Real-time moving track monitoring and anti-collision method for building construction tower crane group

Abstract

The invention aims to provide a real-time moving track monitoring and anti-collision method for a building construction tower crane group, and belongs to an engineering monitoring technology. The method comprises the following steps: mounting an angle sensor and an angular velocity sensor at a proper position of each tower crane of a tower crane group; constructing a rotation track diagram of the tower crane group; generating a two-dimensional rotation trajectory diagram and a three-dimensional model through three-dimensional software; collecting data information, inputting the obtained data into three-dimensional software, and adjusting the two-dimensional rotation trajectory diagram and the corresponding tower crane trajectory in the three-dimensional model of tower crane group construction in real time through the input data; the anti-collision method of the tower crane and the tower crane and the anti-collision method of the tower crane and the building are realized; by means of the method, real-time monitoring of the tower crane group on the construction site can be achieved, collision of the tower cranes can be prevented, the monitoring result is more accurate, and the anti-collision method is safer.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering monitoring, and in particular to a real-time operation trajectory monitoring and collision avoidance method for a group of tower cranes in construction. Background Art

[0002] At present, the intensive construction of urban buildings has made the working environment of tower cranes complicated; when a group of tower cranes are used for hoisting operations, there are often two or more tower cranes working in an overlapping manner, and the existing method of directing the hoisting operations of a group of tower cranes is to adopt an "operator + rigger" combination; this method has strict requirements on the comprehensive quality of people, and requires the operator and the rigger to establish a unified relationship and work closely together to complete the hoisting operation. The control process is complicated, the degree of intelligence is low and it is not economical; in addition, human operation or command errors can easily lead to safety accidents, such as collisions between tower cranes or collisions between tower cranes and surrounding buildings; in order to avoid collision accidents when tower cranes are performing hoisting operations in overlapping areas; the existing monitoring methods have the problems of being unable to obtain data in real time, untimely data processing and problems with the processing methods themselves, etc. Therefore, there is an urgent need for a new method that can monitor and adjust tower crane groups in real time. Summary of the invention

[0003] In order to overcome one or more problems existing in the above technologies, the present invention provides a real-time operation trajectory monitoring and collision avoidance method for a group of tower cranes in construction, the method comprising:

[0004] S100, installing an angle sensor and an angular velocity sensor at an appropriate position of each tower crane in the tower crane group, so as to obtain the rotation angle and rotation angular velocity of the boom of the corresponding tower crane;

[0005] S200, constructing a rotation trajectory diagram of a tower crane group; the rotation trajectory diagram refers to multiple targets rotating around their respective center points, each target forming a circular track, and the entire diagram is a collection of multiple circular tracks; the steps of constructing a rotation trajectory diagram of a tower crane group are: S201, selecting any tower crane numbered as No. 1, and numbering the remaining tower cranes as 2, 3... and n, where n is the total number of tower cranes, selecting the position of the tower body of No. 1 tower crane as the origin, and establishing a complex plane coordinate system; S202, according to the spatial position of the tower bodies of other tower cranes in the tower crane group and the tower body of No. 1 tower crane, locate the positions of the tower bodies of other tower cranes in the complex plane coordinate system; S203, determining the running trajectory function of the end of the boom of each tower crane, and all running trajectory functions constitute the rotation trajectory diagram of the tower crane group; the running trajectory function is a function that performs circular motion around the coordinates of the corresponding tower crane tower body; the running trajectory function of No. 1 tower crane is:

[0006]

[0007] Wherein, Z1 represents the trajectory coordinate of the end of the boom of tower crane No. 1, Z1=x1+iy1; r1 is the rotation radius of the boom of tower crane No. 1, e is a natural constant, i is an imaginary unit, θ1 is the angle between the boom of tower crane No. 1 and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω1 is the instantaneous angular velocity of the boom of tower crane No. 1 measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, t 11 Indicates the time when work starts, t 12 represents the time corresponding to the operation of the tower crane, and ∫ represents the integral;

[0008] Assuming that the coordinates of the tower bodies of other tower cranes are located on the complex plane are (x0, y0), then the running trajectory functions of other tower cranes are:

[0009]

[0010] Among them, Z m represents the trajectory coordinates of the end of the boom of the mth tower crane, Z m =x m +iy m ; i is the imaginary unit, r m is the rotation radius of the mth tower crane boom, e is a natural constant, θ m is the angle between the mth tower crane boom and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω m is the instantaneous angular velocity of the mth tower crane boom rotation measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, and t m1 Indicates the time when work starts, t m2 represents the time corresponding to the operation of the tower crane, and ∫ represents the integral;

