A method for preventing collision between adjacent tower cranes

Abstract

The application discloses a method for preventing collision between adjacent tower cranes, characterized in that the method is performed according to the following steps: firstly, a Beidou navigation positioning device (3) is installed at the top center (2) of the tower body of a first tower crane (1), and the position is defined as a first fixed position; then, a Beidou navigation positioning device (3) is also installed on a hoisting trolley (5) connected to a hoisting arm (4) of the first tower crane (1), and the position is defined as a first mobile position; then, a Beidou navigation positioning device (3) is installed at the top center (2) of a second tower crane (6), and the position is defined as a second fixed position; and then, a Beidou navigation positioning device (3) is also installed on a hoisting trolley (5) connected to a hoisting arm (4) of the second tower crane (6), and the position is defined as a second mobile position.

Description

Technical Field

[0001] This invention relates to the field of building construction, and in particular to a method for preventing collisions between adjacent tower cranes. Background Technology

[0002] Tower cranes, as one of the most commonly used lifting facilities in construction, play a crucial role in the construction process. With the continuous development of urbanization in China, tower cranes have been widely used due to their advantages such as large lifting height and large working radius.

[0003] Meanwhile, construction work places more complex demands on tower crane operations and creates more challenging environments, often resulting in multiple tower cranes operating simultaneously and overlapping. During operation, due to the influence and limitations of tower crane height, adjacent tower cranes of the same height may experience colliding booms. While adjacent tower cranes of different heights will not collide directly with each other, the wire rope connecting the higher tower crane to the load may collide with the boom of the lower tower crane.

[0004] Since there is currently no way to monitor the relative positional relationship between tower cranes and neighboring tower cranes in real time, the only way to prevent such accidents is to rely on the tower crane operator. However, if the operator is not focused or is too tired, a collision may still occur. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems by proposing a method for preventing collisions between adjacent tower cranes. This method can automatically determine the relative position between the jib (and the load suspended on the jib) of a tower crane and the jib (and the load suspended on the jib) of an adjacent tower crane, and issue an alarm or even force the tower crane to stop when necessary.

[0006] The technical solution of the present invention is: a method for preventing collisions between adjacent tower cranes, characterized in that the method is carried out according to the following steps: First, a Beidou navigation and positioning device 3 is installed at the center 2 of the top of the tower body of tower crane 1, and this position is defined as a first fixed position. Then, a Beidou navigation and positioning device 3 is also installed on the crane trolley 5 connected to the boom 4 of tower crane 1, and this position is defined as a first mobile position. Then, a Beidou navigation and positioning device 3 is installed at the center 2 of the top of the tower body of tower crane 6, and this position is defined as a second fixed position. Then, a Beidou navigation and positioning device 3 is also installed on the crane trolley 5 connected to the boom 4 of tower crane 6, and this position is defined as a second mobile position.

[0007] A coordinate system is established with the center 2 of the top of the tower body of tower crane 1 and tower crane 6 as the origin. According to the Beidou navigation and positioning device 3, the position coordinates of the first fixed position and the second fixed position in this coordinate system can be determined as O1(x1, y1, z1) and O2(x2, y2, z2), respectively. At the same time, the direction vectors of the lines containing O1 and O2 can also be determined. The final equation for the linear relationship can be determined as follows: Simultaneously, the linear relationship expression of its boom projection on the ground can be determined as A1x + B1y + C1 = 0. The boom 4 of the tower crane is a spatial three-dimensional structure with a length of L and a height of b. When the tower crane is in operation, the projection of boom 4 on the ground is circular, therefore the variable... Within the allowable range of variables, the coordinates of the third point on the crane boom 4 can be determined based on the known coordinates of positioning points O1 and O2. This third point is either (x1, y1, z3) or (x2, y2, z3). Simultaneously, it must be ensured that the third point is collinear with the two aforementioned positioning points. Then, based on the coordinates of points O1, O2, and O3, the planar function relationship of the tower crane can be determined.

[0008] That is, A²x + B²t + C²z + D = 0.

[0009] The above tasks are calculated by the control center after receiving the position coordinates from the Beidou navigation and positioning device 3.

[0010] The height of boom 4 of tower crane 1 is H1, and the height of boom 4 of tower crane 6 is H2. Then:

[0011] When H1 = H2, the first step is to obtain the projection range of the two booms 4 on the ground, and determine the linear relationship of the projection of boom 4 of tower crane 1 on the ground as A. 11 x+B 11 y+C 11 =0, determine the linear relationship of the projection of the boom 4 of tower crane 6 on the ground as A. 12 x+B 12 y+C 12 =0,

[0012] Then calculate the shortest distance between the end point of the boom 4 on tower crane 1 and the boom 4 on tower crane 2. Calculate the shortest distance between the end point of the jib 4 on tower crane 6 (No. 2) and the jib 4 on tower crane 1 (No. 1). Compare d 12 With d 21 The size between them determines the minimum distance d. min =min(d 12 ,d 21 ),

[0013] When H1≠H2, assuming H1>H2, the position coordinates of the trolley 5 on tower crane 1 are first determined by the Beidou navigation and positioning device 3 as O. 11 (x 11 y 11 , z 11 The linear relationship between the projection of the boom 4 of tower crane 6 on the ground is A. 12 x+B 12 y+C 12 =0, so point O can be calculated directly. 11 The shortest distance between the crane and the boom 4 of tower crane 6 No. 2

[0014] The same applies when H1 < H2.

