Tower crane anti-collision method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a tower crane anti-collision method and device, electronic equipment and a storage medium. The working mode of an advanced tower crane and the action mode of a later tower crane are acquired. The advanced tower crane and the later tower crane have an overlapping working area. The working mode includes an intersection mode and a non-intersection mode. The advanced tower crane enters the overlapping working area before the later tower crane. The safety range boundary of the later tower crane is determined according to the working mode of the advanced tower crane. If the later tower crane exceeds the safety range boundary, the later tower crane is controlled to perform a corresponding safety action according to the action mode of the later tower crane, so as to prevent the later tower crane from colliding with the advanced tower crane. Embodiments of the present application reduce the collision rate of the tower crane and improve the safety and efficiency of the tower crane work.

Description

Technical Field

[0001] This application relates to equipment control technology, and more particularly to a tower crane anti-collision method, device, electronic device, and storage medium. Background Technology

[0002] Tower cranes are a common type of construction equipment. In engineering construction, it is often necessary to deploy clusters of tower cranes, which can lead to overlapping swing radii among multiple tower cranes, posing certain safety hazards.

[0003] In principle, tower crane clusters are installed at different heights to avoid direct collisions between the booms. However, the risk of collision still exists during lifting and lowering of the hook, as well as during rotation in overlapping sections. While strictly adhering to regulations can prevent tower crane collisions, tower crane safety relies entirely on the competence of on-site operators, making it difficult to completely eliminate non-compliant actions and thus increasing the risk of collisions. Conversely, completely prohibiting work in overlapping areas can also prevent tower crane collisions, but this would reduce the tower crane's operational efficiency. Summary of the Invention

[0004] This application provides a tower crane anti-collision method, device, electronic device, and storage medium to reduce the collision rate of tower cranes and improve the safety and efficiency of tower crane operation.

[0005] In a first aspect, embodiments of this application provide a tower crane anti-collision method, which includes:

[0006] Obtain the working mode of the advanced tower crane and the operation mode of the following tower crane; there is an overlap in the working area between the advanced and following tower cranes; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the following tower crane;

[0007] Determine the safety range boundaries of the later-developed tower cranes based on the working mode of the advanced tower cranes;

[0008] If the following tower crane exceeds the safety boundary, then control the following tower crane to perform the corresponding safety action according to its operating mode, so as to prevent the following tower crane from colliding with the leading tower crane.

[0009] Secondly, embodiments of this application also provide a tower crane anti-collision device, which includes:

[0010] The information acquisition module is used to acquire the working mode of the advanced tower crane and the action mode of the subsequent tower crane; there is an overlapping working area between the advanced tower crane and the subsequent tower crane; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane;

[0011] The safety range boundary determination module is used to determine the safety range boundary of the later tower cranes based on the working mode of the advanced tower cranes.

[0012] The rear-entry tower crane control module is used to control the rear-entry tower crane to perform corresponding safety actions based on its operating mode if the rear-entry tower crane exceeds the safety boundary, in order to prevent the rear-entry tower crane from colliding with the advanced tower crane.

[0013] Thirdly, embodiments of this application also provide an electronic device, which includes:

[0014] One or more processors;

[0015] Storage device for storing one or more programs;

[0016] When one or more programs are executed by one or more processors, the one or more processors implement any of the tower crane anti-collision methods provided in the embodiments of this application.

[0017] Fourthly, embodiments of this application also provide a storage medium including computer-executable instructions, which, when executed by a computer processor, are used to perform any of the tower crane anti-collision methods provided in embodiments of this application.

[0018] This application addresses the issues of overlapping working areas between the advanced and subsequent tower cranes by obtaining their respective operating modes and movement patterns. The operating modes include overlapping and non-overlapping modes. The advanced tower crane enters the overlapping working area before the subsequent one. By setting different operating modes, different work requirements can be met, allowing both cranes to work simultaneously in the overlapping area, thus improving crane efficiency. Based on the advanced tower crane's operating mode, the safety boundary of the subsequent tower crane is determined. If the subsequent tower crane exceeds the safety boundary, its movement pattern is used to control it to perform corresponding safety actions, preventing non-compliant actions and thus preventing collisions with the advanced crane, reducing the collision rate, and improving crane safety. Therefore, this technical solution solves the problems of tower crane safety relying entirely on the skills of on-site operators, resulting in a high risk of collisions, and the reduced efficiency caused by completely prohibiting work in overlapping areas. It achieves the effects of reducing the collision rate and improving both the safety and efficiency of tower crane operations. Attached Figure Description

[0019] Figure 1a This is a flowchart of a tower crane anti-collision method according to Embodiment 1 of this application;

[0020] Figure 1b This is a schematic diagram of two tower cranes with overlapping working areas, as shown in Embodiment 1 of this application;

[0021] Figure 1c This is a schematic diagram of the overlapping working areas of two tower cranes in Embodiment 1 of this application;

[0022] Figure 2a This is a flowchart of a tower crane anti-collision method according to Embodiment 2 of this application;

[0023] Figure 2b This is a schematic diagram of the safety range boundary in an intersection mode according to Embodiment 2 of this application;