[0011] S300, mapping the rotation trajectory diagram of the tower crane group into the three-dimensional software, generating a two-dimensional rotation trajectory diagram of the end of the tower crane boom of the tower crane group through the three-dimensional software; and making a three-dimensional model of the tower crane group construction according to the two-dimensional rotation trajectory diagram and the actual situation of the construction site;

[0012] S400, respectively obtaining in real time the angular velocity of each corresponding tower crane, the angle between the tower crane boom and the positive half axis of the real axis of the complex plane when starting to work, the time when the tower crane starts to work and the time when the angular velocity is obtained through the angle sensor and the angular velocity sensor, inputting the obtained data into the three-dimensional software, and adjusting the corresponding tower crane trajectory in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction in real time through the input data, so as to realize the real-time operation trajectory monitoring of the tower crane group; at the same time, through the monitoring of the real-time operation trajectory of the tower crane group, the anti-collision method of the tower crane group is monitored;

[0013] S500. In S400, the monitoring of the anti-collision method for the tower crane group includes: a tower crane + tower crane anti-collision method and a tower crane + building anti-collision method; the tower crane + tower crane anti-collision method refers to an anti-collision method between different tower cranes, and the steps of the tower crane + tower crane anti-collision method are: S501. According to the running trajectories of each tower crane in the two-dimensional rotation trajectory diagram, all collision tower crane combinations are obtained, and the collision areas of different combinations in the two-dimensional rotation trajectory diagram are obtained; S502. When the tower crane boom in the collision tower crane combination is about to rotate to the collision area, observe in real time whether the running trajectory of another tower crane in the corresponding combination in the two-dimensional rotation trajectory diagram is just within the collision area corresponding to the combination; if the running trajectory of another tower crane in the combination is within the collision area corresponding to the combination, the corresponding tower crane boom stops rotating until the running trajectory of another tower crane in the combination rotates outside the collision area corresponding to the combination, and the corresponding tower crane rotates and enters the collision area corresponding to the combination; if the running trajectory of another tower crane in the combination is not within the collision area corresponding to the combination, the corresponding tower crane stops rotating. If the tower cranes in the combination are in the corresponding collision area at the same time, the tower crane that enters the collision area later adopts methods including reducing the rotation speed, stopping and reverse rotation to prevent the combination of tower crane + tower crane from colliding; the anti-collision method of tower crane + building refers to the anti-collision method between tower crane and building, and the steps of the anti-collision method of tower crane + building are: S504, according to the construction process, the height, width and shape of the building in the three-dimensional model of the tower crane group construction are updated in real time; S505, when the tower cranes in the tower crane group are rotating for construction, the rotation angles of each tower crane in the three-dimensional model of the tower crane group construction are updated in real time, combined with the actual situation of the tower crane height and the building height, to determine whether the corresponding tower crane is about to collide with the building; S506, if it is determined that the corresponding tower crane is about to collide with the building, the rotation construction process of the corresponding tower crane will be stopped immediately, and the corresponding tower crane will be used to rotate in the opposite direction for construction and switch other tower cranes for construction.

[0014] In addition, the installation of angle sensors and angular velocity sensors at appropriate positions of each tower crane in the tower crane group includes: the appropriate position refers to the installed angle sensor and angular velocity sensor being able to obtain the angle information and angular velocity information of the tower crane boom rotation without obstacle, and the angle sensor and angular velocity sensor are installed at the top of the tower crane and other suitable positions adjacent to the tower body; the angle sensor is able to obtain the rotation angle of the tower crane boom, and the angular velocity sensor is able to obtain the rotation angular velocity of the tower crane boom.

[0015] The method according to the spatial position of the tower bodies of other tower cranes in the tower crane group and the tower body of tower crane No. 1 includes: according to the horizontal distance and angular relationship between the tower bodies of tower cranes No. 2 to n in the tower crane group and the tower body of tower crane No. 1, the positions of the tower bodies of tower cranes No. 2 to n are located in the complex plane coordinate system; the positive half axis of the real axis of the established complex plane coordinate system and the boom of tower crane No. 1 coincide with each other along the direction of the end of the boom.

