A collision prevention analysis method for lifting equipment

Abstract

The present invention discloses a method for anti-collision analysis of lifting and hoisting equipment. The lifting and hoisting equipment includes an equipment body and a boom hinged on the equipment body. The analysis method includes: calculating the collision radius according to the boom length, boom height, hoisting radius of the boom and hoisting height of the hoisted object; drawing a plane analysis diagram of the lifting and hoisting equipment and the hoisted object from a top-down perspective, taking the intersection point of the boom and the equipment body as the center of the circle on the plane analysis diagram, and drawing a collision circle based on the collision radius; if the intersection point of the outline edge of the boom and the hoisted object on the plane analysis diagram falls into the collision circle, it can be inferred that the hoisted object will collide with the boom. This method simplifies the cumbersome analysis steps in the hoisting process into simple plane analysis problems, reduces the workload of manual calculation, and at the same time improves the efficiency of hoisting analysis and reduces the error rate of analysis and calculation.

Description

Technical Field

[0001] The invention relates to the technical field of engineering operations, and in particular to an anti-collision analysis method for lifting and hoisting equipment. Background Art

[0002] Cranes are widely used in the construction and transportation industries, but industrial accidents involving crane hoisting operations are frequent. During the hoisting operation, since crane operators are unfamiliar with the hoisting environment, they usually focus on the hoisting weight and ignore the position of the boom, which causes the boom to collide with obstacles, resulting in frequent accidents such as high-voltage electric shock, falling objects, and rollovers. In order to reduce crane accidents caused by improper operation, people have made unremitting efforts at the technical level.

[0003] However, traditional lifting analysis of cranes is done manually, using a combination of plan and elevation drawings. Plan drawings are used to analyze whether the load is within the lifting capacity, and elevation drawings are used to analyze whether there are collision problems. The technical analysis is labor-intensive and prone to errors, especially when performing double-machine lifting analysis. Each rotation and lifting of the boom requires re-analysis, which is extremely labor-intensive and prone to errors. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is that the traditional hoisting analysis of lifting machinery adopts manual analysis, which mostly uses a plan view combined with a vertical view, and analyzes whether it is within the lifting capacity through the plan view, and analyzes whether there is a collision problem through the vertical view. The technical analysis workload is large and prone to errors, especially when analyzing the lifting of two machines, each rotation and lifting of the boom requires re-analysis, which is extremely labor-intensive and prone to errors.

[0005] To this end, the present invention provides a method for analyzing collision prevention of lifting and hoisting equipment, comprising: the lifting and hoisting equipment comprises an equipment body and a boom hinged on the equipment body, and the analysis method comprises:

[0006] Calculate the collision radius based on the boom length, boom height, boom lifting radius and lifting height of the object being lifted;

[0007] Draw a plane analysis diagram of the lifting and hoisting equipment and the hoisted object from a top-down perspective, and draw a collision circle on the plane analysis diagram with the intersection of the boom and the equipment body as the center of the circle and based on the collision radius;

[0008] If the intersection point of the contour edge of the boom and the hoisted object on the plane analysis diagram falls into the collision circle, it can be inferred that the hoisted object will collide with the boom.

[0009] Optionally, the above analysis method further includes:

[0010] Based on the weight of the hoisted object, obtaining the maximum hoisting radius of the hoisting equipment;

[0011] On the plane analysis diagram, a lifting circle is drawn with the intersection point of the lifting arm and the equipment body as the center and the maximum lifting radius as the radius;

[0012] When the intersection point is located in the area between the collision circle and the lifting circle, it can be inferred that the boom can lift the object to be lifted, and the object to be lifted will not collide with the boom;

[0013] When the intersection point falls into the collision circle, it can be inferred that the boom can lift the object to be lifted, and the object to be lifted will collide with the boom.

[0014] Optionally, the following steps are performed after calculating the collision radius:

[0015] Draw a collision circle with the intersection of the boom and the equipment body as the center and the set safety radius as the radius;

[0016] Wherein, the set safety radius = collision radius + set safety distance, and the set safety distance is ≥ 1.5m;

[0017] If the intersection point of the contour edge of the boom and the hoisted object on the plane analysis diagram falls within the collision circle, it can be inferred that there is a risk of collision between the hoisted object and the boom.

