Super large intelligent tower crane and construction method

Abstract

The present invention relates to the field of building construction technology, and specifically refers to an ultra-large intelligent tower crane and a construction method. A wind field environment monitoring unit is used to collect wind field information and tower crane status information under the working environment of the tower crane; a slant-stayed and slanted-hanging monitoring unit is used to identify the position of the tower crane hook so as to obtain the slant-stayed and slanted-hanging angles of the tower crane hook; a dynamic sensing unit for the safe operation area is used to obtain the relative positions of the boom, the hoisted object, and the construction personnel in the tower crane operation area; a group tower anti-collision unit is used to obtain the position deviation between the current tower crane and the surrounding tower cranes; a hoisting auxiliary guidance unit is used to collect the hoisting object position coordinates, the target position coordinates, and the tower body position coordinates; a sling is connected to the tower crane hook; and a control unit receives the parameter information collected by the above units and performs data processing. The tower crane of the present invention has multiple functions, can greatly improve the safety of tower crane operation and construction, and has extremely high efficiency in safe operation.

Description

Technical Field

[0001] The invention relates to the technical field of building construction, and in particular to an ultra-large intelligent tower crane and a construction method. Background Art

[0002] Tower cranes are also called tower cranes. In the field of construction engineering, tower cranes are the most commonly used lifting equipment on construction sites. They are mainly used for the transportation and transfer of construction materials and large construction equipment. They are easy to install and disassemble, convenient to construct, and save manpower. They are indispensable equipment in construction. Improving the safety of tower cranes while improving the hoisting efficiency of tower cranes has always been an urgent problem to be solved. However, the tower cranes currently used in construction have a single function. Their main function is to monitor the safety of the tower cranes themselves. The safety of people around the tower cranes and the auxiliary improvement of engineering hoisting need to be strengthened. For example, for super high-rise buildings (over 300m), the high height of the tower crane leads to more attachment frames of the tower crane itself. The maintenance and installation of the attachment frames often require the assistance of other lifting equipment, which brings great inconvenience to the construction. As the construction height of the tower crane increases, safety issues such as tower body inclination, wind force, and attachment frame strength are particularly prominent. For another example, when lifting or lowering components or hoisting objects, no one is allowed to stay or walk under the hoisting parts. However, due to the complexity of the tower crane construction area and the different sizes of hoisted objects hoisted by the tower crane, the tower crane driver has visual blind spots when operating the tower crane, the on-site command and dispatch personnel do not do their job properly, and there are people standing or passing under the tower crane, accidents of tower crane hoisted objects falling and injuring people often occur. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide an ultra-large intelligent tower crane and a construction method.

[0004] The technical solution of the present invention is: an ultra-large intelligent tower crane, comprising a flat-top tower crane, the flat-top tower crane comprising a boom, a tower body below the boom and a tower head above the boom; the boom is provided with a control room, a hoisting winch, a hoisting trolley, a luffing winch and a slewing motor,

[0005] Also includes,

[0006] A wind farm environment monitoring unit, which is used to collect wind farm information and tower crane status information under the tower crane working environment;

[0007] An oblique-lift monitoring unit, which is used to identify the position of the tower crane hook so as to obtain the oblique-lift angle of the tower crane hook;

[0008] A dynamic sensing unit for an operation safety zone, which is used to obtain the relative positions of the crane arm, the hoisted object and the construction personnel in the operation area of ​​the tower crane;

[0009] A tower group anti-collision unit, which is used to obtain the position deviation between the current tower crane and the surrounding tower cranes;

[0010] A hoisting auxiliary guidance unit, the hoisting auxiliary guidance unit is used to collect the position coordinates of the hoisting object, the target position coordinates and the tower position coordinates;

[0011] A sling connected to the tower crane hook and used to adjust the aerial posture of the hoisted object;

[0012] A control unit receives parameter information collected by a wind farm environment monitoring unit, an inclined-stayed and inclined-hanging monitoring unit, an operating safety zone dynamic sensing unit, a group-tower anti-collision unit, a lifting auxiliary guidance unit, and a lifting device, and processes the data, and displays key parameters of the tower crane operation and a simulation status of the tower crane operation to an operator through a display unit.

[0013] According to a super-large intelligent tower crane provided by the present invention, the wind farm environment monitoring unit comprises:

[0014] A tower body inclination angle collection module, which is installed on the tower body and is used to collect the inclination angle of the tower body;

[0015] A wind field parameter acquisition module, which is installed on the tower body and is used to collect wind speed and wind direction in the environment where the tower crane is located;

[0016] An attachment frame stress collection module, wherein the attachment frame stress collection module is installed on the tower body attachment frame and is used to collect the attachment frame stress of the tower body attachment frame;

[0017] A boom inclination angle collection module is installed on the boom and is used to collect the boom inclination angle.

[0018] According to a super-large intelligent tower crane provided by the present invention, the oblique-stayed and oblique-hoisting monitoring unit comprises:

[0019] A binocular camera is installed on the lifting trolley and is used to collect image information of the tower crane hook below;

[0020] Angle acquisition module, the angle acquisition module is used to process the image information and obtain the vertical angle between the tower crane hook and the rope outlet point of the lifting trolley as the oblique pulling and oblique lifting angle.

[0021] According to a super-large intelligent tower crane provided by the present invention, the operating safety zone dynamic perception unit comprises:

[0022] A boom danger zone acquisition module, the boom danger zone acquisition module is used to acquire in real time a first danger zone directly below the boom in a moving or stationary state;

[0023] A module for acquiring a dangerous area for a hoisted object, the module for acquiring a dangerous area for a hoisted object is used to acquire in real time a second dangerous area directly below the hoisted object in a moving state or a stationary state;

[0024] A construction worker location acquisition module, which is used to acquire the location of construction workers in real time;

[0025] The safety warning module is used to receive the construction personnel's location information in real time and send out a safety warning signal when the construction personnel enter the first danger zone or the second danger zone.

[0026] According to a super-large intelligent tower crane provided by the present invention, the group tower anti-collision unit comprises:

[0027] A tower crane relative position acquisition module, wherein the tower crane relative position acquisition module comprises cameras installed at four corners of the connection between the boom and the tower body, and is used to obtain the relative position relationship between the tower crane and surrounding tower cranes;

[0028] The tower crane position deviation acquisition module includes laser radars installed at the head and tail ends of the boom and at the four corners of the connection between the boom and the tower body, and is used to obtain the position deviation of the tower crane and the surrounding tower cranes.

[0029] According to a super-large intelligent tower crane provided by the present invention, the hoisting auxiliary guidance unit comprises:

[0030] A hoisting object position acquisition module, wherein the hoisting object position acquisition module is used to acquire the current hoisting object position coordinate information;

[0031] A target position acquisition module, wherein the target position acquisition module is used to acquire target position coordinate information;

[0032] The tower position acquisition module is used to acquire the tower position coordinate information.

[0033] According to an ultra-large intelligent tower crane provided by the present invention, the lifting device comprises:

[0034] a first crossbeam, wherein the first crossbeam is connected to a tower crane hook;

[0035] A frame body, the frame body being hingedly connected to the first cross beam via a vertical rotation axis and being rotatable about a vertical axis;

[0036] a second crossbeam, the second crossbeam being connected to the frame;

[0037] An inclination adjustment structure is provided on the frame and is used to adjust the horizontal inclination of the hoisted object;

[0038] A plurality of hooks, the plurality of hooks are arranged on the second crossbeam and are used to connect the hoisted objects;

[0039] The hook adjustment structure is arranged between the hook and the second crossbeam, and is used to adjust the position of the hook.