[0024] Figure 3a This is a flowchart of a tower crane anti-collision method according to Embodiment 3 of this application;

[0025] Figure 3b This is a schematic diagram of the safety range boundary of the tower crane in a non-intersection mode according to Embodiment 3 of this application;

[0026] Figure 3c This is a schematic diagram of the safety range boundary of the rear-entry tower crane in a non-intersection mode according to Embodiment 3 of this application;

[0027] Figure 4 This is a structural schematic diagram of a tower crane anti-collision device according to Embodiment 4 of this application;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device according to Embodiment 5 of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1a This is a flowchart of a tower crane anti-collision method provided in Embodiment 1 of this application. This embodiment can be applied to prevent collisions between two tower cranes with overlapping working areas. The method can be executed by a tower crane anti-collision device, which can be implemented in software and / or hardware and specifically configured in the tower crane control platform.

[0033] See Figure 1a The tower crane collision prevention method shown includes the following steps:

[0034] S110. Obtain the working mode of the advanced tower crane and the action mode of the subsequent tower crane; there is an overlapping working area between the advanced tower crane and the subsequent tower crane; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane.

[0035] The "advancing" and "following" tower cranes can be two tower cranes with overlapping working areas, meaning their vertical projections overlap in the areas swept by their main booms during rotation. When the main booms of both cranes simultaneously perform operations such as boom rotation or trolley movement within this overlapping working area, collisions may occur. In this context, the "advancing" tower crane is the one that enters the overlapping working area first, and the "following" tower crane is the one that enters later. For example... Figure 1b This is a schematic diagram of two tower cranes with overlapping working areas; Figure 1c This is a schematic diagram of the overlapping working areas of two tower cranes. Figure 1c The areas marked with diagonal lines are overlapping work areas.

[0036] The working mode can be the working mode of the advanced tower crane in the overlapping working area, used to determine whether the advanced and subsequent tower cranes can simultaneously enter the overlapping working area, thereby determining the safety range boundary of the subsequent tower crane. For example, the working mode can include a non-overlapping mode and an overlapping mode. The working mode can be manually preset or automatically determined by the control platform based on the safety level of the task performed by the advanced tower crane; this application does not specifically limit this. The action mode can be the action mode of the subsequent tower crane when performing its work task, used to determine the safety range boundary of the subsequent tower crane. For example, the action mode can be boom rotation or trolley movement. The action mode can be acquired through sensors.

[0037] S120. Determine the safety range boundary of the later-advanced tower crane based on the working mode of the advanced tower crane.

[0038] The safety range boundary can be defined as the working area boundary where the approaching tower crane will not collide with the advanced tower crane. Based on the working mode of the advanced tower crane, determine whether the approaching tower crane can enter the overlapping working area. If so, determine the safety range boundary of the approaching tower crane based on its current position. If not, determine the safety range boundary based on the boundary of the overlapping working area.

[0039] When two tower cranes are operating in overlapping work areas, if a collision hazard is detected, the main boom of the rear tower crane can be stopped from rotating or the trolley can be stopped from moving. There is a certain braking distance between receiving a stop command and completing its execution; therefore, a buffer distance is required. The safety boundary can be determined based on the buffer distance and the position of the rear tower crane to ensure sufficient buffer space is provided for the rear tower crane after the stop command is issued, thus preventing a collision. Specifically, the buffer distance can be preset or determined in real-time based on the movement speed of the rear tower crane; this application does not impose specific limitations on this.

[0040] S130. If the following tower crane exceeds the safety boundary, then control the following tower crane to perform the corresponding safety action according to the following tower crane's operating mode, so as to prevent the following tower crane from colliding with the leading tower crane.

[0041] If the following tower crane extends beyond the safety boundary, meaning its boom or trolley enters an area outside the safe zone, there is a risk of collision between the following and the preceding tower crane. Safety actions can be implemented to prevent collisions when the following tower crane extends beyond the safety boundary. These actions are controlled based on the following tower crane's movement pattern, causing it to retract back within the safe zone. Examples of such safety actions include the trolley retracting, the hook stopping its descent, or the boom rotating away from the overlapping work area.

[0042] The technical solution of this embodiment obtains the working mode of the advanced tower crane and the action mode of the subsequent tower crane; the advanced and subsequent tower cranes have overlapping working areas; the working modes include overlapping and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane; by setting different working modes, different working needs can be met, allowing the advanced and subsequent tower cranes to work simultaneously in the overlapping working area, improving the working efficiency of the tower cranes; based on the working mode of the advanced tower crane, the safety range boundary of the subsequent tower crane is determined, and the corresponding safety range boundary can be determined according to the working mode; if the subsequent tower crane exceeds the safety range boundary, the subsequent tower crane is controlled to perform corresponding safety actions according to its action mode, avoiding non-compliant actions, thereby preventing collisions between the subsequent and advanced tower cranes, reducing the collision rate of the tower cranes, and improving the safety of tower crane operation. Therefore, the technical solution of this application solves the problems that tower crane safety depends entirely on the quality of on-site operators, resulting in a high risk of collision, and that completely prohibiting work in overlapping working areas reduces tower crane working efficiency, achieving the effect of reducing the collision rate of tower cranes and improving the safety and efficiency of tower crane operation.