[0018] Optionally, the collision radius is calculated by a first function formula, and the first function formula is:

[0019]

[0020] Among them, r1 is the first collision radius calculated by the first function formula; □ is the hoisting height of the hoisted object; R is the hoisting radius of the boom; L is the length of the boom.

[0021] Optionally, the above hoisting radius R=Lcosα, wherein α is the boom elevation angle; the analysis method further comprises:

[0022] Determine whether the hoisting radius is greater than 30m and whether the boom elevation angle is greater than or equal to 60°. If both conditions are met at the same time, the collision radius is calculated by the second function formula; if both conditions are not met at the same time, the collision radius is calculated by the second function formula;

[0023] The second function formula is:

[0024]

[0025] Among them, r2 is the second collision radius calculated by the second function formula when the lifting radius R of the boom is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°; h is the lifting height of the hoisted object; R is the lifting radius of the boom; L is the length of the boom.

[0026] Optionally, the above analysis method further includes:

[0027] Calculate the maximum error between the second collision radius r2 calculated by the second function formula and the first collision radius r1 calculated by the first function formula when the hoisting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°;

[0028] When the lifting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°, the second collision radius r2 is calculated by the second function formula. When using the second collision radius r2 for lifting analysis, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1.

[0029] Optionally, the specific steps of calculating the maximum error between the second collision radius r2 and the first collision radius r1 are as follows:

[0030] Get the difference formula between the first collision radius and the second collision radius;

[0031] The difference formula between the first collision radius and the second collision radius is derived to obtain a derivative formula. When the derivative formula is equal to 0, the difference between the first collision radius and the second collision radius is the largest. The proportional relationship formula between the hoisting radius R and the boom length L when the difference between the first collision radius and the second collision radius is the largest is obtained to obtain the boom elevation angle α.

[0032] Substitute the obtained proportional relationship formula of the lifting radius R and the boom length L into the difference formula of the first collision radius and the second collision radius to obtain the proportional relationship formula of the error between the first collision radius and the second collision radius and the lifting height h;

[0033] Obtain the hoisting height h during construction, and substitute it into the proportional relationship formula between the error between the first collision radius and the second collision radius and the hoisting height h to obtain the corresponding maximum error; the set safety radius also needs to add the maximum error to prevent the risk of collision between the hoisted object and the boom.

[0034] Optionally, the difference formula between the first collision radius and the second collision radius is:

[0035]

[0036] Wherein, y is the difference between the first collision radius and the second collision radius.

[0037] Optionally, the above-mentioned derivation of the difference y between the first collision radius and the second collision radius is specifically:

[0038]

[0039] when When y is the largest, that is:

[0040]

[0041] The calculated proportional relationship between the lifting radius R and the boom length L of the lifting equipment is: R=0.302L.

[0042] Optionally, the proportional relationship between the maximum deviation distance and the hoisting height calculated by the difference formula is: y=0.032h.

[0043] The technical solution provided by the present invention has the following advantages:

[0044] 1. This embodiment provides an anti-collision analysis method for lifting and hoisting equipment. The lifting and hoisting equipment includes an equipment body and a boom hinged on the equipment body. The analysis method includes: calculating the collision radius according to the boom length, boom height, boom lifting radius and hoisting height of the hoisted object; drawing a plane analysis diagram of the lifting and hoisting equipment and the hoisted object from a top-down perspective, and drawing a collision circle based on the collision radius with the intersection point of the boom and the equipment body as the center of the circle on the plane analysis diagram; if the intersection point of the contour edge of the boom and the hoisted object on the plane analysis diagram falls into the collision circle, it can be inferred that the hoisted object will collide with the boom.