[0040] According to a super large intelligent tower crane provided by the present invention, the inclination angle adjustment structure comprises:

[0041] A first oil cylinder, wherein the housing of the first oil cylinder is hingedly connected to the rotating shaft, and the pushing end is hingedly connected to the frame body, and is used to drive the frame body to rotate around the longitudinal axis;

[0042] The second oil cylinder has a shell hingedly connected to the frame, and a push end hingedly connected to the second crossbeam, and is used to drive the second crossbeam to rotate around the transverse axis.

[0043] According to the super large intelligent tower crane provided by the present invention, the lifting device further comprises:

[0044] A gear, wherein the gear is fixed to the rotating shaft;

[0045] The rotating motor is installed on the first cross beam and is connected with the gear transmission.

[0046] According to an ultra-large intelligent tower crane provided by the present invention, the hook adjustment structure comprises:

[0047] A mounting seat, wherein the mounting seat is slidably connected to a slide groove on the second crossbeam, and an upper end of the hook passes through the slide groove and is fixedly connected to the mounting seat;

[0048] The third oil cylinder has a shell fixed on the second cross beam, and a push end connected to the mounting seat, and is used to drive the mounting seat to move along the slide groove.

[0049] The present invention also provides a super-large intelligent tower crane construction method, comprising the following steps:

[0050] S1. Connect the high-voltage cable to the tower crane and monitor the wind farm environment of the tower crane. When the wind farm environment meets the safety setting requirements, the operator is allowed to enter the tower crane control room;

[0051] S2. Perform fault detection on the tower crane, operate the tower crane when there is no fault in the tower crane, operate the tower crane hook to lower the hook to hang the hoisted object, and dynamically sense the safe operation of the tower crane operation area to ensure that no operator is within the working range of the boom and the hoisted object;

[0052] S3, identifying the tower crane hook to determine whether the tower crane hook is in a slanted position, and lifting the load to a set height when the tower crane hook is within a safe angle range;

[0053] S4. Adjust the posture of the hoisted object, continue hoisting after completion, and monitor the relative position of the tower crane and surrounding tower cranes in real time to avoid collision;

[0054] S5. Obtain the position coordinates of the hoisted object, the target position coordinates and the tower body position coordinates, guide the hoisting of the tower crane, and complete the hoisting of the hoisted object through tower crane luffing, tower crane rotation and tower crane lifting.

[0055] According to a super-large intelligent tower crane construction method provided by the present invention, in step S2, the method for dynamically sensing the safe operation of the tower crane operation area includes the following steps:

[0056] A1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground;

[0057] A2. Obtain the coverage of the hoisted object, the height of the hoisted object, the distance relative to the coordinate origin of the tower crane, and the swing angle of the boom in real time to determine the second dangerous area projected by the hoisted object on the ground;

[0058] A3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel are in the first danger zone or the second danger zone, and send out a warning signal when the construction personnel are in the first danger zone or the second danger zone.

[0059] According to a super-large intelligent tower crane construction method provided by the present invention, in step A1, the method for determining the first dangerous area projected by the boom on the ground includes: installing a first encoder on the slewing motor, recording the slewing angle of the boom, determining the coverage range of the boom according to the length, width and set first safety distance of the boom, and determining the first dangerous area according to the slewing angle of the boom and the coverage range of the boom.

[0060] According to a super-large intelligent tower crane construction method provided by the present invention, in the step A2, real-time acquisition of the coverage range of the hoisted object includes: installing a camera on the lifting trolley, and obtaining image information of the hoisted object directly below through the camera; installing a third encoder on the lifting winch, and the third encoder records the extension length of the wire rope of the lifting winch to obtain the height of the hoisted object relative to the lifting trolley as the height of the hoisted object; determining the projection area of ​​the hoisted object on the ground according to the image information and the height of the hoisted object, and obtaining the coverage range of the hoisted object.

[0061] According to a construction method of a super-large intelligent tower crane provided by the present invention, in the step A2, a second encoder is installed on the luffing winch, and the second encoder records the luffing distance of the lifting winch to obtain the horizontal distance of the hoisting object relative to the coordinate origin of the tower crane; the position of the hoisting object relative to the coordinate origin of the tower crane can be obtained based on the boom rotation angle and the horizontal distance of the hoisting object relative to the coordinate origin of the tower crane; the second danger zone is determined based on the position of the hoisting object relative to the coordinate origin of the tower crane, the coverage range of the hoisting object and the set second safety distance.

[0062] According to a super-large intelligent tower crane construction method provided by the present invention, in step S3, the method for judging whether the tower crane hook is in a slanted and slanted hanging state comprises the following steps:

[0063] B1. Use the binocular camera on the lifting trolley to capture the image information of the reflective sticker on the hook of the tower crane below;

[0064] B2. Process the image information to obtain the coordinates of the reflective sticker, and calculate the oblique lifting angle of the tower crane hook based on the coordinates of the rope outlet point on the lifting trolley and the coordinates of the reflective sticker;

[0065] B3. Compare the inclined pulling and tilting angle with the set angle threshold. If the inclined pulling and tilting angle is greater than the set angle threshold, it is considered that the tower crane hook has inclined pulling and tilting. Otherwise, it is considered that there is no inclined pulling and tilting.

[0066] According to a super-large intelligent tower crane construction method provided by the present invention, in step S4, the method for adjusting the posture of the hoisted object comprises the following steps:

[0067] C1. Obtain the X-axis and Y-axis inclination angles of the spreader through the gyroscope on the spreader;

[0068] C2. Use the inclination adjustment structure on the sling to adjust the X-axis and Y-axis inclinations of the hoisted object;

[0069] C3. The vertical rotation angle of the hoisted object is adjusted by the rotating motor on the hoisting device until the aerial posture of the hoisted object meets the set requirements.

[0070] According to a super-large intelligent tower crane construction method provided by the present invention, in step S5, the method for guiding the tower crane to lift includes the following steps:

[0071] D1. Before the hoisting object is hoisted to the precise positioning height, use Beidou or GPS to obtain the position coordinates of the hoisting object, the target position coordinates and the tower position coordinates, and provide auxiliary guidance for the rough positioning of the hoisting object;

[0072] D2. When the hoisting object is hoisted from the precise positioning height to the installation position, the UWB electronic tags on the hoisting object, tower body and boom are used to obtain the coordinates of the hoisting object position, target position coordinates and tower body position coordinates, and provide auxiliary guidance for precise positioning of the hoisting object.

[0073] The advantages of the present invention are as follows: 1. The tower crane of the present invention integrates multiple safety units. The wind field environment detection unit monitors the working environment of the tower crane and detects the wind field environment of the tower crane operating area in real time; the inclined pulling and oblique lifting monitoring unit monitors the working state of the tower crane hook in real time to avoid inclined pulling and oblique lifting; the dynamic sensing unit of the operating safety zone detects the construction personnel in the tower crane operating area in real time to avoid the construction personnel entering under the boom and the hoisted objects; the group tower anti-collision unit monitors the relative position of the tower crane and the surrounding tower cranes in real time to avoid the tower crane colliding with the surrounding tower cranes; the hoisting auxiliary guidance unit monitors the hoisting objects, installation positions and The coordinates of the tower crane are used to guide the installation of the hoisted object; the aerial posture of the hoisted object is monitored by the hoisting device, and the aerial posture of the hoisted object is adjusted to ensure the stability of the hoisted object during the hoisting process; the present invention is also provided with an alarm unit, which can issue an alarm prompt when the state parameters obtained by the above unit exceed the set safety parameters, further improving the safety of the entire tower crane operation; the tower crane of the present invention has many functions, fully considering various working conditions of the tower crane, and can greatly improve the safety of the tower crane operation and the hoisting efficiency, and realize the safety monitoring of the tower crane throughout its life cycle from before hoisting to the completion of the hoisting construction;

[0074] 2. The wind field environment monitoring unit of the present invention includes a wind field parameter acquisition module, an attachment frame stress acquisition module and a boom inclination acquisition module, which respectively collect wind speed, wind direction, attachment frame stress and boom inclination. The wind speed and wind direction are used to obtain environmental wind field information and determine whether the current wind field environment meets the safety operation requirements. The attachment frame stress and boom inclination are used to determine the operating state of the tower crane and determine whether the tower crane itself meets the safety operation requirements. The present invention fully considers all aspects of the tower crane operation process to ensure that the tower crane can operate safely.