[0015] Real-time d min To monitor,

[0016] Three alarm thresholds, D1, D2, and D3, are preset, and then d is monitored in real time. min Compared with the above alarm threshold, when D2 < d min <D1, the audible and visual warning system installed inside the tower crane issues the first warning message, when D3≤d min When d ≤ D2, the audible and visual warning system issues a second type of warning message. min When D3 occurs, the audible and visual warning system issues a third type of warning message, and at the same time, the tower crane control system forces the tower crane to brake.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] This method for preventing collisions between adjacent tower cranes utilizes a BeiDou navigation and positioning device to acquire the coordinate parameters of two points on the booms of two tower cranes. This determines the spatial trajectory and coordinates of the boom of one crane. Combined with the trajectory and coordinates of the other crane's boom, the control system automatically calculates and monitors in real time the distance between the boom (or the load suspended on it) and the boom (or load suspended on it) of the adjacent tower crane. When an alarm threshold is reached, a warning message is sent to the operator's cab, and in some cases, the crane may be forced to stop. This method effectively avoids collisions between the boom or the load and adjacent tower cranes during operation, improving the safety of tower crane use and ensuring the safety of the construction site. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0020] Figure 2 This is a collision diagram when H1 = H2 in an embodiment of the present invention.

[0021] Figure 3 This is a collision diagram when H1≠H2 in an embodiment of the present invention. Detailed Implementation

[0022] Specific embodiments of the present invention will now be described in conjunction with the accompanying drawings. Figures 1 to 3 The method for preventing collisions between adjacent tower cranes is shown below, comprising the following steps: First, a Beidou navigation and positioning device 3 is installed at the center 2 of the top of the tower body of tower crane 1, and this position is defined as the first fixed position. Then, a Beidou navigation and positioning device 3 is also installed on the crane trolley 5 connected to the boom 4 of tower crane 1, and this position is defined as the first mobile position. Next, a Beidou navigation and positioning device 3 is installed at the center 2 of the top of the tower body of tower crane 6, and this position is defined as the second fixed position. Then, a Beidou navigation and positioning device 3 is also installed on the crane trolley 5 connected to the boom 4 of tower crane 6, and this position is defined as the second mobile position.

[0023] A coordinate system is established with the center 2 of the top of the tower body of tower crane 1 and tower crane 6 as the origin. According to the Beidou navigation and positioning device 3, the position coordinates of the first fixed position and the second fixed position in this coordinate system can be determined as O1(x1, y1, z1) and O2(x2, y2, z2), respectively. At the same time, the direction vectors of the lines containing O1 and O2 can also be determined. The final equation for the linear relationship can be determined as follows: Simultaneously, the linear relationship expression of its boom projection on the ground can be determined as A1x + B1y + C1 = 0. The boom 4 of the tower crane is a spatial three-dimensional structure with a length of L and a height of b. When the tower crane is in operation, the projection of boom 4 on the ground is circular, therefore the variable... Within the allowable range of variables, the coordinates of the third point on the crane boom 4 can be determined based on the known coordinates of positioning points O1 and O2. This third point is either (x1, y1, z3) or (x2, y2, z3). Simultaneously, it must be ensured that the third point is collinear with the two aforementioned positioning points. Then, based on the coordinates of points O1, O2, and O3, the planar function relationship of the tower crane can be determined.

[0024] That is, A²x + B²y + C²z + D = 0.

[0025] The above tasks are calculated by the control center after receiving the position coordinates from the Beidou navigation and positioning device 3.

[0026] The height of boom 4 of tower crane 1 is H1, and the height of boom 4 of tower crane 6 is H2. Then:

[0027] When H1 = H2, the first step is to obtain the projection range of the two booms 4 on the ground, and determine the linear relationship of the projection of boom 4 of tower crane 1 on the ground as A. 11x+B 11 y+C 11 =0, determine the linear relationship of the projection of the boom 4 of tower crane 6 on the ground as A. 12 x+B 12 y+C 12 =0,

[0028] Then calculate the shortest distance between the end point of the boom 4 on tower crane 1 and the boom 4 on tower crane 2. Calculate the shortest distance between the end point of the jib 4 on tower crane 6 (No. 2) and the jib 4 on tower crane 1 (No. 1). Compare d 12 With d 21 The size between them determines the minimum distance d. min =min(d 12 ,d 21 ),

[0029] When H1≠H2, assuming H1>H2, the position coordinates of the trolley 5 on tower crane 1 are first determined by the Beidou navigation and positioning device 3 as O. 11 (x 11 y 11 , z 11 The linear relationship between the projection of the boom 4 of tower crane 6 on the ground is A. 12 x+B 12 y+C 12 =0, so point O can be calculated directly. 11 The shortest distance between the crane and the boom 4 of tower crane 6 No. 2

[0030] The same applies when H1 < H2.