[0043] Example 2

[0044] Figure 2a This is a flowchart of a tower crane anti-collision method provided in Embodiment 2 of this application. The technical solution of this embodiment is further refined based on the above technical solution.

[0045] Furthermore, the statement "determine the safety range boundary of the subsequent tower crane based on the working mode of the advanced tower crane" is further refined as follows: "If the working mode is an intersection mode, then determine the buffer angle of the subsequent tower crane based on the rotation attribute of the main boom of the subsequent tower crane; determine the safety range boundary of the subsequent tower crane based on the position of the advanced tower crane and the buffer angle of the subsequent tower crane" in order to dynamically update the safety range boundary.

[0046] See Figure 2a The tower crane anti-collision method shown includes:

[0047] S210. Obtain the working mode of the advanced tower crane and the action mode of the subsequent tower crane; there is an overlapping working area between the advanced tower crane and the subsequent tower crane; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane.

[0048] S220. If the working mode is an intersection mode, then the buffer angle of the rear tower crane is determined according to the rotation properties of the rear tower crane's main boom.

[0049] The overlapping mode means that the advanced tower crane and the following tower crane can work simultaneously in the overlapping work area. For example, when the work deadline is tight or the object being lifted by the tower crane is relatively stable in the air, not prone to swaying, and has strong impact resistance, the overlapping mode can be selected to improve work efficiency while ensuring that the tower cranes do not collide.

[0050] Rotation attributes can be used to define the characteristics of the trailing tower crane's boom and determine its buffer angle. For example, rotation attributes may include maximum speed, maximum acceleration, and maximum angular velocity. The buffer angle can be the angle the trailing tower crane has rotated from receiving a stop rotation command until it comes to a complete stop. The buffer angle can be used to determine safety range boundaries.

[0051] S230. Determine the safety range boundary of the subsequent tower crane based on the position of the advanced tower crane and the buffer angle of the subsequent tower crane.

[0052] Using the position of the advanced tower crane as the axis of symmetry, the buffer angle of the subsequent tower crane is rotated left and right respectively, forming a fan-shaped area. The two radii of this fan-shaped area constitute the safety range boundary. Since the advanced tower crane can rotate, this safety range boundary is dynamically rotating, which can increase the working range of the subsequent tower crane. Optionally, due to the differences in control sensitivity between different tower cranes, the buffer angle can be updated based on the error angle. Based on the updated buffer angle, the position of the advanced tower crane, and the action mode of the subsequent tower crane, the safety range boundary of the subsequent tower crane is determined. The error angle can be determined based on experiments or experience; this application does not specifically limit it.

[0053] S240. If the following tower crane exceeds the safety boundary, then control the following tower crane to perform the corresponding safety action according to the following tower crane's operating mode, so as to prevent the following tower crane from colliding with the leading tower crane.

[0054] In one optional embodiment, if the rear tower crane exceeds the safety range boundary, the rear tower crane is controlled to perform corresponding safety actions according to its operating mode, including: when the rear tower crane is rotating its main boom, if the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safety height, then when the main boom of the rear tower crane and the main boom of the advanced tower crane are both within the safety range boundary, the main boom of the rear tower crane is prohibited from rotating towards the main boom of the advanced tower crane, and the trolley of the rear tower crane is prohibited from moving forward.

[0055] The radial limit position is the outermost distance from the trolley in the boom direction where there is no risk of collision. The outermost point can be the end furthest from the tower body. When the trolley is within the limit position, the two tower cranes generally will not collide due to the difference in boom height. Specifically, the radial limit value can be calculated as follows: the distance between the booms of the advanced and subsequent tower cranes is the first distance; the distance from the outermost point of the advanced tower crane's boom to its boom is the second distance; the difference between the first and second distances is the radial limit distance; and the radial limit position is the location corresponding to the radial limit distance extended from the boom of the subsequent tower crane away from the boom.

[0056] The safe height can be the lowest position of the hook of the higher tower crane (between the advanced and the follower tower cranes). Specifically, the hook descends at a certain speed. When a stop descent command is received, the distance the hook descends from receiving the command to coming to a complete stop is called the third distance. The safe height is obtained by adding the third distance to the height of the lower tower crane (between the advanced and the follower tower cranes). Optionally, due to differences in the control sensitivity of different tower cranes, the third distance can be updated based on the error distance, and the safe height can be determined based on the updated third distance. The error distance can be determined based on experiments or experience, and this application does not specifically limit it.

[0057] When the rear-entry tower crane rotates its main boom, if its trolley is outside its radial limit position and its hook is below the safe height, the object being lifted by the rear-entry crane's hook may collide with the main boom of the advanced tower crane, even when both cranes are within the safe range. Therefore, it is prohibited for the rear-entry crane's main boom to rotate closer to the advanced crane's main boom, and the trolley's forward movement is also prohibited. For example, prohibiting the rear-entry crane's main boom from rotating closer to the advanced crane's main boom can include controlling its rotation away from the advanced crane's main boom, rapidly increasing the distance between the two cranes. Since a collision generally does not occur once the trolley is back to its limit position, prohibiting the trolley's forward movement and allowing it to only move backward further ensures the safety of the lifted object.