[0045] This method specifically analyzes the position between the boom and the hoisted object in the lifting and hoisting equipment to prevent the hoisted object from colliding with the boom. The specific steps are: select and obtain the required boom length according to the weight of the hoisted object. During the lifting and moving process, the boom length cannot be changed, and only the boom elevation angle changes. Therefore, it is necessary to obtain the boom length, and it is also necessary to obtain the boom height, the hoisting radius of the boom and the hoisting height of the hoisted object. The boom height is the vertical straight-line distance from the hoisting point of the boom to the boom rotation axis, and the hoisting radius of the boom is the length of the projection of the boom toward the ground; the hoisting height of the hoisted object is the height from the connection point of the hoisted object and the lifting rope to the ground; the collision radius is calculated using the parameters obtained above; a plane analysis diagram is drawn from a bird's-eye view, and the lifting and hoisting equipment, its boom and the hoisted object are displayed on the plane diagram, and a collision circle is drawn on the plane analysis diagram based on the collision radius with the intersection point of the boom and the equipment body as the center of the circle;

[0046] To determine whether a collision will occur, mark the intersection of the outline edge of the hoisted object and the boom on the plane. If the intersection falls within the range defined by the collision circle, it can be determined that the hoisted object will collide with the boom; if the intersection is outside the range defined by the collision circle, it can be determined that the hoisted object will not collide with the boom.

[0047] Through the above calculation method, compared with the prior art, the prior art needs to combine the plane view and the elevation view for comprehensive analysis; while the present application only needs to measure the boom length, boom height, boom lifting radius and lifting height of the hoisted object, calculate the collision radius, and then only needs to draw a top-down plan view to determine whether a collision will occur, simplifying the cumbersome analysis steps in the lifting process into a simple plane analysis problem, combining the elevation view and the plane view into one, and converting the three-dimensional analysis problem into a plane problem, which is especially suitable for complex lifting analysis conditions, such as double-machine lifting, reducing the workload of manual calculation, while improving the efficiency of lifting analysis and reducing the error rate of analysis and calculation. It can thus improve the quality of project construction, speed up the construction progress and facilitate on-site management, be safer, and have high scalability.

[0048] 2. In this embodiment, a method for anti-collision analysis of lifting and hoisting equipment is provided. After calculating the collision radius, the following steps are performed: a collision circle is drawn with the intersection point of the boom and the equipment body as the center and a set safety radius as the radius; wherein, the set safety radius = collision radius + set safety distance, and the set safety distance is ≥ 1.5m; if the intersection point of the contour edge of the boom and the hoisted object on the plane analysis diagram falls into the collision circle, it can be inferred that the hoisted object will have a risk of collision with the boom.

[0049] This method sets a safety radius. With the intersection of the boom and the main body of the equipment as the center and the safety radius as the radius, a collision circle is drawn to detect whether the hoisted object will collide with the boom. The safety radius is set = collision radius + set safety distance, and the safety distance is set ≥ 1.5m. If the intersection of the contour edge of the boom and the hoisted object on the plane analysis diagram falls into the collision circle, it can be inferred that the hoisted object will have a risk of collision with the boom. This further reduces the risk of collision between the hoisted object and the boom, ensuring the safety of construction.

[0050] 3. In this embodiment, the analysis method also includes: calculating the maximum error between the second collision radius r2 calculated by the second function formula when the lifting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60° and the first collision radius r1 calculated by the first function formula; when the lifting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°, the second collision radius r2 is calculated by the second function formula, and when the second collision radius r2 is used for lifting analysis, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1.

[0051] This method calculates the maximum error between the second collision radius r2 calculated by the second function formula and the first collision radius r1 calculated by the first function formula when the lifting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°; during formal construction, when the lifting radius R is less than or equal to 30m and the boom elevation angle is greater than or equal to 60°, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1, and only the maximum error needs to be considered. Before construction, it is only necessary to calculate the maximum error. For example, the calculated second collision radius r2 plus the maximum error can ensure that the collision circle drawn by the second collision radius r2 meets the detection requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A flow chart of the anti-collision analysis method for lifting and hoisting equipment provided by the present invention;

[0054] Figure 2 A schematic diagram of parameter identification of a boom and a hoisted object in the anti-collision analysis method for hoisting equipment provided by the present invention;

[0055] Figure 3 A plane analysis diagram in the anti-collision analysis method for hoisting equipment provided by the present invention;

[0056] Description of reference numerals:

[0057] 1- Equipment body;

[0058] 2 – boom;