[0016] The operation trajectory function of the end of each tower crane boom is determined, and all the operation trajectory functions form a rotation trajectory diagram of the tower crane group, including: adjusting the rotation trajectory diagram; the adjustment of the rotation trajectory diagram includes: tracking the rotation trajectory of the corresponding tower crane through the operation trajectory function, forming the corresponding rotation trajectory diagram of each tower crane; obtaining the actual angle of the corresponding tower crane boom relative to the positive half axis of the real axis every 5 minutes through the angle sensor, and judging whether it is the same as the theoretical angle of the tower crane relative to the positive half axis of the real axis in the rotation trajectory diagram at the corresponding moment; if not, generating an adjustment factor, adjusting the rotation angle of the corresponding tower crane in the rotation trajectory diagram, so that the adjusted actual angle is the same as the theoretical angle; the rotation angle is defined as the angle between the tower crane boom and the positive half axis of the real axis of the complex plane; generating the adjustment factor includes: stipulating that the counterclockwise direction of the tower crane is the positive direction of rotation, then the angle and acceleration obtained by the tower crane boom rotating counterclockwise are both positive, and the angle and acceleration obtained by the tower crane boom rotating clockwise are both negative; the generated adjustment factor formula is:

[0017]

[0018] Among them, β is the actual angle, α is the theoretical angle, t' is the adjustment time of the adjustment factor, and ω' is the angular velocity of the corresponding tower crane boom increased within the adjustment time.

[0019] If it is found that the actual angle generated is different from the theoretical angle, an adjustment factor ω' is generated, and the adjustment factor ω' is added to the angular velocity of the corresponding tower crane in the rotation trajectory diagram. The corresponding tower crane is accelerated in the adjustment time t' by adding the angular velocity; if the adjustment time t' is over, the acceleration is stopped immediately, and the tower crane is rotated only by using the angular velocity of the corresponding tower crane obtained by the angular velocity sensor.

[0020] The three-dimensional software includes: Blender, AutoCAD and SolidWorks; the rotation trajectory diagram of the tower crane group is mapped into the three-dimensional software through the three-dimensional software to generate a two-dimensional rotation trajectory diagram of the end of the tower crane boom of the tower crane group, and each center position of the two-dimensional rotation trajectory diagram corresponds to the position of the tower crane tower body; then, the shape of the actual tower crane, the height of the boom, the height of the building and the two-dimensional rotation trajectory diagram are combined through the three-dimensional software to produce a three-dimensional model of the tower crane group construction.

[0021] The real-time adjustment of the tower crane trajectory corresponding to the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction by using the input data includes: bringing the input data into the corresponding tower crane operation trajectory function, so that the corresponding tower crane in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction rotates according to the latest angular velocity obtained within the next sampling period equal to one sampling period of the angular velocity sensor, thereby completing the process of real-time adjustment of the tower crane trajectory corresponding to the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction by using the input data.

[0022] The method of obtaining collision areas of different combinations in the two-dimensional rotation trajectory diagram includes: obtaining trajectory circles formed by different tower crane trajectories in the two-dimensional rotation trajectory diagram, selecting tower crane combinations where all trajectory circles intersect, and the intersecting parts of the trajectory circles of each group of tower crane combinations are the collision areas of the corresponding combination in the two-dimensional rotation trajectory diagram.

[0023] The corresponding tower crane boom stops rotating, including: the trajectory of the corresponding tower crane in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction stops rotating, and the message of stopping rotation is immediately transmitted to the construction personnel of the corresponding tower crane at the construction site, reminding the personnel to stop rotating the boom of the corresponding tower crane.

[0024] The two-dimensional rotating trajectory diagram and the three-dimensional model of the tower crane group construction include: combining the trajectory of the tower crane boom in the two-dimensional rotating trajectory diagram, the tower crane operation trajectory in the three-dimensional model and the real-time update of the building, to achieve real-time monitoring and collision avoidance of the tower crane group at the construction site.

[0025] The beneficial effects of the present invention are:

[0026] The present invention provides a method for real-time operation trajectory monitoring and collision avoidance of a group of tower cranes in construction; the method is used to achieve real-time monitoring and collision avoidance of a group of tower cranes on a construction site; the method sets an operation trajectory function of the tower crane corresponding to the rotation trajectory of the end of the tower crane's boom, and obtains a rotation trajectory diagram of the tower crane group through the operation trajectory functions of all tower cranes, so that the obtained operation trajectory of the tower crane is more accurate; the operation trajectory function set by the method ensures that when each tower crane in the tower crane group is in operation, it does not affect the influence of other tower cranes on the monitoring and collision avoidance process in the method, and the operation of each tower crane has relative independence, which is beneficial to the implementation of the monitoring and collision avoidance method for the tower crane group; the method The rotation angle and angular velocity of the tower crane's boom are obtained by an angle sensor and an angular velocity sensor respectively to update the two-dimensional rotation trajectory diagram and the three-dimensional model. The construction of the tower crane group can be monitored by observing the two-dimensional rotation trajectory diagram and the three-dimensional model. The method extracts each tower crane + tower crane combination that may collide on the two-dimensional rotation trajectory diagram of the tower crane group, sets the possible collision area of ​​each combination, and gives an anti-collision method. While adjusting the two-dimensional rotation trajectory diagram and the boom rotation trajectory in the three-dimensional model through the running trajectory function, the method also sets an adjustment factor to make the two-dimensional rotation trajectory diagram and the tower crane boom running trajectory of the three-dimensional model closer to the actual situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The present invention is a flow chart of the real-time operation trajectory monitoring and collision avoidance method for a group of tower cranes in construction. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention, and cannot be used to limit the present invention.