[0058] When the main booms of both the rear-entry and advanced tower cranes are simultaneously within the safety boundary, it can be caused by either the advanced tower crane rotating towards the rear-entry crane or vice versa. Optionally, when the rear-entry tower crane is rotating its main boom, if its trolley is outside its radial limit position and its hook is below the safe height, then when both the main booms of the rear-entry and advanced tower cranes are within the safety boundary, the advanced tower crane's main boom should be controlled to rotate away from or stop rotating to prevent them from colliding. Conversely, when the rear-entry tower crane is rotating its main boom, if its trolley is within its radial limit position or its hook is above the safe height, then when both the main booms of the rear-entry and advanced tower cranes are within the safety boundary, no collision of the lifted object will occur, and neither the advanced nor the rear-entry tower crane needs to perform safety maneuvers, thus improving the working efficiency of either crane.

[0059] When the rear-entry tower crane rotates its main boom, if the trolley of the rear-entry tower crane is outside the radial limit position and the hook of the rear-entry tower crane is below the safe height, then when the main booms of both the rear-entry and the advanced tower cranes are simultaneously within the safe range boundary, the main boom of the rear-entry tower crane is prohibited from rotating towards the main boom of the advanced tower crane, and the trolley of the rear-entry tower crane is also prohibited from moving forward. When the rear-entry tower crane is rotating its main boom, the collision situation is judged based on the trolley position and hook height, improving the accuracy of collision prediction and timely controlling the rear-entry tower crane to perform corresponding safety actions, accurately avoiding collisions, reducing the collision rate of tower cranes, and improving the safety of tower cranes.

[0060] In one optional embodiment, if the rear tower crane exceeds the safety range boundary, the rear tower crane is controlled to perform corresponding safety actions according to its operating mode, including: when the rear tower crane is moving its trolley, if the main boom of the rear tower crane and the main boom of the advanced tower crane are both within the safety range boundary and the hook of the rear tower crane is below the safety height, then when the trolley of the rear tower crane moves beyond the radial limit position, the trolley of the rear tower crane is prohibited from moving forward, and the main boom of the rear tower crane is prohibited from rotating in the direction closer to the main boom of the advanced tower crane.

[0061] Forward movement can refer to the trolley moving away from the tower body. The position outside the radial limit position can be the side of the radial limit position away from the tower body. When the trolley of the rear-entry tower crane is moving, if the main booms of both the rear-entry and advanced tower cranes are simultaneously within the safety boundary, and the hook of the rear-entry tower crane is below the safety height, a collision may occur when the trolley of the rear-entry tower crane moves beyond the radial limit position. Therefore, forward movement of the trolley of the rear-entry tower crane is prohibited. For example, prohibiting forward movement of the trolley of the rear-entry tower crane can include controlling the trolley to retreat, so that the trolley quickly retreats to within the radial limit position; and prohibiting the main boom of the rear-entry tower crane from rotating towards the main boom of the advanced tower crane. For example, the main boom of the rear-entry tower crane can be controlled to rotate away from the main boom of the advanced tower crane to increase the distance between the main booms of the rear-entry and advanced tower cranes, further ensuring the safety of the lifted object. At this time, the hook can be raised or lowered.

[0062] When the booms of both the advancing and advancing tower cranes are simultaneously within the safety boundary, it can be caused by either the advancing tower crane rotating towards the advancing crane or vice versa. Optionally, when the advancing tower crane is moving its trolley, if both booms are within the safety boundary and the hook of the advancing tower crane is below the safety height, then when the trolley of the advancing tower crane reaches its radial limit position, the boom of the advancing tower crane should be controlled to rotate away from or stop rotating. This allows the advancing tower crane to quickly reach an area outside the safety boundary, preventing the booms of the advancing and advancing tower cranes from colliding. When the advancing tower crane is moving its trolley, if the hook of the advancing tower crane is above the safety height, and both booms are within the safety boundary, there will be no collision of the lifted object. Therefore, it is not necessary to control either the advancing or advancing tower crane to perform safety maneuvers, thus improving the working efficiency of either crane.

[0063] When the trolley of the rear-entry tower crane is moving, if both the main booms of the rear-entry and the leading tower crane are within the safety boundary and the hook of the rear-entry tower crane is below the safety height, then when the trolley of the rear-entry tower crane moves beyond its radial limit position, further movement of the trolley is prohibited, and rotation of the main boom of the rear-entry tower crane towards the main boom of the leading tower crane is also prohibited. During the trolley movement of the rear-entry tower crane, the system assesses potential collisions based on the main boom position and hook height, improving the accuracy of collision prediction and enabling timely control of the rear-entry tower crane to execute corresponding safety actions. This precisely avoids collisions, reduces the collision rate of tower cranes, and improves their safety.

[0064] like Figure 2bThis is a schematic diagram of the safety range boundary in an intersection mode. The circle on the right is the working projection area of ​​the advanced tower crane, the circle on the left is the working projection area of ​​the subsequent tower crane, and the fan-shaped area formed by the buffer angle is the prohibited working area of ​​the subsequent tower crane.