[0059] 3- hoisted objects;

[0060] 41 – Collision circle; 42 – Lifting circle. DETAILED DESCRIPTION

[0061] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0063] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0065] Example

[0066] This embodiment provides a method for analyzing the collision prevention of lifting equipment. Figures 1 to 3 As shown, the lifting and hoisting equipment includes an equipment body 1 and a boom 2 hinged on the equipment body 1, and the analysis method includes: calculating the collision radius according to the length of the boom 2, the height of the boom 2, the hoisting radius of the boom 2 and the hoisting height of the hoisted object 3; drawing a plane analysis diagram of the lifting and hoisting equipment and the hoisted object 3 from a top-down perspective, taking the intersection point of the boom 2 and the equipment body 1 as the center of the circle on the plane analysis diagram, and drawing a collision circle 41 based on the collision radius; if the intersection point of the contour edges of the boom 2 and the hoisted object 3 on the plane analysis diagram falls into the collision circle 41, it can be inferred that the hoisted object 3 will collide with the boom 2.

[0067] This method specifically analyzes the position between the boom 2 and the hoisted object 3 in the lifting and hoisting equipment to prevent the hoisted object 3 from colliding with the boom 2. The specific steps are: select and obtain the required length of the boom 2 according to the weight of the hoisted object 3. During the hoisting and moving process, the length of the boom 2 cannot be changed, and only the elevation angle of the boom 2 can be changed. Therefore, it is necessary to obtain the length of the boom 2, the height of the boom 2, the hoisting radius of the boom 2, and the hoisting height of the hoisted object 3. The height of the boom 2 is also the distance from the hoisting point of the boom 2. The vertical straight-line distance from the rotating axis of the boom 2, the lifting radius of the boom 2 is the length of the projection of the boom 2 toward the ground; the lifting height of the hoisted object 3 is the height of the connection between the hoisted object 3 and the lifting rope from the ground; the collision radius is calculated using the parameters obtained above; a plane analysis diagram is drawn from a top-down perspective, and the lifting and hoisting equipment and its boom 2 and the hoisted object 3 are all displayed on the plane diagram, and a collision circle 41 is drawn on the plane analysis diagram based on the collision radius with the intersection point of the boom 2 and the equipment body 1 as the center of the circle;

[0068] To determine whether a collision will occur, the intersection position of the outline edge of the hoisted object 3 and the boom 2 on the plane diagram is marked. If the intersection position falls within the range defined by the collision circle 41, it can be determined that the hoisted object 3 will collide with the boom 2; if the intersection position is outside the range defined by the collision circle 41, it can be determined that the hoisted object 3 will not collide with the boom 2;

[0069] Through the above calculation method, compared with the prior art, the prior art needs to combine the plane view and the elevation view for comprehensive analysis; while the present application only needs to measure the length of the boom 2, the height of the boom 2, the lifting radius of the boom 2 and the lifting height of the hoisted object 3, calculate the collision radius, and then only need to draw a top-down plan view to determine whether a collision will occur, simplifying the cumbersome analysis steps in the hoisting process into a simple plane analysis problem, combining the elevation view and the plane view into one, and converting the three-dimensional analysis problem into a plane problem, which is especially suitable for complex hoisting analysis conditions, such as double-machine lifting, reducing the workload of manual calculation, while improving the efficiency of hoisting analysis and reducing the error rate of analysis and calculation. It can thus improve the quality of project construction, speed up the construction progress and facilitate on-site management, be safer, and have high scalability.

[0070] And for a single lifting equipment and a single hoisted object 3, it is usually only necessary to perform hoisting analysis for 1-2 working conditions, namely the hoisting condition and the positioning condition. The hoisting condition is simple and can be omitted in the project as needed.

[0071] However, for double crane lifting, since the two cranes rarely rotate at the same time without raising or lowering the boom, the working condition ratio of at least one crane will change with each action, resulting in a huge workload for lifting analysis of double crane lifting, requiring the drawing of more than ten sets of lifting analysis diagrams, including plan and elevation drawings. Sometimes, a three-dimensional model is even required to verify the feasibility of lifting. The present invention eliminates the work of drawing elevation drawings, simplifies the three-dimensional problem into a plane problem, and greatly reduces the amount of calculation.