[0029] like Figure 1As shown: is a flow chart of the real-time operation trajectory monitoring and collision avoidance method of a construction tower crane group of the present invention; the flow chart includes: step S100, installing an angle sensor and an angular velocity sensor at an appropriate position of each tower crane in the tower crane group, so as to obtain the rotation angle and rotation angular velocity of the boom of the corresponding tower crane; step S200, constructing a rotation trajectory diagram of the tower crane group; the rotation trajectory diagram refers to a plurality of targets rotating around their respective center points, each target forming a circular track, and the entire diagram is a collection of a plurality of circular tracks; step S300, mapping the rotation trajectory diagram of the tower crane group into a three-dimensional software, and generating a two-dimensional rotation trajectory diagram of the boom end of the tower crane of the tower crane group through the three-dimensional software; and making a three-dimensional model of the tower crane group construction according to the two-dimensional rotation trajectory diagram in combination with the actual situation of the construction site; step S400, respectively using the angle sensor and the angular velocity sensor to measure the rotation angle and rotation angular velocity of the boom of the tower crane group; The sensor acquires in real time the angular velocity of each corresponding tower crane, the angle between the tower crane boom and the positive half axis of the real axis of the complex plane when starting to work, the time when the tower crane starts to work and the time when the angular velocity is acquired, and inputs the acquired data into the three-dimensional software. The corresponding tower crane trajectory in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction is adjusted in real time through the input data to realize the real-time operation trajectory monitoring of the tower crane group; at the same time, by monitoring the real-time operation trajectory of the tower crane group, the anti-collision method of the tower crane group is monitored; S500, in step S400, the monitoring of the anti-collision method of the tower crane group includes: the anti-collision method of tower crane + tower crane and the anti-collision method of tower crane + building; the anti-collision method of tower crane + tower crane refers to the anti-collision method between different tower cranes, and the anti-collision method of tower crane + building refers to the anti-collision method between tower crane and building.

[0030] Specifically, in step 100, the appropriate position refers to the installed angle sensor and angular velocity sensor that can obtain the angle information and angular velocity information of the tower crane boom rotation without obstacle, and the angle sensor and angular velocity sensor are installed at the top of the tower crane and other appropriate positions adjacent to the tower body; the angle sensor can obtain the rotation angle of the tower crane boom, and the angular velocity sensor can obtain the rotation angular velocity of the tower crane boom.

[0031] It should be pointed out that the obtained rotation angle and rotation angular velocity are sent to the information processing center for subsequent real-time monitoring of the construction site and implementation of anti-collision methods.

[0032] In step S200, the positions of the tower bodies of tower cranes No. 2 to n in the tower crane group are located in the complex plane coordinate system according to the horizontal distance and angular relationship between the tower bodies of tower cranes No. 2 to n and the tower body of tower crane No. 1; the positive half axis of the real axis of the established complex plane coordinate system and the boom of tower crane No. 1 coincide along the direction of the end of the boom.

[0033] Specifically, the steps of constructing the rotation trajectory diagram of the tower crane group are as follows: S201, select any tower crane and number it as No. 1, and number the remaining tower cranes as 2, 3... and n, where n is the total number of tower cranes, select the position of the tower body of No. 1 tower crane as the origin, and establish a complex plane coordinate system; S202, according to the spatial position of the tower bodies of other tower cranes in the tower crane group and the tower body of No. 1 tower crane, locate the positions of the tower bodies of other tower cranes in the complex plane coordinate system; S203, determine the operation trajectory function of the end of the boom of each tower crane, and all the operation trajectory functions constitute the rotation trajectory diagram of the tower crane group; the operation trajectory function is a function that performs circular motion around the coordinates of the tower body of the corresponding tower crane; the operation trajectory function of No. 1 tower crane is:

[0034]

[0035] Wherein, Z1 represents the trajectory coordinate of the end of the boom of tower crane No. 1, Z1=x1+iy1; r1 is the rotation radius of the boom of tower crane No. 1, e is a natural constant, i is an imaginary unit, θ1 is the angle between the boom of tower crane No. 1 and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω1 is the instantaneous angular velocity of the boom of tower crane No. 1 measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, t 11 Indicates the time when work starts, t 12 represents the time when the tower crane is working, and ∫ represents the integral.