[0031] Real-time d min To monitor,

[0032] Three alarm thresholds, D1, D2, and D3, are preset, and then d is monitored in real time. min Compared with the above alarm threshold, when D2 < d min <D1, the audible and visual warning system installed inside the tower crane issues the first warning message, when D3≤d min When d ≤ D2, the audible and visual warning system issues a second type of warning message. min When D3 occurs, the audible and visual warning system issues a third type of warning message, and at the same time, the tower crane control system forces the tower crane to brake.

Claims

1. A method for preventing collisions between adjacent tower cranes, characterized in that, The method is carried out according to the following steps: First, install a Beidou navigation and positioning device (3) at the center (2) of the top of the tower body of tower crane No. 1 (1) and define this position as the first fixed position. Then, install a Beidou navigation and positioning device (3) on the crane trolley (5) connected to the boom (4) of tower crane No. 1 (1) and define this position as the first mobile position. Then, install a Beidou navigation and positioning device (3) at the center (2) of the top of the tower body of tower crane No. 2 (6) and define this position as the second fixed position. Then, install a Beidou navigation and positioning device (3) on the crane trolley (5) connected to the boom (4) of tower crane No. 2 (6) and define this position as the second mobile position. A coordinate system is established with the center (2) of the top of the tower body of tower crane No. 1 (1) and tower crane No. 2 (6) as the origin. According to the Beidou navigation and positioning device (3), the position coordinates of the first fixed position and the second fixed position in this coordinate system can be determined as O1(x1, y1, z1) and O2(x2, y2, z2), respectively. At the same time, the direction vectors of the lines where O1 and O2 are located can also be determined. The final equation for the linear relationship can be determined as follows: At the same time, it can be determined that the linear relationship expression of its boom projection on the ground is A1x+B1y+C1=0. The boom (4) of the tower crane is a spatial three-dimensional structure with a length of L and a height of b. When the tower crane is in operation, the projection of the boom (4) on the ground is circular. Therefore, the variable Within the allowable range of variables, the coordinates of the third point on the crane boom (4) can be determined based on the known coordinates of the positioning points O1 and O2, namely O3(x1, y1, z3) or (x2, y2, z3). At the same time, it must be ensured that the third point is collinear with the two positioning points mentioned above. Then, the plane function relationship of the tower crane is determined based on the coordinates of the three points O1, O2 and O3. That is, A²x + B²y + C²z + D = 0. The above work is calculated by the control center after receiving the position coordinates sent by the Beidou navigation and positioning device (3). The height of the boom (4) of tower crane No. 1 (1) is H1, and the height of the boom (4) of tower crane No. 2 (6) is H2. Then: When H1 = H2, the first step is to obtain the projection range of the two booms (4) on the ground respectively, and determine the linear relationship of the projection of the boom (4) of the first tower crane (1) on the ground as A. 11 x+B 11 y+C 11 =0, determine the linear relationship between the projection of the boom (4) of the second tower crane (6) on the ground as A 12 x+B 12 y+C 12 =0, Then calculate the shortest distance between the end point of the boom (4) on tower crane No. 1 (1) and the boom (4) on tower crane No. 2 (6). Calculate the shortest distance between the end point of the boom (4) on tower crane No. 2 (6) and the boom (4) on tower crane No. 1 (1). Compare d 12 With d 21 The size between them determines the minimum distance d. min =min(d 12 ,d 21 ), When H1≠H2, assuming H1>H2, the position coordinates of the trolley (5) on the No. 1 tower crane (1) are first determined by the Beidou navigation and positioning device (3) as O. 11 (x 11 y 11 , z 11 The linear relationship between the projection of the boom (4) of the second tower crane (6) on the ground is A. 12 x+B 12 y+C 12 =0, so point O can be calculated directly. 11 The shortest distance between the boom (4) of the second tower crane (6) and the crane itself. The same applies when H1 < H2. Real-time d min To monitor, Three alarm thresholds, D1, D2, and D3, are preset, and then d is monitored in real time. min Compared with the above alarm threshold, when D2 < d min <D1, the audible and visual warning system installed inside the tower crane issues the first warning message, when D3≤d min When d ≤ D2, the audible and visual warning system issues a second type of warning message. min When D3 occurs, the audible and visual warning system issues a third type of warning message, and at the same time, the tower crane control system forces the tower crane to brake.

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