Cable crane and tower crane anti-collision system

Abstract

The present application relates to a kind of cable crane and tower crane anti-collision system, comprising: big dipper positioning receiver, rotary encoder, controller and alarm device. Big dipper positioning receiver is installed on cable crane trolley. Rotary encoder is installed on tower crane. Big dipper positioning receiver is used to position cable crane trolley, and encoder is used to collect the rotation angle of tower crane;Big dipper positioning system and rotary encoder are respectively with the data interaction of controller. Alarm device is connected with controller. The cable crane and tower crane anti-collision system, after the data obtained from big dipper positioning receiver and rotary encoder are processed by controller, the position of tower crane can be monitored in real time, and alarm is given when tower crane approaches cable crane, to prevent serious safety accidents.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, and in particular to a collision avoidance system for cable cranes and tower cranes. Background Technology

[0002] Tower cranes are lifting equipment used in construction. They are important pieces of machinery in modern engineering, primarily used for the vertical transport of materials and installation of components in multi-story and high-rise building construction, greatly improving the efficiency of material transportation and construction. A tower crane is a rotating crane with its jib mounted on a tall tower. It has a large working range and is mainly used for the vertical transport of materials and installation of components in multi-story and high-rise building construction. A tower crane consists of a metal structure, working mechanism, and electrical system. The metal structure includes the tower body, jib, base, and anchor rods; the working mechanism includes hoisting, luffing, slewing, and traveling mechanisms; the electrical system includes motors, controllers, switchboards, connecting lines, signaling, and lighting devices. In existing technology, tower cranes are prone to collisions with cable cranes during operation, leading to serious safety accidents. Summary of the Invention

[0003] Therefore, in order to overcome the above-mentioned shortcomings, the present invention addresses the technical problem in the prior art that tower cranes are prone to colliding with cable cranes during operation, resulting in serious safety accidents, by providing a cable crane and tower crane anti-collision system.

[0004] The present invention is implemented by constructing a collision avoidance system for cable cranes and tower cranes, including: a Beidou positioning receiver, a rotary encoder, a controller, and an alarm device;

[0005] The Beidou positioning receiver is mounted on a cable crane trolley;

[0006] The rotary encoder is mounted on the tower crane;

[0007] The Beidou positioning receiver is used to position the cable crane trolley, and the rotary encoder is used to collect the rotation angle of the tower crane; the Beidou positioning receiver and the rotary encoder respectively interact with the controller;

[0008] The alarm device is connected to the controller;

[0009] The controller includes:

[0010] The ranging unit is used to move the cable crane trolley to point A at the leftmost or rightmost end of the cable crane, record the latitude and longitude values ​​of point A, and read the latitude and longitude values ​​of point B where the Beidou receiver is located in real time during operation. The straight-line distance between points A and B is calculated according to the Xi'an 80 coordinate system formula and used as the abscissa value of the cable crane trolley.

[0011] The first processing unit unifies the cable crane and tower crane into the same coordinate system based on the site layout and represents them as (Cx1, Cy1); where Cx1 is the straight-line distance between points A and B, and Cy1 is calculated based on the relative position relationship after establishing the coordinate system in the top view; the coordinates of the tower crane are (Tx, Ty), which are obtained from the top view of the site layout.

[0012] The second processing unit calculates the safe working area and collision area of ​​the tower crane and the cable crane trolley based on the coordinate relationship between the tower crane and the cable crane. The collision angle range between the tower crane forearm and the cable crane 1 is (a1, a2), and the collision travel range of the cable crane trolley is (m1, m2). Wherein, a1 is the starting angle of the tower crane collision area, a2 is the ending angle of the tower crane collision area, m1 is the starting travel value of the collision range between the cable crane and the tower crane, and m2 is the ending travel value of the collision range between the cable crane and the tower crane.

[0013] The third processing unit obtains the position of the cable crane trolley through Beidou positioning and transmits it to the tower crane. When the cable crane trolley's travel Cx1 is detected to be greater than m1 and less than m2, the unit checks the slewing angle of the machine. If the slewing angle is greater than a1 and less than a2, the unit monitors and calculates the distance d0 between the cable crane trolley (Cx1, Cy1) and the tower arm in real time. When the tower crane detects that the distance d0 between the cable crane trolley and the tower arm is less than the preset safety distance, it sends a collision alarm control signal. After receiving the alarm signal, the cable crane motion control system stops the cable crane trolley's movement.

[0014] Furthermore, the alarm device is an audible and visual alarm.

[0015] Furthermore, it also includes a solar power supply module; the solar power supply module is installed on the cable crane trolley to supply power to the Beidou positioning receiver.

[0016] Furthermore, it also includes: a LORA wireless module; the BeiDou positioning receiver interacts with the controller via the LORA wireless module.