[0075] 3. The oblique lifting and tilting monitoring unit of the present invention is used to monitor the oblique lifting and tilting angles of the tower crane hook, and can determine whether the tower crane hook is obliquely lifted and tilted, which can avoid the oblique lifting and tilting during the lifting process, and greatly improve the safety and stability of the lifting;

[0076] 4. The dynamic sensing unit of the working safety zone of the present invention can obtain the dangerous area of ​​the tower crane construction area in real time, mainly the area covered by the boom and the hoisting objects, and can judge whether the construction personnel have entered the dangerous area, thereby ensuring the safety of the construction personnel and improving the safety management of the tower crane operation area;

[0077] 5. The anti-collision unit for tower cranes of the present invention can monitor the relative position relationship between the tower crane and the surrounding tower cranes in real time, avoid the collision between the tower crane and the surrounding tower cranes during the hoisting process, coordinate the tower cranes, and greatly improve the safety of the tower cranes during the operation process. It is particularly suitable for occasions where multiple tower cranes are under construction.

[0078] 6. The hoisting auxiliary guidance unit of the present invention is used to accurately guide the hoisted object, ensuring that the hoisted object can be accurately and stably moved to the installation position, which can not only greatly improve the installation efficiency of the hoisted object, but also improve the safety of the movement of the hoisted object;

[0079] 7. The sling of the present invention has a simple structure and can adjust the inclination of the hoisted object. The hook adjustment structure can adjust the position of the hook to ensure that the hook can be adaptively adjusted according to the change of the lifting point of the hoisted object. The operation is simple and the adjustment is convenient.

[0080] 8. The tilt angle adjustment structure of the present invention is simple. The horizontal tilt angle of the hoisted object can be conveniently adjusted by the first oil cylinder and the second oil cylinder. The first oil cylinder and the second oil cylinder can be automatically controlled and adjusted, and the operation is simple;

[0081] 9. The hoist of the present invention can also adjust the vertical rotation angle of the hoisted object by rotating the motor and the gear combination structure, so as to facilitate the adjustment of the aerial posture of the hoisted object and the installation of the hoisted object;

[0082] 10. The hook adjustment structure of the present invention is extremely simple. The hook can be conveniently adjusted through the third oil cylinder so that the hook can adapt to the lifting point of the hoisting object and be suitable for hoisting objects of different structures.

[0083] 11. The present invention also provides a construction method. The tower crane construction method of the present invention fully considers the wind field environment, tower crane failure, dynamic perception of safe operation, tower crane hook, hoisting object control posture, hoisting guidance and other situations, which can greatly improve the safety of the entire tower crane operation construction, the hoisting efficiency has been greatly improved, and the entire construction method is in order;

[0084] 12. The present invention obtains the first dangerous area based on the length and width of the boom, and then obtains the coverage of the boom projected on the ground according to the length and width of the boom plus the first set distance, and then determines the specific position of the boom coverage in the tower crane operation area based on the swing angle of the boom, so that the first dangerous area corresponding to the boom can be obtained. The entire determination method is extremely simple, and the coverage of the boom can be accurately and real-time obtained, which is convenient for warning construction personnel;

[0085] 13. The second dangerous area of ​​the present invention is obtained based on the coverage of the hoisting object, and then the position of the hoisting object is obtained. Based on the position of the hoisting object, the position of the coverage of the hoisting object in the tower crane operation area can be obtained, and the second dangerous area corresponding to the hoisting object is obtained. By sensing the position of the hoisting object in real time, the area covered by the hoisting object is obtained, which is convenient for warning construction personnel entering the tower crane operation area;

[0086] 14. The method of obtaining the position of the hoisted object in the present invention is extremely simple. By obtaining the rotation angle of the boom and the variable distance of the trolley, the projection position of the hoisted object on the ground in the tower crane operation area can be obtained. The position of the hoisted object is obtained very accurately, and the position of the hoisted object can be monitored in real time, so as to timely warn the construction personnel who enter the dangerous area;

[0087] 15. The method of judging whether the inclined pulling and slanting lifting are present in the present invention is extremely simple. The binocular camera can capture the image information of the reflective sticker on the tower crane hook. Based on the characteristics of the binocular camera itself, the coordinates of the reflective sticker can be obtained by data processing the image information, and the coordinates of the rope exit point of the hoisting trolley are relatively easy to obtain. Based on the above two coordinates, the inclined pulling and slanting lifting angle can be easily obtained. By obtaining the inclined pulling and slanting lifting angle, it can be judged whether the current tower crane hook is inclined pulling and slanting lifting. The whole method is extremely simple.

[0088] 16. The method for adjusting the aerial posture of the hoisting object by the sling of the present invention is simple. The gyroscope on the sling collects the horizontal inclination angle of the sling, and the sling is adjusted based on the collected horizontal inclination angle to ensure that the sling and the hoisting object are in a horizontal state. The adjustment of the rotation angle can be used together with the adjustment of the horizontal inclination angle, which is convenient for adjustment and installation.

[0089] 17. The hoisting guidance of the tower crane of the present invention can greatly improve the efficiency of hoisting and installation of the hoisted objects. The guidance of the present invention is divided into two types. One is the coarse positioning auxiliary guidance before reaching the precise positioning height. This guidance method has both efficiency and safety. The second is the precise positioning auxiliary guidance after reaching the precise positioning height. It has high precision, accurate installation alignment and high safety.

[0090] The tower crane of the present invention has multiple functions, can greatly improve the safety of tower crane operation and construction, has extremely high efficiency of safe operation, and has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 : A schematic diagram of the structure of the super-large intelligent tower crane of the present invention;

[0092] Figure 2 : Schematic diagram of the layout structure of the dynamic sensing unit of the working safety zone of the present invention;

[0093] Figure 3 : Schematic diagram of the division of the first dangerous area and the second dangerous area of ​​the present invention;

[0094] Figure 4 : A side view of the sling structure of the present invention;

[0095] Figure 5 : Front view of the sling structure of the present invention;

[0096] Figure 6 : Flow chart of the construction method of the present invention;

[0097] Among them: 101 - tower crane; 102 - boom; 103 - hoisting trolley; 104 - hoisting winch; 105 - luffing winch; 106 - slewing motor; 107 - hoisting object; 108 - first encoder; 109 - second encoder; 110 - third encoder; 111 - security camera; 112 - control room; 113 - wireless module; 114 - sound and light alarm; 115 - total station; 116 - safety helmet; 117 - boom crane; 118 - attachment frame; 119 - tower crane hook;

[0098] 201—hanging device; 202—first beam; 203—frame; 204—second beam; 205—rotating shaft; 206—hook; 207—first oil cylinder; 208—second oil cylinder; 209—first pin shaft; 210—second pin shaft; 211—gear; 212—rotating motor; 213—mounting seat; 214—third oil cylinder. DETAILED DESCRIPTION

[0099] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0100] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0101] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0102] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0103] The present application relates to an ultra-large intelligent tower crane. The main part of the tower crane of the present application is the same as that of the existing tower crane. Figure 1 As shown, it includes a flat-top tower crane 101 and a boom crane 117. The flat-top tower crane 101 includes a tower body, a tower head and a boom 102. The tower body is located below the boom 102, and the tower head is located above the boom 102. The boom crane 117 is installed on the tower head. The boom crane 117 can rotate around the tower head through a slewing mechanism to adjust the direction when lifting heavy objects. The boom crane 117 and the flat-top tower crane 101 do not work at the same time. The boom crane 117 is mainly used for maintenance and installation of the attachment frame 118.

