Tower crane collapse emergency response system based on GNSS speed measurement technology

Abstract

The invention discloses a tower crane collapse emergency disposal system based on GNSS speed measurement technology. The tower crane comprises a tower base, a mobile trolley, a tower body and a tower arm. The construction site tower crane collapse emergency disposal system comprises: a collapse confirmation device, used for confirming the existence of collapse danger; a hoisting object delivery device, used for delivering the hoisting object to the top of a parabolic area; and a hoisting object throwing away device, used for throwing the hoisting object into the parabolic area.

Description

[0001] This application is a divisional application of the invention patent application with application date of October 8, 2019, application number 201910948435.1, and invention name “Construction site tower crane collapse emergency response system”. Technical Field

[0002] The invention relates to an emergency disposal system for tower crane collapse at a construction site. Background Art

[0003] Tower cranes occasionally collapse at construction sites. Once a collapse occurs, it will cause significant property losses or casualties. It is very important to carry out emergency disposal when a tower crane collapses at a construction site, but the current attention paid to this aspect is far from enough. Summary of the invention

[0004] In view of the above situation, the present invention proposes an emergency disposal system for tower crane collapse at a construction site, which is used to alleviate or eliminate one or more disadvantages existing in the prior art and at least provides a beneficial option.

[0005] To achieve the above objectives, one aspect of the present invention discloses a collapse emergency response system for a tower crane at a construction site, wherein the tower crane at the construction site comprises a tower base, a mobile trolley, a tower body and a tower arm, and is characterized in that the collapse emergency response system comprises: a collapse confirmation device for confirming the existence of a collapse hazard; a hoisting object delivery device for delivering the hoisting object to the top of a parabolic area; and a hoisting object throwing away device for throwing the hoisting object into the parabolic area.

[0006] According to one embodiment, the construction site tower crane collapse emergency response system further includes a parabolic zone determining device for determining the parabolic zone.

[0007] According to an embodiment, the parabolic zone determining device sets the predetermined parabolic zone as the parabolic zone when there is a predetermined parabolic zone and it is determined that the predetermined parabolic zone can be reached within a predetermined time.

[0008] According to one embodiment, a GNSS monitoring station is installed at the end of the tower arm, and the GNSS monitoring station receives the GNSS Doppler observation value signal broadcast by the navigation satellite, solves to obtain the instantaneous three-dimensional velocity of the GNSS monitoring station itself, and performs denoising filtering and smoothing processing to obtain the smoothed result as the instantaneous three-dimensional shaking velocity of the end of the tower arm, including the instantaneous vertical shaking velocity. Based on the instantaneous vertical shaking velocity, the real-time vertical tilt change of the end of the tower arm is calculated. When the real-time vertical tilt change exceeds a predetermined value, it is confirmed that there is a risk of collapse.

[0009] According to one embodiment, the real-time vertical tilt change is calculated as follows:

[0010]

[0011] in, is the real-time vertical tilt variation of the head end of the tower arm for n epochs, is the instantaneous vertical sway velocity of the head end of the tower arm at the ith epoch, △T i is the data sampling interval of the i-th epoch of the GNSS monitoring station, f i is the data sampling rate of the ith epoch of the GNSS monitoring station, f i =1Hz~50Hz.

[0012] According to one embodiment, the predetermined value may be calculated as follows:

[0013] in, is the predetermined value, L B is the length of the tower arm, K is the verticality coefficient of the tower crane at the construction site,

[0014] According to one embodiment, the collapse emergency handling system further comprises a parabolic zone determining device for determining the parabolic zone. The parabolic zone determining device determines the parabolic zone as follows: The predetermined parabolic region is set as the parabolic region, if The unmanned area around the tower body is determined as the parabolic area.

[0015] According to the technical solution of the present invention, when there is a risk of tower crane collapse at a construction site, by discarding the hoisted objects, the collapse of the tower body can be avoided at certain times or slowed down to a certain extent, thereby avoiding casualties or providing a certain amount of time for evacuation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention can be better understood with reference to the accompanying drawings, but the accompanying drawings are merely exemplary and are not intended to limit the scope of protection of the present invention.

[0017] Figure 1 A schematic diagram showing a construction site tower crane in which one embodiment of the system of the present invention may be used;

[0018] Figure 2 A schematic block diagram of a tower crane collapse emergency handling system at a construction site according to an embodiment of the present invention is shown.