[0072] In this embodiment, if Figures 1 to 3 As shown, the analysis method also includes: based on the weight of the hoisted object 3, obtaining the maximum lifting radius of the lifting and hoisting equipment; drawing a lifting circle 42 on the plane analysis diagram with the intersection point of the boom 2 and the equipment body 1 as the center and the maximum lifting radius as the radius; when the intersection is located in the area between the collision circle 41 and the lifting circle 42, it can be inferred that the boom 2 can lift the hoisted object 3, and the hoisted object 3 will not collide with the boom 2; when the intersection falls into the collision circle 41, it can be inferred that the boom 2 can lift the hoisted object 3, and the hoisted object 3 will collide with the boom 2.

[0073] The analysis method in this method specifically includes: based on the weight of the hoisted object 3, by consulting the hoisting performance table of the hoisting equipment, obtaining the maximum hoisting radius of the hoisting equipment; drawing a hoisting circle 42 on the plane analysis diagram with the intersection point of the boom 2 and the equipment body 1 as the center and the maximum hoisting radius as the radius;

[0074] When the intersection is within the lifting circle 42, it can be determined that the boom 2 can lift the object 3; when the intersection is in the area between the collision circle 41 and the lifting circle 42, it can be determined that the boom 2 can lift the object 3 and the object 3 will not collide with the boom 2, which meets the working condition requirements; when the intersection falls into the collision circle 41, it can be inferred that the boom 2 can lift the object 3, but the object 3 will collide with the boom 2, which cannot meet the working condition requirements. Therefore, during lifting, it is necessary to ensure that the intersection is located in the area between the collision circle 41 and the lifting circle.

[0075] In this embodiment, if Figures 1 to 3 As shown, after calculating the collision radius, the following steps are performed: draw a collision circle 41 with the intersection point of the boom 2 and the equipment body 1 as the center and the set safety radius as the radius; wherein, the set safety radius = collision radius + set safety distance, and the set safety distance is ≥ 1.5m; if the intersection point of the contour edge of the boom 2 and the hoisted object 3 on the plane analysis diagram falls into the collision circle 41, it can be inferred that the hoisted object 3 will have a risk of collision with the boom 2.

[0076] This method sets a safety radius, and can draw a collision circle 41 with the intersection of the boom 2 and the equipment body 1 as the center and the safety radius as the radius, so as to detect whether the hoisted object 3 will collide with the boom 2. The safety radius is set = collision radius + set safety distance, and the safety distance is set ≥ 1.5m; if the intersection of the contour edges of the boom 2 and the hoisted object 3 on the plane analysis diagram falls into the collision circle 41, it can be inferred that the hoisted object 3 will have a risk of collision with the boom 2; the risk of collision between the hoisted object 3 and the boom 2 is further reduced, thereby ensuring the safety of construction.

[0077] In this embodiment, the collision radius is calculated by a first function formula, and the first function formula is:

[0078]

[0079] Among them, r1 is the first collision radius calculated by the first function formula; h is the hoisting height of the hoisted object 3; R is the hoisting radius of the boom 2; and L is the length of the boom 2.

[0080] The calculation method of the collision radius in this method is: According to the principle of similar triangles and the Pythagorean theorem, we can get:

[0081]

[0082] R 2 +H 2 =L 2

[0083] Combining the two formulas, we can get the first function formula:

[0084]

[0085] Among them, r1 is the first collision radius calculated by the first function formula; h is the hoisting height of the hoisted object 3; R is the hoisting radius of the boom 2; and L is the length of the boom 2. This function is a monotonically increasing function in the first quadrant.

[0086] In this embodiment, if Figures 1 to 3 As shown, the hoisting radius R=Lcosα, wherein α is the elevation angle of the boom 2; the analysis method further includes: judging whether the hoisting radius is greater than 30m and whether the elevation angle of the boom 2 is greater than or equal to 60°, if both are satisfied, the collision radius is calculated by the second function formula; if both are not satisfied, the collision radius is calculated by the second function formula;

[0087] The second function formula is:

[0088]

[0089] Among them, r2 is the second collision radius calculated by the second function formula when the lifting radius R of the boom 2 is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°; h is the lifting height of the hoisted object 3; R is the lifting radius of the boom 2; L is the length of the boom 2.