[0104] A control room 112, a hoisting winch 104, a hoisting trolley 103, a luffing winch 105 and a slewing motor 106 are installed on the boom 102 of the flat-top tower crane 101; a controller, a computer, a wireless module and an audible and visual alarm are installed in the control room 112; the wireless module is connected to the controller via Ethernet; the hoisting winch 104, the hoisting trolley 103, the luffing winch 104 and the slewing motor 106 are all installed on the boom 102 of the tower crane, which are electrically connected to the controller for controlling the movement of the tower crane; an encoder is installed on the rotating shaft of the hoisting winch 104, the luffing winch 105 and the slewing motor 106 respectively for monitoring the movement of the tower crane, and the encoder is electrically connected to the control room controller. The control room controller is electrically connected to the computer for centrally displaying the safety conditions that need to be monitored by the tower crane, and when an abnormal situation occurs, a command is issued to make the audible and visual alarm sound an alarm.

[0105] The present application installs the following modules on the tower crane: a wind field environment monitoring unit, an oblique-stayed and oblique-hoisting monitoring unit, a dynamic sensing unit for an operating safety zone, a group-tower anti-collision unit, a hoisting auxiliary guidance unit, a hoisting device and a control unit. The wind field environment monitoring unit is used to collect wind field information and tower crane status information in the working environment of the tower crane. The oblique-stayed and oblique-hoisting monitoring unit is used to identify the position of the tower crane hook so as to obtain the oblique-stayed and oblique-hoisting angle of the tower crane hook. The dynamic sensing unit for an operating safety zone is used to obtain the relative positions of the boom, the hoisting object and the construction personnel in the operating area of ​​the tower crane. The group-tower anti-collision unit The element is used to obtain the position deviation between the current tower crane and the surrounding tower cranes. The hoisting auxiliary guidance unit is used to collect the position coordinates of the hoisted object, the target position coordinates and the tower body position coordinates. The hoisting device is connected to the tower crane hook and is used to adjust the aerial posture of the hoisted object. The control unit receives the parameter information collected by the wind farm environment monitoring unit, the inclined suspension and hanging monitoring unit, the working safety zone dynamic perception unit, the group tower anti-collision unit, the hoisting auxiliary guidance unit and the hoisting device and processes the data. The key parameters of the tower crane operation and the simulation status of the tower crane operation are displayed to the operator through the display unit.

[0106] In fact, the control unit of the present application is integrated on the controller in the control room. A display unit is provided in the control room. The display unit is used to present the control content to the operator. The control unit of the present application collects information from the above unit (sends the collected information to the control unit through a wireless module). The control unit processes the collected information. First, the collected information is compared with the set safety threshold to determine whether it exceeds the safety setting. If it exceeds the safety setting, an instruction is sent to the alarm unit, and the alarm unit issues an alarm prompt. Second, the collected information is processed and sent to the display unit. The display unit displays the processed information to the operator, which is convenient for the operator to perform corresponding operations. The collected information can also be processed to transmit the simulation status information of the tower crane operation to the display unit, which is further convenient for the operator's hoisting operation.

[0107] When in use, connect the high-voltage cable to the tower crane, prepare for work, and the wind farm environment monitoring unit starts to monitor the wind farm environment information and tower crane status information. After receiving the corresponding information, the control unit determines whether the current wind farm environment and tower crane status meet the set safety conditions. If not, it sends an alarm instruction to the alarm unit, and the alarm unit issues an alarm prompt to prohibit operation. Only when the set safety conditions are met can the operator enter the tower crane control room;

[0108] After the operator enters the tower crane control room, he operates the tower crane. First, he conducts a fault self-check on the tower crane to ensure that the tower crane operates normally. If a fault occurs, he will eliminate it in time.

[0109] Start preparing to lift the hoisted objects, divide the tower crane construction area into dangerous areas, and the control unit monitors the relative position relationship between the construction personnel and the dangerous areas in real time. Once the construction personnel appear in the dangerous area, the control unit sends instructions to the alarm unit to remind the operator, and the operator makes timely adjustments;

[0110] When there are no construction workers in the dangerous area, the tower crane hook 119 begins to be identified. The inclined and inclined lifting monitoring unit identifies the position of the tower crane hook 119 and obtains the inclined and inclined lifting angle of the tower crane hook 119. After receiving the current inclined and inclined lifting angle of the tower crane hook 119, the control unit compares it with the set safety angle. If it is greater than the set safety angle, it is determined that the current tower crane hook 119 is inclined and inclined, and the situation needs to be adjusted to eliminate this dangerous situation.

[0111] After eliminating the oblique pulling and oblique lifting situation, connect the hoisting device to the hoisting object, lift the hoisting object to the set height (2m from the ground in this application), and the hoisting device begins to adjust the aerial posture of the hoisting object to ensure that the hoisting object reaches the set posture. After the adjustment is completed, the operator controls the tower crane to continue lifting;

[0112] During the hoisting process, the tower anti-collision unit detects the relative position of the tower crane and the surrounding tower cranes. When the relative position is less than the set safety distance, the control unit sends a command to the alarm unit room to prompt the operator to avoid the problem of tower crane collision.

[0113] During the process of hoisting the hoisted object by the tower crane, the hoisting auxiliary guidance unit obtains the coordinates of the hoisted object position, the target position coordinates and the tower body position coordinates in real time, and sends the above coordinates to the control unit. The control unit sends the coordinate information to the display unit for display. The hoisted object is moved to the installation position for installation under the guidance of the coordinates. After the installation accuracy reaches the set requirements, the hoisting of the hoisted object is completed.

[0114] In some embodiments of the present application, this embodiment optimizes the above-mentioned wind field environment monitoring unit, and the specific wind field environment monitoring unit includes a tower body inclination angle collection module, a wind field parameter collection module, an attachment frame stress collection module and a boom inclination angle collection module, wherein the tower body inclination angle collection module is installed on the tower body to collect the inclination angle of the tower body; the wind speed and wind direction collection module is used to collect the wind speed and wind direction in the environment where the tower crane is located; the attachment frame stress collection module is installed on the tower body attachment frame to collect the stress of the attachment frame; the boom inclination angle collection module is installed on the boom to collect the boom inclination angle (the boom inclination angle in this application refers to the angle at which the boom is deflected along the wind direction).

[0115] The wind speed and wind direction reflect the state of the wind field environment, and the inclination of the tower body, the stress of the attachment frame and the inclination of the boom reflect the operating state of the tower crane. The tower crane can only operate when the state of the wind field environment and the operating state of the tower crane meet the safety setting requirements. Otherwise, as long as any one of the requirements is not met, the tower crane cannot operate. The above operating information can be monitored by installing sensors on the corresponding structures.

[0116] In other embodiments of the present application, this embodiment enriches the above-mentioned oblique-stayed and oblique-lifting monitoring unit, specifically the camera and angle acquisition module of the oblique-stayed and oblique-lifting monitoring unit of this embodiment. The camera of this embodiment is a binocular camera installed at the lower end of the lifting trolley, which is used to collect image information of the hook below; the angle acquisition module is used to process the image information, and obtain the angle between the hook sling and the vertical direction as the oblique-stayed and oblique-lifting angle.

[0117] Specifically, when the tower crane is hoisting, the high-definition binocular camera on the hoisting trolley captures the reflective sticker on the hook of the tower crane in real time, with a shooting interval of 0.5s, and transmits the image signal to the angle acquisition module. The angle acquisition module uses the image recognition intelligent algorithm to identify the coordinates of the hook reflective sticker and transmits the identified data to the control unit. The optical centers of the two cameras have a fixed distance d. Assuming that the coordinate system of the right camera C1 is O1X1Y1Z1, the coordinate system of the left camera C2 is O2X2Y2Z2, and the focal length is f, the coordinates of the cursor point P in C1 are (x1, y1, z1), and in C2 coordinate system are (x2, y2, z2), the left side of the image point in the left camera is (u1, v1), and the coordinates of the image point in the right camera are (u2, v2).