[0065] The technical solution of this embodiment determines the buffer angle of the rear tower crane based on the rotation attribute of the main boom of the rear tower crane if the working mode is an intersection mode; determines the safety range boundary of the rear tower crane based on the position of the advanced tower crane and the buffer angle of the rear tower crane; dynamically determines the safety range boundary of the rear tower crane based on the buffer angle, thereby increasing the working area of ​​the rear tower crane and improving its working efficiency.

[0066] Example 3

[0067] Figure 3a This is a flowchart of a tower crane anti-collision method provided in Embodiment 3 of this application. The technical solution of this embodiment is further refined based on the above technical solution.

[0068] Furthermore, the statement "determine the safety range boundary of the subsequent tower crane based on the working mode of the advanced tower crane" is further refined to: "If the working mode is a non-overlapping mode, then determine the safety range boundary of the subsequent tower crane based on the height relationship between the subsequent tower crane and the advanced tower crane" to determine the safety range boundary.

[0069] See Figure 3a The tower crane anti-collision method shown includes:

[0070] S310. Obtain the working mode of the advanced tower crane and the action mode of the subsequent tower crane; there is an overlapping working area between the advanced tower crane and the subsequent tower crane; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane.

[0071] S320. If the working mode is a non-intersection mode, then the safety range boundary of the later tower crane is determined according to the height relationship between the later tower crane and the earlier tower crane.

[0072] The non-intersection mode means that the advanced and follower tower cranes cannot work simultaneously within the overlapping working area. For example, when the object being worked on by the tower crane is unstable in the air, prone to swaying, or has weak impact resistance, the non-intersection mode can be selected to ensure that the tower cranes do not collide. When the height relationship between the follower and advanced tower cranes is different, the corresponding safety range boundaries are different. Similarly, based on the rotational properties of the follower tower crane's main boom, the buffer angle of the follower tower crane is determined, and the axial limit position is determined based on this buffer angle. Using the tower body of the follower tower crane as the origin, and the line connecting the origin and the two intersection points of the overlapping working area as the radius, the buffer angle is rotated in directions away from the overlapping working area to obtain the axial limit position. Optionally, due to differences in the control sensitivity of different tower cranes, the buffer angle can be updated based on the error angle to update the axial limit position.

[0073] For example, when the following tower crane is lower than the leading tower crane, the axial limit position is used as the safety range boundary to avoid affecting the lifting operation of the leading tower crane. For example, when the following tower crane is higher than the leading tower crane, the radial limit position and the axial limit position are used as the safety range boundary to avoid collision with the leading tower crane and to improve the working efficiency of the following tower crane.

[0074] Figure 3b This is a schematic diagram of the safety range boundary of a tower crane that is moving backward in a non-intersecting mode. Figure 3b The circle on the right side represents the projected working range of the tower crane that is moving laterally. Figure 3b The circle on the left represents the working range projection of the advanced tower crane. The larger circle is a warning zone that extends outward to further ensure safety. The axial limit position is determined by the two intersections of the warning zone and the working area of ​​the subsequent tower crane. The area formed by the two axial limit positions and the arc of the working range projection is the working area of ​​the subsequent tower crane.

[0075] Figure 3c This is a schematic diagram of the safety range boundary of a tower crane that is moving backward in a non-intersecting mode. Figure 3c The circle on the left side represents the projected working area of ​​the tower crane that is moving in later. Figure 3c The circle on the right represents the projected working range of the advanced tower crane, with the larger circle serving as a safety perimeter extending outwards. The radial and axial limit positions are used as the boundaries of the safety range. Figure 3c The shaded area in the circle on the left is the working area for the tower crane that is moving in later.

[0076] S330. If the following tower crane exceeds the safety boundary, then control the following tower crane to perform the corresponding safety action according to the following tower crane's operating mode, so as to prevent the following tower crane from colliding with the leading tower crane.

[0077] In one optional embodiment, if the rear tower crane exceeds the safety range boundary, the rear tower crane is controlled to perform corresponding safety actions according to its operating mode, including: when the rear tower crane is higher than the advanced tower crane and the rear tower crane is rotating its main boom, if the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safety height, then when the main boom of the rear tower crane rotates to outside the safety range boundary, the main boom of the rear tower crane is prohibited from rotating in the direction closer to the safety range boundary.

[0078] When the rear tower crane is higher than the advanced tower crane and the rear tower crane is rotating its main boom, if the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safe height, the object lifted by the hook of the rear tower crane may collide with the main boom of the advanced tower crane when the main boom of the rear tower crane rotates to outside the safe range boundary. Therefore, it is prohibited for the main boom of the rear tower crane to rotate in a direction closer to the safe range boundary.

[0079] When the rear tower crane is higher than the advanced tower crane and is rotating its main boom, if the trolley of the rear tower crane is within its radial limit position, or the hook of the rear tower crane is above the safe height, then there is no risk of collision when the main boom of the rear tower crane rotates outside the safe range boundary. Therefore, no safety actions need to be taken, thus improving the working efficiency of the rear tower crane. This can be understood as follows: when the rear tower crane is higher than the advanced tower crane and is rotating its main boom, if the trolley of the rear tower crane is within its radial limit position, or the hook of the rear tower crane is above the safe height, the main boom of the rear tower crane can rotate a full circumference, meaning the rotation is not affected by the safe range boundary.