[0036] In addition, assuming that the coordinates of the tower bodies of other tower cranes are located on the complex plane are (x0, y0), then the running trajectory functions of other tower cranes are:

[0037]

[0038] Among them, Z m represents the trajectory coordinates of the end of the boom of the mth tower crane, Z m =x m +iy m ; i is the imaginary unit, r m is the rotation radius of the mth tower crane boom, e is a natural constant, θ m is the angle between the mth tower crane boom and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω m is the instantaneous angular velocity of the mth tower crane boom rotation measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, and t m1 Indicates the time when work starts, t m2 represents the time when the tower crane is working, and ∫ represents the integral.

[0039] In the above embodiment, specifically, step S200 also includes: adjusting the rotation trajectory diagram; the adjustment of the rotation trajectory diagram includes: tracking the rotation trajectory of the corresponding tower crane by running the trajectory function to form the corresponding rotation trajectory diagram of each tower crane; obtaining the actual angle of the corresponding tower crane boom relative to the positive half axis of the real axis every 5 minutes through the angle sensor, and judging whether it is the same as the theoretical angle of the tower crane relative to the positive half axis of the real axis in the rotation trajectory diagram at the corresponding moment; if not, generating an adjustment factor, adjusting the rotation angle of the corresponding tower crane in the rotation trajectory diagram, so that the adjusted actual angle is the same as the theoretical angle; the rotation angle is defined as the angle between the tower crane boom and the positive half axis of the real axis of the complex plane; generating the adjustment factor includes: stipulating that the counterclockwise direction of the tower crane is the positive direction of rotation, then the angle and acceleration obtained by the tower crane boom rotating counterclockwise are both positive, and the angle and acceleration obtained by the tower crane boom rotating clockwise are both negative; the generated adjustment factor formula is:

[0040]

[0041] Among them, β is the actual angle, α is the theoretical angle, t' is the adjustment time of the adjustment factor, and ω' is the angular velocity of the corresponding tower crane boom increased within the adjustment time.

[0042] If it is found that the actual angle generated is different from the theoretical angle, an adjustment factor ω' is generated, and the adjustment factor ω' is added to the angular velocity of the corresponding tower crane in the rotation trajectory diagram. The corresponding tower crane is accelerated in the adjustment time t' by adding the angular velocity; if the adjustment time t' is over, the acceleration is stopped immediately, and the tower crane is rotated only by using the angular velocity of the corresponding tower crane obtained by the angular velocity sensor.

[0043] In step S300, the three-dimensional software that can be used include: Blender, AutoCAD and SolidWorks, etc.; the rotation trajectory diagram of the tower crane group is mapped to the three-dimensional software through the three-dimensional software to generate a two-dimensional rotation trajectory diagram of the end of the tower crane boom of the tower crane group, and each center position of the two-dimensional rotation trajectory diagram corresponds to the position of the tower crane tower body; then, the shape of the actual tower crane, the height of the boom, the height of the building and the two-dimensional rotation trajectory diagram are combined through the three-dimensional software to produce a three-dimensional model of the tower crane group construction.

[0044] In step S400, the input data is brought into the corresponding tower crane operation trajectory function, so that the tower crane corresponding to the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction rotates according to the latest angular velocity obtained within the next sampling period equal to one sampling period of the angular velocity sensor, thereby completing the process of adjusting the corresponding tower crane trajectory in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction in real time through the input data.

[0045] Finally, in step S500, the steps of the tower crane + tower crane anti-collision method are as follows: S501, according to the running trajectories of each tower crane in the two-dimensional rotation trajectory diagram, all collision tower crane combinations are obtained, and the collision areas of different combinations in the two-dimensional rotation trajectory diagram are obtained; S502, when the boom of the tower crane in the collision tower crane combination is about to rotate to the collision area, observe in real time whether the running trajectory of another tower crane in the corresponding combination in the two-dimensional rotation trajectory diagram is just within the collision area corresponding to the combination; if the running trajectory of another tower crane in the combination is within the collision area corresponding to the combination, The boom of the corresponding tower crane stops rotating until the running trajectory of the other tower crane in the combination rotates outside the corresponding collision area of ​​the combination, and the corresponding tower crane rotates and enters the corresponding collision area of ​​the combination; if the running trajectory of the other tower crane in the combination is not within the corresponding collision area of ​​the combination, the corresponding tower crane directly rotates into the corresponding collision area of ​​the combination; S503, if the tower cranes in the combination are located in the corresponding collision area at the same time, the tower crane that enters the collision area later adopts methods including reducing the rotation speed, stopping and reverse rotation to prevent the combination of tower crane + tower crane from colliding.