[0090] Therefore, when the lifting height and the length of boom 2 remain unchanged, the larger the lifting radius, the larger the collision radius, and the more likely a collision will occur. In practice, when the lifting radius is large enough, the elevation angle of boom 2 decreases, and the lifting height decreases accordingly, which makes it less likely for a collision to occur. On the contrary, the larger the elevation angle of boom 2, the more likely a collision will occur. Therefore, we focus on the working conditions where the elevation angle of boom 2 is large, that is, the lifting radius is greater than 30m and the elevation angle of boom 2 is greater than or equal to 60°;

[0091] By judging whether the lifting radius is greater than 30m and whether the elevation angle of boom 2 is greater than or equal to 60°, when the lifting radius is greater than 30m and the elevation angle of boom 2 is greater than or equal to 60°, the collision radius is calculated by the second function formula. If the two cannot be satisfied at the same time, the collision radius is calculated by the first function formula. The situations where the two cannot be satisfied at the same time include: the lifting radius is greater than 30m and the elevation angle of boom 2 is less than 60°, the lifting radius is less than 30m and the elevation angle of boom 2 is greater than or equal to 60°, the lifting radius is less than 30m and the elevation angle of boom 2 is less than 60°; and when the first function formula is R≤30, the first function formula approaches a linear function, that is, the second function formula; the second function formula is calculated as:

[0092]

[0093] Among them, r2 is the second collision radius calculated by the second function formula when the lifting radius R of the boom 2 is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°; h is the lifting height of the hoisted object 3; R is the lifting radius of the boom 2; L is the length of the boom 2.

[0094] When the lifting radius is greater than 30m and the elevation angle of boom 2 is greater than or equal to 60°, the collision radius is calculated by the second function formula. Compared with the first function formula, the second function formula is a direct proportional function, which is simpler to calculate and reduces the workload of manual calculation. At the same time, it improves the efficiency of lifting analysis and reduces the error rate of analysis and calculation.

[0095] In this embodiment, if Figures 1 to 3As shown, the analysis method also includes: calculating the maximum error between the second collision radius r2 calculated by the second function formula when the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60° and the first collision radius r1 calculated by the first function formula; when the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°, the second collision radius r2 is calculated by the second function formula, and when the second collision radius r2 is used for lifting analysis, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1.

[0096] This method calculates the maximum error between the second collision radius r2 calculated by the second function formula and the first collision radius r1 calculated by the first function formula when the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°; during formal construction, when the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1, and only the maximum error needs to be considered. Before construction, it is only necessary to calculate the maximum error. For example, the calculated second collision radius r2 plus the maximum error can ensure that the collision circle 41 drawn by the second collision radius r2 meets the detection requirements.

[0097] In this embodiment, the specific steps of calculating the maximum error between the second collision radius r2 and the first collision radius r1 are: obtaining a difference formula between the first collision radius and the second collision radius;

[0098] The difference formula between the first collision radius and the second collision radius is:

[0099]

[0100] Wherein, y is the difference between the first collision radius and the second collision radius.

[0101] The difference formula of the first collision radius and the second collision radius is derived to obtain a derivative formula. When the derivative formula is equal to 0, the difference between the first collision radius and the second collision radius is the largest. The proportional relationship formula between the hoisting radius R and the length L of the boom 2 when the difference between the first collision radius and the second collision radius is the largest is obtained to obtain the elevation angle α of the boom 2.

[0102] The derivative of the difference y between the first collision radius and the second collision radius is:

[0103]

[0104] when When y is the largest, that is:

[0105]

[0106] The calculated proportional relationship between the lifting radius R and the length L of the boom 2 of the lifting equipment is: R=0.302L.

[0107] Substitute the obtained proportional relationship formula of the lifting radius R and the length L of the boom 2 into the difference formula of the first collision radius and the second collision radius, and obtain the proportional relationship formula of the difference y between the first collision radius and the second collision radius and the lifting height h;

[0108] The proportional relationship between the maximum deviation distance and the lifting height is calculated by the difference formula: y=0.032h.