[0080] When the rear tower crane is higher than the advanced tower crane and the rear tower crane is rotating its main boom, if the trolley of the rear tower crane is within the radial limit position and the hook of the rear tower crane is below the safe height, then when the main boom of the rear tower crane rotates outside the safe range boundary, the main boom of the rear tower crane is prohibited from rotating in the direction closer to the safe range boundary. When the rear tower crane is rotating its main boom, the collision situation is judged based on the trolley position and hook height, improving the accuracy of collision prediction, and timely controlling the rear tower crane to perform corresponding safety actions, accurately avoiding the occurrence of collisions, reducing the collision rate of tower cranes, and improving the safety of tower cranes.

[0081] In one optional embodiment, if the rear tower crane exceeds the safety range boundary, the rear tower crane is controlled to perform corresponding safety actions according to its operating mode, including: when the rear tower crane is higher than the advanced tower crane and the rear tower crane is performing trolley movement, if the main boom of the rear tower crane rotates to outside the safety range boundary and the hook of the rear tower crane is lower than the safety height, the trolley of the rear tower crane is prohibited from advancing when it reaches the radial limit position.

[0082] When the advancing tower crane is higher than the advancing tower crane and the advancing tower crane is moving its trolley, if the boom of the advancing tower crane rotates outside the safety boundary and the hook of the advancing tower crane is below the safety height, the object lifted by the hook of the advancing tower crane may collide with the boom of the advancing tower crane when the trolley of the advancing tower crane moves beyond its radial limit position. Therefore, it is prohibited for the trolley of the advancing tower crane to move forward. For example, prohibiting the advancing trolley of the advancing tower crane can be achieved by controlling the trolley to move backward or by prohibiting its movement altogether.

[0083] When the rear tower crane is higher than the advanced tower crane and the rear tower crane is moving its trolley, if the main boom of the rear tower crane has not rotated outside the safety range boundary, or the hook of the rear tower crane is higher than the safety height, there will be no collision of the hoisted object. There is no need to control the rear tower crane to perform safety actions, thus improving the working efficiency of the rear tower crane.

[0084] When the advancing tower crane is higher than the advancing tower crane and the advancing tower crane is moving its trolley, if the boom of the advancing tower crane rotates outside the safe range boundary and the hook of the advancing tower crane is lower than the safe height, then the advancing tower crane's trolley is prohibited from advancing further when it reaches the radial limit position. During the advancing tower crane's trolley movement, the system judges the possibility of collision based on the boom position and hook height, improving the accuracy of collision prediction and timely controlling the advancing tower crane to perform corresponding safety actions, accurately avoiding collisions, reducing the collision rate of tower cranes, and improving tower crane safety.

[0085] In one optional embodiment, if the following tower crane exceeds the safety range boundary, the following tower crane is controlled to perform the corresponding safety action, including: when the following tower crane is higher than the advanced tower crane and the following tower crane is performing hook lifting and lowering actions, if the trolley is outside the safety range boundary, the hook descent is prohibited.

[0086] When the later-approaching tower crane is higher than the advanced tower crane and is raising or lowering its hook, if the trolley is outside the safety boundary, the hook descent may collide with the advanced tower crane; therefore, hook descent is prohibited. When the later-approaching tower crane is higher than the advanced tower crane and is raising or lowering its hook, if the trolley is within the safety boundary, the hook descent will not collide with the advanced tower crane, and the hook can be raised or lowered freely.

[0087] The technical solution of this embodiment determines the safety range boundary of the subsequent tower crane based on the height relationship between the subsequent tower crane and the advanced tower crane if the working mode is a non-intersection mode. This accurately ensures the safety of the tower crane and reduces the collision rate of the tower crane.

[0088] Example 4

[0089] Figure 4The diagram shown is a structural schematic of a tower crane anti-collision device provided in Embodiment 4 of this application. This embodiment can be applied to prevent collisions between two tower cranes with overlapping working areas. The specific structure of the tower crane anti-collision device is as follows:

[0090] The information acquisition module 410 is used to acquire the working mode of the advanced tower crane and the action mode of the subsequent tower crane; the advanced tower crane and the subsequent tower crane have overlapping working areas; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane;

[0091] The safety range boundary determination module 420 is used to determine the safety range boundary of the later tower crane based on the working mode of the advanced tower crane;

[0092] The rear-entry tower crane control module 430 is used to control the rear-entry tower crane to perform corresponding safety actions according to its operating mode if the rear-entry tower crane exceeds the safety range boundary, so as to prevent the rear-entry tower crane from colliding with the advanced tower crane.