[0046] In the above embodiment, specifically, the steps of the tower crane + building anti-collision method are: S504, according to the construction progress, the height, width and shape of the building in the three-dimensional model of the tower crane group construction is updated in real time; S505, when the tower cranes in the tower crane group are rotating, by updating the rotation angle of each tower crane in the three-dimensional model of the tower crane group construction in real time, combined with the actual situation of the tower crane height and the building height, determine whether the corresponding tower crane is about to collide with the building; S506, if it is determined that the corresponding tower crane is about to collide with the building, the rotation construction process of the corresponding tower crane will be stopped immediately, and the corresponding tower crane will be used to rotate in the opposite direction and switch to other tower cranes for construction.

[0047] Specifically, the method for obtaining the collision areas of different combinations in the two-dimensional rotating trajectory diagram is as follows: obtain the trajectory circles formed by the trajectories of different tower cranes in the two-dimensional rotating trajectory diagram, select the tower crane combinations where all the trajectory circles intersect, and the intersecting part of the trajectory circles of each group of tower crane combinations is the collision area of ​​the corresponding combination in the two-dimensional rotating trajectory diagram.

[0048] The specific method for stopping the rotation of the corresponding tower crane boom is: the trajectory of the corresponding tower crane in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction stops rotating, and the message of stopping rotation is immediately transmitted to the construction personnel of the corresponding tower crane at the construction site, reminding the personnel to stop rotating the boom of the corresponding tower crane.

[0049] In the above embodiment, specifically, by combining the trajectory of the tower crane boom in the two-dimensional rotating trajectory diagram, the tower crane operation trajectory in the three-dimensional model and the real-time update of the building, real-time monitoring of the tower crane group at the construction site and prevention of collisions between tower crane + tower crane and tower crane + building are achieved.