[0109] Obtain the hoisting height h during construction, and substitute it into the proportional relationship formula between the error between the first collision radius and the second collision radius and the hoisting height h to obtain the corresponding maximum error; the maximum error must also be added to set the safety radius to prevent the risk of collision between the hoisted object 3 and the boom 2.

[0110] This method first obtains the difference formula between the first collision radius and the second collision radius. The difference formula is:

[0111]

[0112] Wherein, y is the difference between the first collision radius and the second collision radius.

[0113] Derivative the difference formula, we get:

[0114]

[0115] when When y is the largest, that is:

[0116]

[0117] The calculated proportional relationship between the lifting radius R and the length L of the boom 2 of the lifting equipment is: R = 0.302L; that is, cosα = 0.302; and α is approximately equal to 72°.

[0118] Substitute the obtained proportional relationship formula of the lifting radius R and the length L of the boom 2 into the difference formula of the first collision radius and the second collision radius, and obtain the proportional relationship formula of the error between the first collision radius and the second collision radius and the lifting height h: y=0.032h.

[0119] Under this working condition, it means that the smaller the lifting height h is, the smaller the deviation is, and the maximum error is calculated by the lifting height selected during actual construction; for example: when the lifting height is less than or equal to 30 meters, the maximum deviation y is 0.96m.

[0120] In summary, when the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°, it can be calculated in advance The collision radius is directly estimated using a simplified formula based on the value of the lifting height, and the maximum deviation is calculated based on the lifting height, which occurs when the boom elevation angle α = 72°. When the boom elevation angle increases or decreases, or the lifting height decreases, the calculation deviation of the collision radius will decrease, and the estimated collision radius is slightly conservative but the deviation is not large, which can greatly reduce the calculation workload.

[0121] The anti-collision analysis method for hoisting equipment provided in this embodiment is specifically as follows:

[0122] Under any working condition: calculate the collision radius according to the length of the boom 2, the height of the boom 2, the lifting radius of the boom 2 and the lifting height of the hoisted object 3; draw a plane analysis diagram of the lifting and hoisting equipment and the hoisted object 3 from a top-down perspective, take the intersection point of the boom 2 and the equipment body 1 as the center of the circle on the plane analysis diagram, and draw a collision circle 41 based on the collision radius; if the intersection point of the contour edge of the boom 2 and the hoisted object 3 on the plane analysis diagram falls into the collision circle 41, it can be inferred that the hoisted object 3 will collide with the boom 2.

[0123] When the lifting radius R is less than or equal to 30m and the elevation angle of the boom 2 is greater than or equal to 60°, the The value of is used to obtain the second function formula, and the collision radius is estimated using the simplified formula and the maximum error. The maximum deviation is calculated based on the hoisting height. To estimate the diameter of the collision circle, the calculation is simpler.