[0093] The technical solution of this embodiment obtains the working mode of the advanced tower crane and the action mode of the subsequent tower crane; the advanced and subsequent tower cranes have overlapping working areas; the working modes include overlapping and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane; by setting different working modes, different working needs can be met, allowing the advanced and subsequent tower cranes to work simultaneously in the overlapping working area, improving the working efficiency of the tower cranes; based on the working mode of the advanced tower crane, the safety range boundary of the subsequent tower crane is determined, and the corresponding safety range boundary can be determined according to the working mode; if the subsequent tower crane exceeds the safety range boundary, the subsequent tower crane is controlled to perform corresponding safety actions according to its action mode, avoiding non-compliant actions, thereby preventing collisions between the subsequent and advanced tower cranes, reducing the collision rate of the tower cranes, and improving the safety of tower crane operation. Therefore, the technical solution of this application solves the problems that tower crane safety depends entirely on the quality of on-site operators, resulting in a high risk of collision, and that completely prohibiting work in overlapping working areas reduces tower crane working efficiency, achieving the effect of reducing the collision rate of tower cranes and improving the safety and efficiency of tower crane operation.

[0094] Optionally, the safety range boundary determination module 420 includes:

[0095] The buffer angle determination unit is used to determine the buffer angle of the rear tower crane based on the rotation properties of the rear tower crane's main boom if the working mode is an intersection mode.

[0096] The buffer angle application unit is used to determine the safety range boundary of the subsequent tower crane based on the position of the advanced tower crane and the buffer angle of the subsequent tower crane.

[0097] Correspondingly, the rear-entry tower crane control module 430 includes:

[0098] The main boom rotation control unit is used to prevent the main boom of the rear tower crane from rotating towards the main boom of the advanced tower crane when the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safe height, and when the main booms of the rear tower crane and the advanced tower crane are both within the safe range boundary.

[0099] Correspondingly, the rear-entry tower crane control module 430 includes:

[0100] The trolley movement control unit is used to prevent the trolley of the rear tower crane from moving forward when the trolley of the rear tower crane moves to the radial limit position, and to prevent the main boom of the rear tower crane from rotating towards the main boom of the advanced tower crane, if the main boom of the rear tower crane and the main boom of the advanced tower crane are both within the safe range boundary and the hook of the rear tower crane is below the safe height.

[0101] Optionally, the safety range boundary determination module 420 includes:

[0102] The non-intersection mode boundary determination unit is used to determine the safety range boundary of the later tower crane based on the height relationship between the later tower crane and the earlier tower crane if the working mode is a non-intersection mode.

[0103] Correspondingly, the rear-entry tower crane control module 430 includes:

[0104] The main boom rotation control unit is used to prevent the main boom of the rear tower crane from rotating towards the boundary of the safe range when the rear tower crane is higher than the advanced tower crane and the rear tower crane is performing a main boom rotation operation. If the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safe height, the main boom of the rear tower crane will be prevented from rotating to the boundary of the safe range when it rotates to the boundary of the safe range.

[0105] Correspondingly, the rear-entry tower crane control module 430 includes:

[0106] The trolley movement control unit is used to prevent the trolley of the rear tower crane from moving forward when the rear tower crane is higher than the advanced tower crane and the rear tower crane is performing trolley movement. If the main boom of the rear tower crane rotates outside the safe range boundary and the hook of the rear tower crane is lower than the safe height, the trolley of the rear tower crane will be prohibited from moving forward when it reaches the radial limit position.

[0107] The tower crane anti-collision device provided in this application embodiment can execute the tower crane anti-collision method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing the tower crane anti-collision method.

[0108] Example 5

[0109] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of this application, as shown below. Figure 5 As shown, the electronic device includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the electronic device can be one or more. Figure 5 Taking a processor 510 as an example; the processor 510, memory 520, input device 530, and output device 540 in the electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0110] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the tower crane anti-collision method in this embodiment (e.g., information acquisition module 410, safety range boundary determination module 420, and rear tower crane control module 430). The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 520, thereby implementing the aforementioned tower crane anti-collision method.

[0111] The memory 520 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0112] Input device 530 can be used to receive input character information and generate key signal inputs related to user settings and function control of the electronic device. Output device 540 may include display devices such as a display screen.

[0113] Example 6

[0114] Embodiment Six of this application also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform a tower crane anti-collision method. The method includes: acquiring the working mode of an advanced tower crane and the action mode of a subsequent tower crane; the advanced tower crane and the subsequent tower crane have overlapping working areas; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane; determining the safety range boundary of the subsequent tower crane according to the working mode of the advanced tower crane; if the subsequent tower crane exceeds the safety range boundary, controlling the subsequent tower crane to perform corresponding safety actions according to the action mode of the subsequent tower crane to prevent the subsequent tower crane from colliding with the advanced tower crane.

[0115] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the method operations described above, but can also perform related operations in the tower crane anti-collision method provided in any embodiment of this application.