Claims

1. A real-time operation trajectory monitoring and collision avoidance method for a group of tower cranes in construction, characterized in that: The method comprises: S100, installing an angle sensor and an angular velocity sensor at an appropriate position of each tower crane in the tower crane group, so as to obtain the rotation angle and rotation angular velocity of the boom of the corresponding tower crane; S200, constructing a rotation trajectory diagram of a tower crane group; the rotation trajectory diagram refers to multiple targets rotating around their respective center points, each target forming a circular track, and the entire diagram is a collection of multiple circular tracks; the steps of constructing a rotation trajectory diagram of a tower crane group are: S201, selecting any tower crane numbered as No. 1, and numbering the remaining tower cranes as 2, 3... and n, where n is the total number of tower cranes, selecting the position of the tower body of No. 1 tower crane as the origin, and establishing a complex plane coordinate system; S202, according to the spatial position of the tower bodies of other tower cranes in the tower crane group and the tower body of No. 1 tower crane, locate the positions of the tower bodies of other tower cranes in the complex plane coordinate system; S203, determining the running trajectory function of the end of the boom of each tower crane, and all running trajectory functions constitute the rotation trajectory diagram of the tower crane group; the running trajectory function is a function that performs circular motion around the coordinates of the corresponding tower crane tower body; the running trajectory function of No. 1 tower crane is: Wherein, Z1 represents the trajectory coordinate of the end of the boom of tower crane No. 1, Z1=x1+iy1; r1 is the rotation radius of the boom of tower crane No. 1, e is a natural constant, i is an imaginary unit, θ1 is the angle between the boom of tower crane No. 1 and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω1 is the instantaneous angular velocity of the boom of tower crane No. 1 measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, t 11 Indicates the time when work starts, t 12 represents the time corresponding to the operation of the tower crane, and ∫ represents the integral; Assuming that the coordinates of the tower bodies of other tower cranes are located on the complex plane are (x0, y0), then the running trajectory functions of other tower cranes are: Among them, Z m represents the trajectory coordinates of the end of the boom of the mth tower crane, Z m =x m +iy m ; i is the imaginary unit, r m is the rotation radius of the mth tower crane boom, e is a natural constant, θ m is the angle between the mth tower crane boom and the positive half axis of the real axis of the complex plane obtained by the angle sensor at the beginning of work, ω m is the instantaneous angular velocity of the mth tower crane boom rotation measured by the angular velocity sensor, dt represents the sampling period of the angular velocity sensor, and t m1 Indicates the time when work starts, t m2 represents the time corresponding to the operation of the tower crane, and ∫ represents the integral; S300, mapping the rotation trajectory diagram of the tower crane group into the three-dimensional software, generating a two-dimensional rotation trajectory diagram of the end of the tower crane boom of the tower crane group through the three-dimensional software; and making a three-dimensional model of the tower crane group construction according to the two-dimensional rotation trajectory diagram and the actual situation of the construction site; S400, respectively obtaining in real time the angular velocity of each corresponding tower crane, the angle between the tower crane boom and the positive half axis of the real axis of the complex plane when starting to work, the time when the tower crane starts to work and the time when the angular velocity is obtained through the angle sensor and the angular velocity sensor, inputting the obtained data into the three-dimensional software, and adjusting the corresponding tower crane trajectory in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction in real time through the input data, so as to realize the real-time operation trajectory monitoring of the tower crane group; at the same time, through the monitoring of the real-time operation trajectory of the tower crane group, the anti-collision method of the tower crane group is monitored; S500. In S400, the monitoring of the anti-collision method for the tower crane group includes: a tower crane + tower crane anti-collision method and a tower crane + building anti-collision method; the tower crane + tower crane anti-collision method refers to an anti-collision method between different tower cranes, and the steps of the tower crane + tower crane anti-collision method are: S501. According to the running trajectories of each tower crane in the two-dimensional rotation trajectory diagram, all collision tower crane combinations are obtained, and the collision areas of different combinations in the two-dimensional rotation trajectory diagram are obtained; S502. When the tower crane boom in the collision tower crane combination is about to rotate to the collision area, observe in real time whether the running trajectory of another tower crane in the corresponding combination in the two-dimensional rotation trajectory diagram is just within the collision area corresponding to the combination; if the running trajectory of another tower crane in the combination is within the collision area corresponding to the combination, the corresponding tower crane boom stops rotating until the running trajectory of another tower crane in the combination rotates outside the collision area corresponding to the combination, and the corresponding tower crane rotates and enters the collision area corresponding to the combination; if the running trajectory of another tower crane in the combination is not within the collision area corresponding to the combination, the corresponding tower crane stops rotating. If the tower cranes in the combination are in the corresponding collision area at the same time, the tower crane that enters the collision area later adopts methods including reducing the rotation speed, stopping and reverse rotation to prevent the combination of tower crane + tower crane from colliding; the anti-collision method of tower crane + building refers to the anti-collision method between tower crane and building, and the steps of the anti-collision method of tower crane + building are: S504, according to the construction process, the height, width and shape of the building in the three-dimensional model of the tower crane group construction are updated in real time; S505, when the tower cranes in the tower crane group are rotating for construction, the rotation angles of each tower crane in the three-dimensional model of the tower crane group construction are updated in real time, combined with the actual situation of the tower crane height and the building height, to determine whether the corresponding tower crane is about to collide with the building; S506, if it is determined that the corresponding tower crane is about to collide with the building, the rotation construction process of the corresponding tower crane will be stopped immediately, and the corresponding tower crane will be used to rotate in the opposite direction for construction and switch other tower cranes for construction.

2. The real-time operation trajectory monitoring and collision avoidance method for a group of construction tower cranes according to claim 1 is characterized in that: The method of installing an angle sensor and an angular velocity sensor at an appropriate position of each tower crane in a tower crane group includes: the appropriate position refers to a position where the installed angle sensor and angular velocity sensor can obtain the angle information and angular velocity information of the tower crane boom rotation without obstacle, and the angle sensor and angular velocity sensor are installed at the top of the tower crane and other suitable positions adjacent to the tower body; the angle sensor can obtain the rotation angle of the tower crane boom, and the angular velocity sensor can obtain the rotation angular velocity of the tower crane boom.

3. The real-time operation trajectory monitoring and collision avoidance method for a group of construction tower cranes according to claim 1 is characterized in that: The method according to the spatial position of the tower bodies of other tower cranes in the tower crane group and the tower body of tower crane No. 1 includes: according to the horizontal distance and angular relationship between the tower bodies of tower cranes No. 2 to n in the tower crane group and the tower body of tower crane No. 1, the positions of the tower bodies of tower cranes No. 2 to n are located in the complex plane coordinate system; the positive half axis of the real axis of the established complex plane coordinate system and the boom of tower crane No. 1 coincide with each other along the direction of the end of the boom.