[0017] This invention has the following advantages: The cable crane and tower crane anti-collision system provided by this invention includes a Beidou positioning receiver installed on the cable crane trolley and a rotary encoder installed on the tower crane. The Beidou positioning receiver is used to position the cable crane trolley, and the encoder is used to collect the rotation angle of the tower crane. The Beidou positioning system and the rotary encoder interact with the controller; an alarm device is connected to the controller. This cable crane and tower crane anti-collision system, through the controller processing the data obtained from the Beidou positioning receiver and the rotary encoder, can monitor the position of the tower crane in real time and issue an alarm when the tower crane approaches the cable crane to prevent serious safety accidents. Attached Figure Description

[0018] Figure 1 This is a side view of the installation position of the cable crane and tower crane provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of cable cranes and tower cranes arranged in the same coordinate system according to the site layout provided in the embodiments of the present invention;

[0020] Figure 3 This is a schematic diagram of the safe operating area and collision area of ​​the tower crane provided in an embodiment of the present invention.

[0021] Among them: 1-Beidou positioning receiver, 2-rotary encoder, 3-cable crane, 4-tower crane. Detailed Implementation

[0022] The following will be combined with the appendix Figures 1-3 This invention will be described in detail, and the technical solutions in the embodiments of this invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0023] This invention addresses the technical problem in the prior art where tower cranes are prone to collisions with cable cranes during operation, leading to serious safety accidents, by providing a collision prevention system between cable cranes and tower cranes.

[0024] See Figure 1 This invention provides a collision avoidance system for cable cranes and tower cranes, comprising: a Beidou positioning receiver 1, a rotary encoder 2, a controller, and an alarm device. The Beidou positioning receiver 1 is mounted on the cable crane trolley 3; the rotary encoder 2 is mounted on the tower crane 4; the Beidou positioning receiver 1 is used to position the cable crane trolley 3, and the rotary encoder 2 is used to collect the rotation angle of the tower crane 4; the Beidou positioning receiver 1 and the rotary encoder 2 respectively interact with the controller. The alarm device is connected to the controller and can be an audible and visual alarm.

[0025] Specifically, see Figures 1-3 The controller includes functional modules such as a ranging unit, a first processing unit, a second processing unit, and a third processing unit.

[0026] The ranging unit is used to move the cable crane 3 trolley to point A at the leftmost or rightmost end of the cable crane 3, record the latitude and longitude values ​​of point A, and read the latitude and longitude values ​​of point B where the Beidou receiver is located in real time during operation. The straight-line distance between points A and B is calculated according to the Xi'an 80 coordinate system formula and used as the abscissa value of the cable crane 3 trolley.

[0027] The first processing unit is used to unify the cable crane 3 and tower crane 4 into the same coordinate system according to the site layout and represent them as (Cx1, Cy1); where Cx1 is the straight-line distance between points A and B, and Cy1 is calculated based on the relative position relationship after establishing the coordinate system in the top view; the coordinates of tower crane 4 are (Tx, Ty), which are obtained from the top view of the site layout.

[0028] The second processing unit is used to calculate the safe working area and collision area of ​​the tower crane 4 and the collision travel range of the cable crane 3 trolley based on the coordinate relationship between the tower crane 4 and the cable crane 3. The collision angle range between the tower crane 4 forearm and the cable crane 31 is (a1, a2), and the collision travel range of the cable crane 3 trolley is (m1, m2). Wherein, a1 is the starting angle of the collision area of ​​the tower crane 4, a2 is the ending angle of the collision area of ​​the tower crane 4; m1 is the starting travel value of the collision range between the cable crane 3 and the tower crane 4, and m2 is the ending travel value of the collision range between the cable crane 3 and the tower crane 4.

[0029] The third processing unit is used to obtain the position of the cable crane 3 trolley via Beidou positioning and transmit it to the tower crane 4. When the travel Cx1 of the cable crane 3 trolley is detected to be greater than m1 and less than m2, the slewing angle of the machine is checked. If the slewing angle is greater than a1 and less than a2, the distance d0 between the cable crane 3 trolley (Cx1, Cy1) and the tower arm is monitored and calculated in real time. When the tower crane 4 detects that the distance d0 between the cable crane 3 trolley and the tower arm is less than the preset safety distance, a collision alarm control signal is sent. After receiving the alarm signal, the cable crane 3 motion control system stops the movement of the cable crane 3 trolley.

[0030] Due to on-site environmental factors, 24-hour power supply is not feasible. Therefore, it is necessary to add a solar power module and increase battery capacity. Simultaneously, a timer switch will be installed to control the power consumption of the power system, thereby ensuring uninterrupted data supply to the lifting equipment during construction. The solar power module is installed on the cable crane's trolley 3 to power the Beidou positioning receiver 1.