[0019] Figure 3 A schematic block diagram of a tower crane collapse emergency handling system at a construction site according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0020] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. These embodiments are exemplary and are used to make it easier for those skilled in the art to understand the present invention, and do not constitute a limitation on the protection required for the present invention.

[0021] The inventor of the present invention has found through research that the collapse of a tower crane at a construction site is not instantaneous. In most cases, a tower crane at a construction site collapses when a heavy object is hoisted. If the hoisted heavy object can be discarded in time within a period of time, the tower body does not need to collapse, which is of great significance to the safety of the driver (the cab is basically set on the tower body).

[0022] Figure 1 A schematic diagram of a construction site tower crane is shown in which one embodiment of the system of the present invention may be used.

[0023] like Figure 1 As shown, a construction site tower crane to which an embodiment of the present invention can be applied comprises a tower base 11, a tower body 12, a tower arm 13, a hoisting and moving trolley 14, a hoisting rope 15, and a hook component 16. The hoisting and moving trolley 14 may also be referred to as a moving trolley, which can move on the tower arm and has a hoisting rope accommodating device, a fixed pulley, and a hoisting rope driving motor.

[0024] Figure 2 FIG. 1 is a schematic block diagram of a construction site tower crane (referred to as tower crane) collapse emergency response system according to an embodiment of the present invention. Figure 2 As shown, a tower crane collapse emergency response system at a construction site according to one embodiment of the present invention includes a collapse confirmation device 21, a hoisted object delivery device 22, and a hoisted object throwing away device 23.

[0025] The collapse confirmation device 21 is used to confirm the existence of collapse danger. The collapse confirmation device 21 can be implemented by various methods and devices that are currently available or known in the future.

[0026] According to one embodiment, a GNSS monitoring station is installed at the end of the tower arm, and the GNSS monitoring station receives the GNSS Doppler observation value signal broadcast by the navigation satellite, solves and obtains the instantaneous three-dimensional velocity of the GNSS monitoring station itself, and performs denoising filtering and smoothing processing to obtain the smoothing result as the instantaneous three-dimensional shaking velocity of the head end of the tower arm, including the instantaneous vertical shaking velocity. Based on the instantaneous vertical shaking velocity, the real-time vertical tilt change is calculated. When the real-time vertical tilt change exceeds a predetermined value, it is confirmed that there is a risk of collapse. Since according to the concept of the present invention, when there is a risk of collapse, the hoisted objects will be abandoned, which will cause losses, so the predetermined value is strictly controlled.

[0027] According to one embodiment, the real-time vertical tilt change can be calculated as follows:

[0028]

[0029] in, is the real-time vertical tilt variation of the head end of the tower arm for n epochs, is the instantaneous vertical sway velocity of the head end of the tower arm at the ith epoch, △T i is the data sampling interval of the i-th epoch of the GNSS monitoring station, f i is the data sampling rate of the ith epoch of the GNSS monitoring station, which is determined by the performance of the GNSS monitoring station, and f i =1Hz~50Hz.

[0030] According to one embodiment, the predetermined value may be calculated as follows:

[0031]

[0032] in, is the predetermined value, L B is the length of the tower arm, K is the verticality coefficient of the tower crane,

[0033] According to this embodiment, the sampling rate can be changed as the speed changes, which can better and more accurately reflect the real-time vertical tilt change.

[0034] The hoisting object delivery device 22 is used to deliver the hoisting object to the top of the parabolic area. A predetermined position can be determined in advance as the parabolic area in the working area of ​​the tower crane at the construction site. The parabolic area can be an open area where personnel are prohibited from entering and valuable materials are not retained. The hoisting object delivery device 22 delivers the hoisting object to the top of the parabolic area according to the current position of the boom and the trolley and the position of the parabolic area. This work can be completed by driving the tower arm to rotate quickly and / or the moving trolley to slide quickly.

[0035] The lifting object throwing device 23 is used to throw the lifting object into the parabolic area. According to one embodiment, the lifting rope is directly broken. According to one embodiment, a cutting or cutting method can be adopted, and according to another embodiment, a close-range laser melting technology can be adopted. According to one embodiment, in the case where the lifting rope above the hook is equipped with a movable pulley, the hook can be separated from the movable pulley to achieve the abandonment of the lifting object.

