and the associated tower crane is a low-level tower crane, then (x2,y2)=(0,0), (x1,y1)=(sinθ*L,cosθ*L); if the own tower crane is a low-level tower crane and the associated tower crane is a high-level tower crane, then (x1,y1)=(0,0), (x2,y2)=(sinθ*L,cosθ*L).

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