[0118] According to the photographic ratio, the coordinates are processed to obtain the three-dimensional coordinates of the spatial point P:

[0119]

[0120] Since the camera is installed on the crane trolley, the relative position between the rope exit point on the crane trolley and the camera is fixed. At any time, the rope exit point on the crane trolley is selected as the origin of the world coordinate system, the optical center line of the camera is used as the X-axis of the world coordinate system, the optical axis of the camera is used as the Z-axis of the world coordinate system, and the tower head pointing to the boom is the positive direction of the X-axis, and the boom vertically pointing to the ground is the positive direction of the Z-axis. The world coordinate system is established according to the right-hand principle, with a person standing on the tower head facing the boom, the person's right hand position is the right side, and the person's left hand position is the left side. The transformation rotation matrix of the two coordinate systems can be obtained as R, and the translation matrix is ​​T, so the coordinates of point P in the world coordinate system can be further obtained as:

[0121]

[0122] Since the matrices R and T are related to the coordinate selection and are known quantities, the image coordinates (u1, v1) and (u2, v2) are obtained through image recognition, and the inclined hanging angle θ is:

[0123]

[0124] The control unit compares the calculated oblique hanging angle θ with the preset thresholds θ1 and θ2, where θ1<θ2. According to the comparison between the oblique hanging angle θ and different preset thresholds, different alarm prompts and motion instructions are activated to prevent the oblique hanging angle from being too large. Specifically, when θ≤θ1, the display unit will prompt "the oblique hanging angle is normal" in green text; when θ1<θ<θ2, the first level alarm will be activated, and the display unit will prompt "please note that the oblique hanging angle is large" in red flashing text; when θ≥θ2, the second level alarm will be activated, the control unit will send out a switch control signal, control the sound and light alarm to alarm, and the display unit will prompt "please note that the oblique hanging angle is too large" in red text; when θ>θ1, the display unit will give motion instructions, including: when x w >0, the display prompts "Please increase the amplitude"; when x w When y is less than 0, the display prompts “Please reduce the amplitude”. w >0, the display prompts "Please turn left". w When θ1 is less than 0, the display screen prompts "Please turn right"; the specific amplitude change is measured by the encoder on the amplitude change winch, and the rotation size is measured by the encoder on the rotation motor (the angle θ1 set in this embodiment is 15° and θ2 is 20°).

[0125] During the tower crane oblique-stayed and oblique-hoisted detection process, the control unit transmits the alarm information and oblique-stayed and oblique-hoisted angle conditions to the cloud through the wireless module for remote monitoring.

[0126] In a further embodiment of the present application, this embodiment optimizes the above-mentioned dynamic perception unit of the working safety zone. Specifically, the dynamic perception unit of the working safety zone of this embodiment includes a crane arm danger zone acquisition module, a hoisting object danger zone acquisition module, a construction personnel position acquisition module and a safety warning module. The crane arm danger zone acquisition module is used to acquire in real time a first danger zone covered directly below the crane arm in motion or stationary state; the hoisting object danger zone acquisition module is used to acquire in real time a second danger zone covered directly below the hoisting object in motion or stationary state; the construction personnel position acquisition module is used to acquire in real time the position of construction personnel; the safety warning module is used to receive construction personnel position information in real time, and issue a safety warning signal when the construction personnel enter the first danger zone or the second danger zone.

[0127] like Figure 2 As shown, the tower crane 101 of the present application includes a boom 102 and a hoisting winch 104, a luffing winch 105, a slewing motor 106, and a hoisting trolley 103 installed on the boom 102. The boom 102 is installed on the tower crane 101 and can rotate around a vertical axis (rotation center), that is, the slewing motor 106 on the tower crane 101 drives the boom 102 to rotate around the vertical axis, and the hoisting trolley 103 can move along the length direction of the boom 102 on the boom 102 through the luffing winch 105 to achieve luffing adjustment. A hoisting rope is installed on the hoisting trolley 103, and the hoisting rope is controlled by the hoisting winch 104 to achieve vertical movement of the hoisted object.

[0128] In order to identify the dangerous areas of the boom 102 and the hoisted object 107, the present application also includes a boom dangerous area acquisition module, a hoisted object dangerous area acquisition module, a construction personnel position acquisition module and a safety warning module. The boom dangerous area acquisition module is used to acquire in real time the first dangerous area covered directly below the boom in motion or at rest; the hoisted object dangerous area acquisition module is used to acquire in real time the second dangerous area covered directly below the hoisted object in motion or at rest; the construction personnel position acquisition module is used to acquire the position of the construction personnel in real time. The construction personnel position acquisition module can be implemented by the construction personnel carrying a position coordinate acquisition device, or by installing an image acquisition device in the tower crane operation area to identify the construction personnel and thereby acquire the construction personnel coordinate information; the safety warning module is used to receive the construction personnel position information in real time, and to send out a safety warning signal when the construction personnel enter the first dangerous area or the second dangerous area.

[0129] The safety warning module is the control module of the entire perception system. It is used to process the data obtained by the boom danger zone acquisition module, the hoisting object danger zone acquisition module, and the construction personnel position acquisition module to determine whether there are construction personnel entering the danger zone, so as to issue warning information in time. The safety warning module is part of the control unit and the alarm unit. For ease of understanding, the safety warning module is assigned to the dynamic perception unit of the operation safety zone.

[0130] During actual use, when the tower crane is in operation, the boom danger zone acquisition module will identify the first danger zone in the current situation, the hoisting object danger zone acquisition module will identify the second danger zone, and the construction personnel position acquisition module will acquire the position coordinates of the construction personnel entering the tower crane operation area, and compare the construction personnel's position coordinates with the position coordinates of the first danger zone and the second danger zone. If the construction personnel appear in the first danger zone or the second danger zone, a warning message will be immediately issued to remind them. The warning message can be sent to the tower crane operator, and can also be sent to the construction personnel entering the danger zone at the same time.

[0131] Specifically, the boom danger zone acquisition module includes a boom coverage range acquisition module, a boom rotation angle acquisition module and a first danger zone determination module. The boom coverage range acquisition module determines the boom coverage range according to the length, width and the set first safety distance of the boom; the boom rotation angle acquisition module includes a first encoder installed on the rotation motor, which is used to obtain the rotation angle of the boom; the first danger zone determination module determines the first danger zone according to the boom coverage range and the boom rotation angle.

[0132] The arm coverage range acquisition module of this embodiment stores the arm length, width and first safety distance in advance. The arm length and width are directly obtained according to the arm structure. The first safety distance is horizontally extended in the length and width directions of the arm. Generally, the extended distance is 500mm~1000mm (the distance adjusted along the length direction is d, and the distance adjusted along the width direction is c, such as Figure 3 As shown, c and d can be the same or different, and are set according to actual needs). The area of ​​the vertical projection of the boom to the ground can be obtained through the length and width of the boom. The first safety distance is set to avoid safety problems caused by the tilting and falling of parts on the boom. By expanding the coverage area of ​​the boom, the safety hazard caused by such tilting and falling is avoided.

[0133] The length, width and first safety distance of the boom can be used to obtain the coverage of the boom on the ground. During the use of the tower crane, the boom rotates around the vertical axis. To achieve dynamic perception, it is necessary to confirm the rotation angle of the boom, that is, to confirm the specific position of the current boom. In this embodiment, a first encoder 108 is installed on the slewing motor 106. The first encoder 108 is actually an angle sensor for recording the rotation angle of the slewing motor 106. In actual use, the slewing center of the boom is set as the origin (measured by the total station 115, such as Figure 3 The tower crane origin measured by the total station 115 is directly input into the controller, and the same processing mode is used for the length and width data of the boom). The straight line passing through the origin in the north-south direction is set as the Y axis, and the straight line passing through the origin in the east-west direction is set as the X axis. The first encoder 108 can obtain the rotation angle of the rotary motor 106, thereby obtaining the angle of rotation of the boom, which is equivalent to obtaining the angle between the boom coverage range and the X axis or the Y axis. In this way, the position of the boom coverage range in the XY plane (the XY plane is actually the ground) can be obtained. The combination of the boom coverage range and the position is actually the first danger zone, such as Figure 3 Area A shown.