[0036] Figure 3 FIG. 2 shows a schematic block diagram of a construction site tower crane collapse emergency response system according to another embodiment of the present invention. Figure 3 As shown, the collapse emergency handling system further includes a parabolic zone determining device 24, which is used to determine the parabolic zone.

[0037] The parabolic zone determining device 24 is used to determine the parabolic zone. If there is a predetermined parabolic zone and it is determined that the predetermined parabolic zone can be reached within a predetermined time, the predetermined parabolic zone is set as the parabolic zone.

[0038] According to one embodiment, the parabolic region is determined as follows:

[0039] if setting a predetermined parabolic area as the parabolic area;

[0040] if Radar scanning and identification methods are used to determine the no-man's land around the tower, and the no-man's land is set as a parabolic zone.

[0041] According to one embodiment, when there is no predetermined parabolic zone, or when it is determined that the tower crane area cannot quickly reach the predetermined parabolic zone, it is necessary to determine the parabolic zone. According to one embodiment, the parabolic zone determination device 24 determines the parabolic zone as follows: it scans the area below the hoisted object, determines the unmanned zone, and sets the unmanned zone that can be reached the fastest as the parabolic zone. The unmanned zone can be determined by radar scanning and recognition methods. The unmanned zone can be determined by photography and human body recognition methods.

[0042] The above detailed description of the present invention merely provides further information to those skilled in the art for implementing the preferred aspects of the present invention and does not limit the scope of the present invention. Only the claims are used to determine the scope of protection of the present invention. Therefore, the combination of features and steps in the foregoing detailed description is not necessary for implementing the present invention in the broadest sense, and alternatively only the representative embodiments of the present invention described in particular detail are taught. In addition, in order to obtain additional useful embodiments of the present invention, the various features taught in the specification can be combined in a variety of ways, but these ways are not specifically exemplified.

Claims

1. A tower crane collapse emergency response system based on GNSS speed measurement technology, wherein the tower crane comprises a tower base, a mobile trolley, a tower body and a tower arm, characterized in that: The tower crane collapse emergency response system comprises: A collapse confirmation device is used to confirm the existence of a collapse hazard; A hoisted object delivery device is used to deliver the hoisted object to the top of the parabolic area; The lifting object throwing device is used to throw the lifting object into the throwing area. Wherein, a GNSS monitoring station is installed at the end of the tower arm, and the GNSS monitoring station receives the GNSS Doppler observation value signal broadcast by the navigation satellite, solves and obtains the instantaneous three-dimensional velocity of the GNSS monitoring station itself, and performs denoising filtering and smoothing processing to obtain a smoothing result as the instantaneous three-dimensional shaking velocity of the end of the tower arm, including the instantaneous vertical shaking velocity. Based on the instantaneous vertical shaking velocity, the real-time vertical tilt change of the end of the tower arm is calculated. When the real-time vertical tilt change exceeds a predetermined value, it is confirmed that there is a danger of collapse. The real-time vertical tilt change is calculated as follows: in, is the real-time vertical tilt variation of the head end of the tower arm for n epochs, is the instantaneous vertical sway velocity of the head end of the tower arm at the ith epoch, ΔT i is the data sampling interval of the i-th epoch of the GNSS monitoring station, f i is the data sampling rate of the ith epoch of the GNSS monitoring station, f i The value range is 1Hz to 50Hz.

2. The tower crane collapse emergency response system based on GNSS speed measurement technology according to claim 1 is characterized in that: The tower crane collapse emergency handling system also includes a parabolic zone determining device, which is used to determine the parabolic zone.

3. The tower crane collapse emergency response system based on GNSS speed measurement technology according to claim 2 is characterized in that: The parabolic zone determining device sets the predetermined parabolic zone as the parabolic zone when there is a predetermined parabolic zone and it is determined that the predetermined parabolic zone can be reached within a predetermined time.

4. The tower crane collapse emergency response system based on GNSS speed measurement technology according to claim 1 is characterized in that: The predetermined value is calculated as follows: in, is the predetermined value, L B is the length of the tower arm, K is the verticality coefficient of the tower crane, and the value range of K is 5. The tower crane collapse emergency response system based on GNSS speed measurement technology according to claim 1 is characterized in that: The hoisting object throwing device adopts close-range laser fusing technology to directly cut the hoisting rope.

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