[0124] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A method for analyzing collision prevention of a lifting and hoisting device, the lifting and hoisting device comprising a device body (1) and a boom (2) hinged to the device body (1), characterized in that: The analysis method comprises: Calculating the collision radius according to the length of the boom (2), the height of the boom (2), the lifting radius of the boom (2) and the lifting height of the object to be lifted (3); A plane analysis diagram is drawn of the lifting and hoisting equipment and the hoisted object (3) hoisted thereon from a top-down perspective, and a collision circle (41) is drawn on the plane analysis diagram with the intersection point of the lifting arm (2) and the equipment body (1) as the center of the circle and based on the collision radius; If the intersection of the contour edges of the boom (2) and the hoisted object (3) on the plane analysis diagram falls within the collision circle (41), it can be inferred that the hoisted object (3) will collide with the boom (2); After calculating the collision radius, the following steps are performed: Draw a collision circle (41) with the intersection of the boom (2) and the equipment body (1) as the center and the set safety radius as the radius; Wherein, the set safety radius = collision radius + set safety distance, and the set safety distance is ≥ 1.5m; If the intersection of the contour edges of the boom (2) and the hoisted object (3) on the plane analysis diagram falls within the collision circle (41), it can be inferred that the hoisted object (3) will have a risk of collision with the boom (2); The collision radius is calculated by a first function formula, and the first function formula is: Wherein, r1 is the first collision radius calculated by the first function formula; h is the hoisting height of the hoisted object (3); R is the hoisting radius of the boom (2); and L is the length of the boom (2); The lifting radius R=L cosα, wherein α is the elevation angle of the boom (2); the analysis method further comprises: Determine whether the lifting radius is greater than 30m and whether the elevation angle of the boom (2) is greater than or equal to 60°. If both conditions are satisfied, the collision radius is calculated using the second function formula; if both conditions are not satisfied, the collision radius is calculated using the first function formula; The second function formula is: Wherein, r2 is the second collision radius calculated by the second function formula when the lifting radius R of the boom (2) is less than or equal to 30 m and the elevation angle of the boom (2) is greater than or equal to 60°; h is the lifting height of the hoisted object (3); R is the lifting radius of the boom (2); and L is the length of the boom (2); The analysis method further comprises: Calculate the maximum error between the second collision radius r2 calculated by the second function formula and the first collision radius r1 calculated by the first function formula when the lifting radius R is less than or equal to 30 m and the elevation angle of the boom (2) is greater than or equal to 60 degrees; When the lifting radius R is less than or equal to 30m and the elevation angle of the boom (2) is greater than or equal to 60°, the second collision radius r2 is calculated by the second function formula. When the second collision radius r2 is used for lifting analysis, it is necessary to reserve an anti-collision distance based on the maximum error between the second collision radius r2 and the first collision radius r1.

2. The anti-collision analysis method for lifting and hoisting equipment according to claim 1 is characterized in that: The analysis method further comprises: Based on the weight of the hoisted object (3), obtaining the maximum hoisting radius of the hoisting equipment; On the plane analysis diagram, a lifting circle (42) is drawn with the intersection point of the lifting arm (2) and the equipment body (1) as the center and the maximum lifting radius as the radius; When the intersection is located in the area between the collision circle (41) and the lifting circle (42), it can be inferred that the boom (2) is capable of lifting the hoisted object (3) and that the hoisted object (3) will not collide with the boom (2); When the intersection falls within the collision circle (41), it can be inferred that the boom (2) is capable of lifting the hoisted object (3), and that the hoisted object (3) and the boom (2) will collide.

3. The anti-collision analysis method for lifting and hoisting equipment according to claim 1 is characterized in that: The specific steps of calculating the maximum error between the second collision radius r2 and the first collision radius r1 are: Get the difference formula between the first collision radius and the second collision radius; The difference formula between the first collision radius and the second collision radius is derived to obtain a derivative formula. When the derivative formula is equal to 0, the difference between the first collision radius and the second collision radius is the largest. Obtain a proportional relationship formula between the hoisting radius R and the length L of the boom (2) when the difference between the first collision radius and the second collision radius is the largest, and obtain the elevation angle α of the boom (2); Substitute the obtained proportional relationship formula of the lifting radius R and the length L of the boom (2) into the difference formula of the first collision radius and the second collision radius to obtain the proportional relationship formula of the error between the first collision radius and the second collision radius and the lifting height h; The lifting height h during construction is obtained and brought into the proportional relationship formula of the error between the first collision radius and the second collision radius and the lifting height h to obtain the corresponding maximum error; the set safety radius also needs to add the maximum error to prevent the risk of collision between the hoisted object (3) and the boom (2).

4. The anti-collision analysis method for hoisting equipment according to claim 3 is characterized in that: The difference formula between the first collision radius and the second collision radius is: Wherein, y is the difference between the first collision radius and the second collision radius.

5. The anti-collision analysis method for hoisting equipment according to claim 3 or 4, characterized in that: The derivative of the difference y between the first collision radius and the second collision radius is: when When y is the largest, that is: The calculated ratio between the lifting radius R and the length L of the lifting arm (2) of the lifting equipment is: R = 0.302L.

6. The anti-collision analysis method for hoisting equipment according to claim 5 is characterized in that: The proportional relationship between the maximum deviation distance and the lifting height is calculated by the difference formula: y=0.032h.

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