[0134] The hoisting object dangerous area acquisition module includes a hoisting object position acquisition module, a hoisting object coverage acquisition module and a second dangerous area determination module. The hoisting object position acquisition module is used to obtain the current position of the hoisting object relative to the coordinate origin of the tower crane; the hoisting object coverage acquisition module is used to determine the hoisting object coverage according to the projection area of ​​the hoisting object on the ground; the second dangerous area determination module determines the second dangerous area according to the hoisting object coverage, the hoisting object position and the set second safety distance. Figure 3 Region B is shown.

[0135] In fact, the first danger zone corresponding to the boom and the second danger zone corresponding to the hoisted object are determined in the same way, that is, the coverage of the boom or the hoisted object is determined, and then the position of the boom or the hoisted object is determined. The specific danger zone can be obtained by combining the coverage and position. The difference is that the length and width of the boom are fixed, and the structure of the boom is unchanged, but the structure of the hoisted object is different, and the structure of the hoisted object cannot be pre-input into the control system. This embodiment sets a dedicated hoisting object coverage acquisition module to obtain the hoisting object coverage.

[0136] In a preferred embodiment of the present application, this embodiment optimizes the above-mentioned hoisting object coverage range acquisition module. The specific hoisting object coverage range acquisition module includes a safety camera 111, a hoisting object height acquisition module and a coverage range extraction module. The safety camera 111 is installed on the lifting trolley 103, and is used to obtain image information of the hoisting object below; the hoisting object height acquisition module includes a third encoder 110 installed on the lifting winch 104, which is used to obtain the distance between the hoisting object 107 and the lifting trolley 103 as the height of the hoisting object 107; the coverage range extraction module determines the projection area of ​​the hoisting object 107 on the ground according to the image information and the height of the hoisting object to obtain the coverage range of the hoisting object.

[0137] The safety camera 111 is installed on the lifting trolley 103 through a bolt structure, and is used to obtain image information directly below, that is, to obtain image information of the hoisted object directly below. The obtained image information is converted into a grayscale image, Gaussian filtered, edge detected, expanded and eroded, and the boundary is found and the width is measured to obtain the outline, length and width of the hoisted object. Image processing needs to be determined in combination with the distance between the hoisted object and the lifting trolley. During image processing, the outline, length and width of the hoisted object can be obtained through the relationship between the number of pixels in the image information of the hoisted object and the distance (that is, after processing the image information, the distance between the outline and the edge of the image can be obtained, and then the unit length corresponding to each pixel can be obtained according to the distance between the hoisted object and the lifting trolley. In this way, the length, width and other information of the hoisted object can be obtained). Then, a second safety distance is performed on the outline of the hoisted object (such as Figure 3As shown, the outline of the hoisted object is expanded by a distance e, where the value of e is 500mm~1000mm), that is, the outline of the hoisted object is expanded by a second safety distance in the horizontal direction, and the formed area is the coverage range of the hoisted object.

[0138] In this embodiment, the distance between the hoisted object and the lifting trolley is obtained by the third encoder 110. Figure 2 As shown, the third encoder 110 is installed on the lifting winch 104. The third encoder 110 is actually a length sensor. By recording the extended length of the hoisting rope on the lifting winch 103, the distance between the hoisting object 107 and the lifting trolley 103 can be obtained. The height of the boom 102 from the ground is fixed. By obtaining the distance between the hoisting object 107 and the lifting trolley 103, the height of the hoisting object 107 from the ground can be obtained.

[0139] The hoisting object position acquisition module includes a hoisting object luffing distance determination module, which includes a second encoder 109 installed on the luffing winch 105, for obtaining the luffing distance of the lifting winch 105 as the horizontal distance of the hoisting object 107 relative to the coordinate origin of the tower crane 101.

[0140] The second encoder 109 is installed on the luffing winch 105 and is a length sensor. It records the luffing length of the lifting winch 103, which is actually the extended length of the traction rope of the luffing winch 105.

[0141] After the coverage range of the hoisted object is determined, the amplitude change distance of the crane 103 is also determined, and the rotation angle of the boom 102 is determined according to the first encoder 108. The rotation angle and the amplitude change distance can determine the specific position of the hoisted object in the tower crane operation area. According to the specific position of the hoisted object in the tower crane operation area and the coverage range of the hoisted object, the second dangerous area corresponding to the hoisted object can be determined, such as Figure 3 Region B is shown.

[0142] The construction worker position acquisition module includes a positioning module, which is carried by the construction worker and includes a GPS positioning module and a wireless signal generating module, which is used to send the construction worker position signal to the safety warning module in real time. The positioning module of this embodiment is a device carried by the construction worker and can be installed on the construction worker's safety helmet 116 (such as Figure 2 It can also be installed on work clothes as long as it can meet the needs.

[0143] The control room 112 is the control center of the entire dynamic sensing system. The control room 112 includes a controller (part of the control unit), a computer, a wireless module 113 and an audible and visual alarm 114 (part of the alarm unit). The controller is electrically connected to the above-mentioned encoder and computer, and transmits the information collected by the above-mentioned encoder to the computer for display. The wireless module 113 is a LORA module, and the controller 112 is an EPEC controller.

[0144] The tower crane operation safety zone dynamic perception method of this embodiment is performed according to the following steps:

[0145] A1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground;

[0146] A2. Obtain the coverage of the hoisted object, the height of the hoisted object, the distance relative to the coordinate origin of the tower crane, and the swing angle of the boom in real time to determine the second dangerous area projected by the hoisted object on the ground;

[0147] A3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel are in the first danger zone or the second danger zone, and send out a warning signal when the construction personnel are in the first danger zone or the second danger zone.

[0148] In some embodiments of the present application, this embodiment optimizes the above-mentioned group tower anti-collision unit. The specific group tower anti-collision unit includes a tower crane relative position acquisition module and a tower crane position deviation acquisition module. The tower crane relative position acquisition module is used to obtain the relative position relationship between the tower crane and the surrounding tower cranes; the tower crane position deviation acquisition module is used to obtain the position deviation between the tower crane and the surrounding tower cranes.

[0149] The tower group anti-collision unit includes six laser radars and four anti-collision cameras. A laser radar and an anti-collision camera are installed at each of the four corners where the boom and the tower body are connected. A laser radar is installed at the head and tail of the boom to obtain the relative position relationship between the current tower crane and the surrounding tower cranes. The laser radar and the anti-collision camera are connected to the control unit to output the position deviation between the current tower crane and the surrounding tower cranes to prevent the current tower crane from colliding with other construction tower cranes. When the laser radar detects that the distance between the current tower crane and other construction tower cranes is less than the safety distance threshold, the control unit sends an alarm command to the alarm unit, and the alarm unit issues an alarm prompt.

[0150] In some other embodiments of the present application, this embodiment optimizes the above-mentioned hoisting auxiliary guidance unit. The specific hoisting auxiliary guidance unit includes a hoisting object position acquisition module, a target position acquisition module and a tower position acquisition module. The hoisting object position acquisition module is used to collect the current hoisting object position coordinate information; the target position acquisition module is used to collect the target position coordinate information; the tower position acquisition module is used to collect the tower position coordinate information. In fact, there are many ways to obtain the hoisting object position coordinate information, the target position coordinate information and the tower position coordinate information. This embodiment adopts two modes. One is to measure the above coordinates by Beidou or GPS, and the other is to obtain the above coordinates by installing UWB on the hoisting object, the installation position and the tower body.