4. The real-time operation trajectory monitoring and collision avoidance method for a group of construction tower cranes according to claim 1 is characterized in that: The operation trajectory function of the end of each tower crane boom is determined, and all the operation trajectory functions form a rotation trajectory diagram of the tower crane group, including: adjusting the rotation trajectory diagram; the adjustment of the rotation trajectory diagram includes: tracking the rotation trajectory of the corresponding tower crane through the operation trajectory function, forming the corresponding rotation trajectory diagram of each tower crane; obtaining the actual angle of the corresponding tower crane boom relative to the positive half axis of the real axis every 5 minutes through the angle sensor, and judging whether it is the same as the theoretical angle of the tower crane relative to the positive half axis of the real axis in the rotation trajectory diagram at the corresponding moment; if not, generating an adjustment factor, adjusting the rotation angle of the corresponding tower crane in the rotation trajectory diagram, so that the adjusted actual angle is the same as the theoretical angle; the rotation angle is defined as the angle between the tower crane boom and the positive half axis of the real axis of the complex plane; generating the adjustment factor includes: stipulating that the counterclockwise direction of the tower crane is the positive direction of rotation, then the angle and acceleration obtained by the tower crane boom rotating counterclockwise are both positive, and the angle and acceleration obtained by the tower crane boom rotating clockwise are both negative; the generated adjustment factor formula is: Among them, β is the actual angle, α is the theoretical angle, t' is the adjustment time of the adjustment factor, and ω' is the angular velocity of the corresponding tower crane boom increased during the adjustment time; If it is found that the actual angle generated is different from the theoretical angle, an adjustment factor ω' is generated, and the adjustment factor ω' is added to the angular velocity of the corresponding tower crane in the rotation trajectory diagram. The corresponding tower crane is accelerated in the adjustment time t' by adding the angular velocity; if the adjustment time t' is over, the acceleration is stopped immediately, and the tower crane is rotated only by using the angular velocity of the corresponding tower crane obtained by the angular velocity sensor.

5. The real-time operation trajectory monitoring and collision avoidance method for a group of construction tower cranes according to claim 1 is characterized in that: The three-dimensional software includes: Blender, AutoCAD and SolidWorks; the rotation trajectory diagram of the tower crane group is mapped into the three-dimensional software through the three-dimensional software to generate a two-dimensional rotation trajectory diagram of the end of the tower crane boom of the tower crane group, and each center position of the two-dimensional rotation trajectory diagram corresponds to the position of the tower crane tower body; then, the shape of the actual tower crane, the height of the boom, the height of the building and the two-dimensional rotation trajectory diagram are combined through the three-dimensional software to produce a three-dimensional model of the tower crane group construction.

6. The method for real-time operation trajectory monitoring and collision avoidance of a construction tower crane group according to claim 1 is characterized in that: The real-time adjustment of the tower crane trajectory corresponding to the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction by using the input data includes: bringing the input data into the corresponding tower crane operation trajectory function, so that the corresponding tower crane in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction rotates according to the latest angular velocity obtained within the next sampling period equal to one sampling period of the angular velocity sensor, thereby completing the process of real-time adjustment of the tower crane trajectory corresponding to the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction by using the input data.

7. The real-time operation trajectory monitoring and collision avoidance method for a group of construction tower cranes according to claim 1 is characterized in that: The method of obtaining collision areas of different combinations in the two-dimensional rotation trajectory diagram includes: obtaining trajectory circles formed by different tower crane trajectories in the two-dimensional rotation trajectory diagram, selecting tower crane combinations where all trajectory circles intersect, and the intersecting parts of the trajectory circles of each group of tower crane combinations are the collision areas of the corresponding combination in the two-dimensional rotation trajectory diagram.

8. The method for real-time operation trajectory monitoring and collision avoidance of a construction tower crane group according to claim 1 is characterized in that: The corresponding tower crane boom stops rotating, including: the trajectory of the corresponding tower crane in the two-dimensional rotation trajectory diagram and the three-dimensional model of the tower crane group construction stops rotating, and the message of stopping rotation is immediately transmitted to the construction personnel of the corresponding tower crane at the construction site, reminding the personnel to stop rotating the boom of the corresponding tower crane.

9. The method for real-time operation trajectory monitoring and collision avoidance of a construction tower crane group according to claim 1, characterized in that: The two-dimensional rotating trajectory diagram and the three-dimensional model of the tower crane group construction include: combining the trajectory of the tower crane boom in the two-dimensional rotating trajectory diagram, the tower crane operation trajectory in the three-dimensional model and the real-time update of the building, to achieve real-time monitoring and collision avoidance of the tower crane group at the construction site.

Images