[0116] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this application can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0117] It is worth noting that in the embodiments of the search device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0118] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for preventing collisions with tower cranes, characterized in that, include: The system acquires the operating modes of the advanced tower crane and the movement patterns of the subsequent tower crane; the advanced and subsequent tower cranes have overlapping operating areas; the operating modes include overlapping and non-overlapping modes; the advanced tower crane enters the overlapping operating area before the subsequent tower crane; the overlapping mode is a mode in which the advanced and subsequent tower cranes can operate simultaneously within the overlapping operating area; the non-overlapping mode is a mode in which the advanced and subsequent tower cranes cannot operate simultaneously within the overlapping operating area. The safety range boundary of the later-advanced tower crane is determined based on the working mode of the advanced tower crane; If the rear tower crane exceeds the safety range boundary, then according to the operation mode of the rear tower crane, control the rear tower crane to perform a corresponding safety action to prevent the rear tower crane from colliding with the advanced tower crane; controlling the rear tower crane to perform the corresponding safety action is to control the rear tower crane to retreat within the safety range boundary; the safety action includes at least one of the following: trolley retraction, hook cessation of descent, and main boom rotation in a direction away from the overlapping work area; The determination of the safety range boundary of the later-advancing tower crane based on the working mode of the advanced tower crane includes: If the working mode is an intersection mode, then the buffer angle of the rear tower crane is determined according to the rotation attribute of the rear tower crane's main boom. The safety range boundary of the rear tower crane is determined based on the position of the advanced tower crane and the buffer angle of the rear tower crane. If the working mode is a non-intersection mode, then the safety range boundary of the subsequent tower crane is determined based on the height relationship between the subsequent tower crane and the advanced tower crane.

2. The method according to claim 1, characterized in that, If the advancing tower crane exceeds the safety range boundary, then according to the operating mode of the advancing tower crane, control the advancing tower crane to perform corresponding safety actions, including: When the rear-entry tower crane is rotating its main boom, if the trolley of the rear-entry tower crane is outside the radial limit position and the hook of the rear-entry tower crane is below the safe height, then when the main boom of the rear-entry tower crane and the main boom of the advanced tower crane are both within the safe range boundary, the main boom of the rear-entry tower crane is prohibited from rotating towards the main boom of the advanced tower crane, and the trolley of the rear-entry tower crane is prohibited from moving forward.

3. The method according to claim 1, characterized in that, If the advancing tower crane exceeds the safety range boundary, then according to the operating mode of the advancing tower crane, control the advancing tower crane to perform corresponding safety actions, including: When the rear-entry tower crane is moving its trolley, if the main boom of the rear-entry tower crane and the main boom of the advanced tower crane are both within the safety range boundary, and the hook of the rear-entry tower crane is below the safety height, then when the trolley of the rear-entry tower crane moves beyond the radial limit position, the trolley of the rear-entry tower crane is prohibited from moving forward, and the main boom of the rear-entry tower crane is prohibited from rotating in the direction closer to the main boom of the advanced tower crane.

4. The method according to claim 1, characterized in that, If the advancing tower crane exceeds the safety range boundary, then according to the operating mode of the advancing tower crane, control the advancing tower crane to perform corresponding safety actions, including: When the rear tower crane is higher than the advanced tower crane and the rear tower crane is rotating its main boom, if the trolley of the rear tower crane is outside the radial limit position and the hook of the rear tower crane is below the safe height, then when the main boom of the rear tower crane rotates outside the safe range boundary, the main boom of the rear tower crane is prohibited from rotating in a direction closer to the safe range boundary.

5. The method according to claim 1, characterized in that, If the advancing tower crane exceeds the safety range boundary, then according to the operating mode of the advancing tower crane, control the advancing tower crane to perform corresponding safety actions, including: When the rear tower crane is higher than the advanced tower crane and the rear tower crane is moving its trolley, if the main boom of the rear tower crane rotates outside the safe range boundary and the hook of the rear tower crane is lower than the safe height, then the trolley of the rear tower crane is prohibited from moving forward when it reaches the radial limit position.

6. A tower crane anti-collision device, characterized in that, include: The information acquisition module is used to acquire the working mode of the advanced tower crane and the operation mode of the subsequent tower crane; the advanced tower crane and the subsequent tower crane have overlapping working areas; the working modes include overlapping modes and non-overlapping modes; the advanced tower crane enters the overlapping working area before the subsequent tower crane; the overlapping mode is a mode in which the advanced tower crane and the subsequent tower crane can work simultaneously in the overlapping working area; the non-overlapping mode is a mode in which the advanced tower crane and the subsequent tower crane cannot work simultaneously in the overlapping working area. The safety range boundary determination module is used to determine the safety range boundary of the subsequent tower crane based on the working mode of the advanced tower crane; The rear-entry tower crane control module is used to control the rear-entry tower crane to perform corresponding safety actions based on its operating mode if the rear-entry tower crane exceeds the safety range boundary, so as to prevent the rear-entry tower crane from colliding with the advanced tower crane; controlling the rear-entry tower crane to perform corresponding safety actions is used to control the rear-entry tower crane to retreat within the safety range boundary; the safety actions include at least one of trolley retraction, hook cessation of descent, and main boom rotation in a direction away from the overlapping working area; The safety range boundary determination module includes: A buffer angle determination unit is used to determine the buffer angle of the rear tower crane based on the rotation attributes of the main boom of the rear tower crane if the working mode is an intersection mode. The buffer angle application unit is used to determine the safety range boundary of the rear tower crane based on the position of the advanced tower crane and the buffer angle of the rear tower crane. The non-intersection mode boundary determination unit is used to determine the safety range boundary of the subsequent tower crane based on the height relationship between the subsequent tower crane and the advanced tower crane if the working mode is a non-intersection mode.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the tower crane anti-collision method as described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the tower crane anti-collision method as described in any one of claims 1-5.

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