[0151] The hoisting auxiliary guidance unit of this embodiment includes two levels, one is the coarse positioning before the hoisting object reaches the set height, and the other is the fine positioning after the hoisting object reaches the set height. The set height of this embodiment refers to the hoisting object reaching 5m above the installation position. The coarse positioning can use Beidou or GPS to obtain the hoisting object position coordinate information, target position coordinate information and tower body position coordinate information. The fine positioning can obtain the hoisting object position coordinate information, target position coordinate information and tower body position coordinate information through UWB. Coarse positioning takes into account the speed of hoisting and improves the efficiency of hoisting transfer. When fine positioning is implemented, the hoisting object is very close to the installation position, and the installation accuracy needs to be considered.

[0152] After the hoisting object position acquisition module, the target position acquisition module and the tower position acquisition module collect the corresponding coordinate information, the relevant coordinate information is transmitted to the control unit through the wireless module. After the control unit processes the coordinate information, it is fed back to the display unit to present it to the operator, making it convenient for the operator to perform hoisting operations.

[0153] In a further embodiment of the present application, the present embodiment optimizes the above-mentioned sling. Specifically, the sling of the present embodiment is an intelligent sling, which is used to adjust the aerial posture of the hoisted object, such as Figures 4 and 5As shown, the hoist 201 includes a first crossbeam 202, a frame 203, a second crossbeam 204, an inclination adjustment structure, a hook 206 and a hook adjustment structure. The first crossbeam 202 is connected to the tower crane hook 119. The frame 203 is hingedly connected to the first crossbeam 202 through a vertical rotation axis 205 that can rotate around a vertical axis. The second crossbeam 202 is connected to the frame 203. The inclination adjustment structure is arranged on the frame 203 to adjust the horizontal inclination of the hoisted object. A plurality of hooks 206 are arranged on the second crossbeam 204 to connect the hoisted object. In this embodiment, four hooks 206 are arranged on the second crossbeam 204. The four hooks 206 include two groups arranged at both ends of the second crossbeam 204, and each group includes two hooks 206 arranged on both sides of the end of the second crossbeam 204. The hook adjustment structure is arranged between the hook 206 and the second crossbeam 204 to adjust the position of the hook 206.

[0154] like Figures 4 and 5 As shown, the inclination adjustment structure of this embodiment includes a first cylinder 207 and a second cylinder 208. The shell of the first cylinder 207 is hingedly connected to the rotating shaft 205, and the pushing end is hingedly connected to the frame 203, which is used to drive the frame 203 to rotate around the longitudinal axis. The frame 203 is rotatably hingedly connected to the lower end of the rotating shaft 205 through a longitudinal first pin shaft 209. The first cylinder 207 pushes the frame 203 to rotate, which actually pushes the frame 203 to rotate around the first pin shaft 209.

[0155] The housing of the second oil cylinder 210 is hingedly connected to the frame 203, and the push end is hingedly connected to the second beam 204, which is used to drive the second beam 204 to rotate around the transverse axis. The second beam 204 is rotatably hingedly connected to the frame 203 through the transverse second pin shaft 210. The second oil cylinder 210 drives the second beam 204 to rotate, which actually pushes the second beam 204 to rotate around the second pin shaft 210. Both ends of the frame 203 are connected to the second beam 204 through two second pin shafts 210.

[0156] In addition, a rotating structure is also installed on the hanger 201, such as Figures 4 and 5 As shown, the rotating structure includes a gear 211 and a rotating motor 212. The gear 211 is fixed to the rotating shaft 205. The rotating motor 212 is installed on the first beam 202 and is in transmission connection with the gear 212. When the vertical axis of the hoisted object needs to be adjusted, the rotating motor 212 is driven, and the rotating motor 212 drives the gear 211 to rotate. The gear 211 drives the rotating shaft 205 to rotate, and the frame 203 installed on the rotating shaft 205 can rotate with the rotating shaft 205, so as to adjust the vertical rotation angle of the hoisted object.

[0157] The hook adjustment structure of this embodiment includes a mounting seat 213 and a third oil cylinder 214. The mounting seat 213 is slidably connected to the slide groove on the second beam 204, and the upper end of the hook 206 passes through the slide groove and is fixedly connected to the mounting seat 213. The housing of the third oil cylinder 214 is fixed on the second beam 204, and the push end is connected to the mounting seat 213, which is used to drive the mounting seat 213 to move along the slide groove. The slide groove is arranged in the longitudinal direction, and the third oil cylinder 214 can adjust the hook 206 in the longitudinal direction.

[0158] In this embodiment, a gyroscope, a wireless transmission module and a controller are installed on the second crossbeam 204. When in use, the operator can send a control command to the controller through a handheld control device to adjust the position of the hook 206, so that the hook 206 corresponds to the lifting point on the hoisted object one by one, and then connect the hook 206 to the hoisted object. After the connection is completed, the hoisted object is lifted to the set adjustment height, the X-axis inclination angle and the Y-axis inclination angle of the hoist are obtained through the gyroscope on the hoist, and the X-axis inclination angle and the Y-axis inclination angle of the hoisted object are adjusted by the first oil cylinder 207 and the second oil cylinder 208 on the hoist, and the vertical rotation angle of the hoisted object is adjusted by the rotating motor 212 on the hoist until the aerial posture of the hoisted object meets the set requirements.

[0159] The construction method of the super-large intelligent tower crane of the present application is carried out according to the following steps: Figure 6 As shown:

[0160] S1. First, connect the 10KV high-voltage wire to the tower crane control room to avoid voltage loss, monitor the tower crane wind farm environment, including wind speed and direction from the bottom to the top of the tower, stress of the tower crane attachment frame, tower body inclination and boom inclination, and transmit the collected information to the cloud. The operator uses a handheld control terminal device to judge whether the current environment and tower crane status meet the construction requirements. If they do not meet the safety construction requirements, that is, the detection data exceeds the predetermined safety threshold, an alarm prompt and a roar alarm will be issued, and the tower crane will be locked to prohibit the operation of the tower crane. When the wind farm environment meets the safety setting requirements, the operator is allowed to enter the tower crane control room;

[0161] S2. The operator is allowed to climb from the bottom of the tower crane to the control room of the tower crane, specifically enter the control room through the tower ladder, operate the tower crane, and perform fault detection on the tower crane. If a fault occurs, a corresponding alarm prompt is issued until the tower crane operates normally. When the tower crane is fault-free, the operator operates the tower crane and performs hoisting operations, including lowering the tower crane hook, adjusting the hook of the sling, hooking the hook, etc. The target position of the hoisting object and the target posture of the heavy object are input to the control unit. When it is detected that the hook is hoisting the hoisting object, the operator starts to dynamically perceive the safe operation of the tower crane operation area, including combining the tower position of the tower crane, the rotation, luffing, lifting height and other information of the tower crane with the position of the construction personnel around the tower crane to determine whether there are personnel intruding into the construction range of the tower crane. If so, the sound and light alarm will roar, and the alarm unit will issue an alarm prompt;

[0162] S3, identify the tower crane hook, the control unit compares the collected oblique lifting angle with the set threshold, and determines whether the tower crane hook has an oblique lifting situation. If the oblique lifting angle exceeds the set threshold, the alarm unit issues an alarm prompt. If the oblique lifting angle is less than the set threshold, it proves that there is no oblique lifting situation at present, and the hoisting object is lifted to the set height, that is, 2m off the ground;

[0163] S4, adjusting the posture of the hoisted object, adjusting the posture of the hoisted object by the first oil cylinder, the second oil cylinder and the rotating motor until the posture of the hoisted object is consistent with the set aerial posture, and continuing to hoist after the posture adjustment is completed, and monitoring the relative position of the tower crane and the surrounding tower cranes in real time, and when the relative position of the tower crane boom and the surrounding tower cranes is less than the set distance, sound and light alarm prompts are issued to avoid collision;

[0164] S5. Perform coarse positioning guidance, obtain the coordinates of the hoisting object position, target position and tower body through Beidou or GPS, adopt path planning guidance algorithm, automatically control the tower crane to perform rotation, luffing and lifting movements, until the hoisting object is hoisted to 5m above the target position, and start fine positioning guidance, obtain the coordinates of the hoisting object position, target position and tower body through UWB installed on the hoisting object, target position and tower body, adopt path planning guidance algorithm, automatically control the tower crane to perform rotation, luffing and lifting movements, until the current hoisting object position coincides with the target position or reaches the allowable error range, and the hoisting construction of the hoisting object is completed.