[0031] The original BeiDou positioning system used 4G transmission, which experienced disconnections and communication problems when using the 4G network on site. In addition, the positioning accuracy of the original BeiDou system was insufficient, so a new BeiDou positioning system was needed.

[0032] BeiDou positioning achieves local wireless transmission by wirelessly transmitting BeiDou signals to the controller via a LoRa wireless module. This application uses a differential base station + measurement rover + wireless data transmission link. The differential base station is installed in a fixed location near the control room. The base station transmits differential data to the rover at a frequency of 1Hz via radio to achieve RTK high-precision positioning. The rover can output positioning results (longitude, latitude, and altitude) up to 20Hz, which are then transmitted to the receiving equipment in the control room via the wireless data transmission module. In open, largely unobstructed conditions: wireless data transmission is good within a 1km range. If there is significant obstruction on site, the base station's installation position needs to be adjusted. Data accuracy is at the centimeter level.

[0033] The cable crane and tower crane anti-collision system provided in this embodiment of the invention has at least the following beneficial effects or advantages:

[0034] The cable crane and tower crane anti-collision system provided in this embodiment of the invention includes a Beidou positioning receiver mounted on the cable crane trolley and a rotary encoder mounted on the tower crane. The Beidou positioning receiver is used to position the cable crane trolley, and the encoder is used to collect the rotation angle of the tower crane. The Beidou positioning system and the rotary encoder interact with the controller, and an alarm device is connected to the controller. This cable crane and tower crane anti-collision system, through the controller processing the data obtained from the Beidou positioning receiver and the rotary encoder, can monitor the position of the tower crane in real time and issue an alarm when the tower crane approaches the cable crane to prevent serious safety accidents.

[0035] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collision avoidance system for cable cranes and tower cranes, characterized in that: include: Beidou positioning receiver, rotary encoder, controller and alarm device; The Beidou positioning receiver is mounted on a cable crane trolley; The rotary encoder is mounted on the tower crane; The Beidou positioning receiver is used to position the cable crane trolley, and the rotary encoder is used to collect the rotation angle of the tower crane. The Beidou positioning receiver and the rotary encoder respectively interact with the controller; The alarm device is connected to the controller; The controller includes: The ranging unit is used to move the cable crane trolley to point A at the leftmost or rightmost end of the cable crane, record the latitude and longitude values ​​of point A, and read the latitude and longitude values ​​of point B where the Beidou positioning receiver is located in real time during operation. The straight-line distance between points A and B is calculated according to the Xi'an 80 coordinate system formula and used as the abscissa value of the cable crane trolley. The first processing unit unifies the cable crane and tower crane into the same coordinate system based on the site layout and represents them as (Cx1, Cy1); where Cx1 is the straight-line distance between points A and B, and Cy1 is calculated based on the relative position relationship after establishing the coordinate system in the top view; the coordinates of the tower crane are (Tx, Ty), which are obtained from the top view of the site layout. The second processing unit calculates the safe working area and collision area of ​​the tower crane and the cable crane trolley based on the coordinate relationship between the tower crane and the cable crane. The collision angle range between the tower crane jib and the cable crane is (a1, a2), and the collision travel range of the cable crane trolley is (m1, m2). Wherein, a1 is the starting angle of the tower crane collision area, a2 is the ending angle of the tower crane collision area, m1 is the starting travel value of the collision range between the cable crane and the tower crane, and m2 is the ending travel value of the collision range between the cable crane and the tower crane. The third processing unit obtains the position of the cable crane trolley through Beidou positioning and transmits it to the tower crane. When the cable crane trolley's travel Cx1 is detected to be greater than m1 and less than m2, the unit checks the slewing angle of the machine. If the slewing angle is greater than a1 and less than a2, the unit monitors and calculates the distance d0 between the cable crane trolley (Cx1, Cy1) and the tower arm in real time. When the tower crane detects that the distance d0 between the cable crane trolley and the tower arm is less than the preset safety distance, it sends a collision alarm control signal. After receiving the alarm signal, the cable crane motion control system stops the cable crane trolley's movement.

2. The cable crane and tower crane anti-collision system according to claim 1, characterized in that: The alarm device is an audible and visual alarm.

3. The anti-collision system for cable cranes and tower cranes according to claim 1, characterized in that: It also includes a solar power module; the solar power module is installed on the cable crane trolley to power the Beidou positioning receiver.

4. The anti-collision system for cable cranes and tower cranes according to claim 1, characterized in that: Also includes: LORA wireless module; The Beidou positioning receiver interacts with the controller via the LORA wireless module.

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