[0165] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An ultra-large intelligent tower crane, comprising a flat-top tower crane, the flat-top tower crane comprising a boom, a tower body below the boom and a tower head above the boom; the boom is provided with a control room, a hoisting winch, a hoisting trolley, a luffing winch and a slewing motor, Features: Also includes, A wind farm environment monitoring unit, which is used to collect wind farm information and tower crane status information under the tower crane working environment; An oblique-lift monitoring unit, which is used to identify the position of the tower crane hook so as to obtain the oblique-lift angle of the tower crane hook; A dynamic sensing unit for an operation safety zone, which is used to obtain the relative positions of the crane arm, the hoisted object and the construction personnel in the operation area of ​​the tower crane; A tower group anti-collision unit, which is used to obtain the position deviation between the current tower crane and the surrounding tower cranes; A hoisting auxiliary guidance unit, the hoisting auxiliary guidance unit is used to collect the position coordinates of the hoisting object, the target position coordinates and the tower position coordinates; A sling connected to the tower crane hook and used to adjust the aerial posture of the hoisted object; A control unit, which receives parameter information collected by a wind farm environment monitoring unit, a tilted and inclined crane monitoring unit, a dynamic sensing unit for an operation safety zone, a tower group anti-collision unit, a hoisting auxiliary guidance unit, and a hoisting device, processes the data, and displays key parameters of the tower crane operation and a simulation state of the tower crane operation to an operator through a display unit; The sling comprises: a first crossbeam, wherein the first crossbeam is connected to a tower crane hook; A frame body, the frame body being hingedly connected to the first cross beam via a vertical rotation axis and being rotatable about a vertical axis; a second crossbeam, the second crossbeam being connected to the frame; An inclination adjustment structure is provided on the frame and is used to adjust the horizontal inclination of the hoisted object; A plurality of hooks, the plurality of hooks are arranged on the second crossbeam and are used to connect the hoisted objects; A hook adjustment structure, which is disposed between the hook and the second crossbeam and is used to adjust the position of the hook; The tilt angle adjustment structure comprises: A first oil cylinder, wherein the housing of the first oil cylinder is hingedly connected to the rotating shaft, and the pushing end is hingedly connected to the frame body, and is used to drive the frame body to rotate around the longitudinal axis; A second oil cylinder, the shell of the second oil cylinder is hingedly connected to the frame, and the push end is hingedly connected to the second crossbeam, and is used to drive the second crossbeam to rotate around the transverse axis; The sling also includes: A gear, wherein the gear is fixed to the rotating shaft; A rotating motor, which is mounted on the first crossbeam and is connected to the gear transmission; The hook adjustment structure includes a mounting seat and a third oil cylinder. The mounting seat is slidably connected to the slide groove on the second cross beam. The upper end of the hook passes through the slide groove and is fixedly connected to the mounting seat. The housing of the third oil cylinder is fixed on the second cross beam, and the push end is connected to the mounting seat, so as to drive the mounting seat to move along the slide groove. The slide groove is arranged in the longitudinal direction, and the third oil cylinder can adjust the hook in the longitudinal direction. A gyroscope is installed on the second crossbeam, and the X-direction inclination angle and the Y-direction inclination angle of the sling are obtained through the gyroscope on the sling.

2. The super-large intelligent tower crane according to claim 1, characterized in that: The wind farm environment monitoring unit comprises: A tower body inclination angle collection module, which is installed on the tower body and is used to collect the inclination angle of the tower body; A wind field parameter acquisition module, which is installed on the tower body and is used to collect wind speed and wind direction in the environment where the tower crane is located; An attachment frame stress collection module, wherein the attachment frame stress collection module is installed on the tower body attachment frame and is used to collect the attachment frame stress of the tower body attachment frame; A boom inclination angle collection module is installed on the boom and is used to collect the boom inclination angle.

3. The super-large intelligent tower crane according to claim 1, characterized in that: The oblique-stayed and oblique-suspended monitoring unit comprises: A binocular camera is installed on the lifting trolley and is used to collect image information of the tower crane hook below; Angle acquisition module, the angle acquisition module is used to process the image information and obtain the vertical angle between the tower crane hook and the rope outlet point of the lifting trolley as the oblique pulling and oblique lifting angle.

4. The super-large intelligent tower crane according to claim 1, characterized in that: The operation safety zone dynamic perception unit includes: A boom danger zone acquisition module, the boom danger zone acquisition module is used to acquire in real time a first danger zone directly below the boom in a moving or stationary state; A module for acquiring a dangerous area for a hoisted object, the module for acquiring a dangerous area for a hoisted object is used to acquire in real time a second dangerous area directly below the hoisted object in a moving state or a stationary state; A construction worker location acquisition module, which is used to acquire the location of construction workers in real time; The safety warning module is used to receive the construction personnel's location information in real time and send out a safety warning signal when the construction personnel enter the first danger zone or the second danger zone.

5. The super-large intelligent tower crane according to claim 1, characterized in that: The tower group anti-collision unit comprises: A tower crane relative position acquisition module, wherein the tower crane relative position acquisition module comprises cameras installed at four corners of the connection between the boom and the tower body, and is used to obtain the relative position relationship between the tower crane and surrounding tower cranes; The tower crane position deviation acquisition module includes laser radars installed at the head and tail ends of the boom and at the four corners of the connection between the boom and the tower body, and is used to obtain the position deviation of the tower crane and the surrounding tower cranes.

6. A super-large intelligent tower crane construction method, characterized in that: The construction method adopts the super-large intelligent tower crane described in any one of claims 1 to 5, and comprises the following steps: S1. Connect the high-voltage cable to the tower crane and monitor the wind farm environment of the tower crane. When the wind farm environment meets the safety setting requirements, the operator is allowed to enter the tower crane control room; S2. Perform fault detection on the tower crane, operate the tower crane when there is no fault in the tower crane, operate the tower crane hook to lower the hook to hang the hoisted object, and dynamically sense the safe operation of the tower crane operation area to ensure that no operator is within the working range of the boom and the hoisted object; S3, identifying the tower crane hook to determine whether the tower crane hook is in a slanted position, and lifting the load to a set height when the tower crane hook is within a safe angle range; S4. Adjust the posture of the hoisted object, continue hoisting after completion, and monitor the relative position of the tower crane and surrounding tower cranes in real time to avoid collision; S5. Obtain the position coordinates of the hoisted object, the target position coordinates and the tower body position coordinates, guide the hoisting of the tower crane, and complete the hoisting of the hoisted object through tower crane luffing, tower crane rotation and tower crane lifting.

7. A super large intelligent tower crane construction method as claimed in claim 6, characterized in that: In step S2, the method for dynamically sensing safe operation of the tower crane operation area includes the following steps: A1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground; A2. Obtain the coverage of the hoisted object, the height of the hoisted object, the distance relative to the coordinate origin of the tower crane, and the swing angle of the boom in real time to determine the second dangerous area projected by the hoisted object on the ground; A3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel are in the first danger zone or the second danger zone, and send out a warning signal when the construction personnel are in the first danger zone or the second danger zone.

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