Control method and device for tower crane collision prevention, tower crane and storage medium

Abstract

The invention relates to the technical field of engineering machinery, in particular to a control method and device for tower crane collision prevention, a tower crane and a storage medium. The method comprises the following steps: under the condition that an echo signal fed back by any one of a plurality of detection devices is received, determining the detection device as a to-be-early-warned detection device; determining the target position of the early warning target according to the installation position of the to-be-early-warned detection device and the position information carried by the echo signal; determining a second horizontal distance between the target position and the working arm on which the to-be-early-warned detection device is mounted according to a first horizontal distance between the mounting position and the working arm on which the to-be-early-warned detection device is mounted and the target position; according to the second horizontal distance, whether the early warning target is within a tower crane early warning range of the tower crane is determined, and the tower crane early warning range is determined according to the rotation speed of the tower crane; and performing corresponding control operation on the tower crane according to the position of the early warning target in the early warning range of the tower crane so as to prevent the tower crane from colliding with the early warning target.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery, and particularly to a control method, device, tower crane and storage medium for anti-collision of tower cranes. Background Art

[0002] A tower crane is a rotary crane with a jib installed on the upper part of a tall tower body. It has a large working range and is mainly used for the vertical transportation of materials and the installation of components in multi-story and high-rise building construction. At present, the implementation method of anti-collision of tower cranes is to install multiple sensors side by side on both sides of the tower crane. The number of installed sensors is proportional to the length of the main hoisting arm of the tower crane. Data transmission is also required through the CAN bus to obtain various data including the current height, slewing angle, working status, etc. of the tower crane. At the same time, according to the installation positions of the tower crane groups on the construction site, the status of surrounding tower cranes is obtained through data communication between multiple tower cranes, and the spatial positions and speeds of the current tower crane and surrounding tower cranes are calculated to determine whether there is a collision risk. In the prior art, the installation cost of sensors and the data transmission cost are too high. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide a control method, device, tower crane and storage medium for anti-collision of tower cranes, so as to reduce the problem of high installation cost of sensors and data transmission cost in the prior art.

[0004] To achieve the above purpose, the first aspect of this application provides a control method for anti-collision of tower cranes. The tower crane includes a plurality of detection devices and a plurality of working arms. Among them, the plurality of detection devices at least include a first detection device, a second detection device and a third detection device. The plurality of working arms include a main arm and a counterweight arm. The first detection device and the second detection device are both installed at the root of the main arm and are used to detect the plane where the main arm is located. The third detection device is installed on the counterweight arm and is used to detect the extending direction of the counterweight arm. The control method includes:

[0005] When receiving the echo signal fed back by any one of the plurality of detection devices, determining the detection device as the detection device to be pre-warned;

[0006] Determining the target position where the warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal;

[0007] Determining the second horizontal distance between the target position and the working arm on which the detection device to be pre-warned is installed according to the first horizontal distance between the installation position and the working arm on which the detection device to be pre-warned is installed and the target position;

[0008] Determining whether the warning target is within the tower crane warning range of the tower crane according to the second horizontal distance, where the tower crane warning range is determined according to the slewing speed of the tower crane;

[0009] Perform corresponding control operations on the tower crane according to the position of the warning target within the warning range of the tower crane to prevent the tower crane from colliding with the warning target.

[0010] In the embodiments of the present application, the first detection device and the second detection device are respectively used to detect the corresponding horizontal areas on both sides of the main boom. Determining the target position where the warning target is located according to the installation position of the detection device to be warned and the position information carried by the echo signal includes: when the detection device to be warned is the first detection device and / or the second detection device, determining the boom area occupied by the main boom within the detection range corresponding to the detection device to be warned; when the warning target is in the area corresponding to the other side of the main boom side corresponding to the detection device to be warned and / or within the boom area, filtering the warning target; when the detection device to be warned is the third detection device, determining the counterweight boom area occupied by the counterweight boom within the detection range corresponding to the detection device to be warned; when the warning target is within the counterweight boom area, filtering the warning target.

[0011] In the embodiments of the present application, the method further includes: obtaining the first slewing speed of the root of the working boom of the tower crane and the second slewing speed of the end of the working boom of the tower crane; determining the first warning range from the root of the working boom according to the first slewing speed, and determining the second warning range from the end of the working boom according to the second slewing speed, wherein the first warning range is smaller than the second warning range; determining the third warning range of other working booms between the root of the working boom and the end of the working boom according to the first warning range and the second warning range according to a preset rule; determining the first warning range, the second warning range, and the third warning range as the warning range of the tower crane.

[0012] In the embodiments of the present application, the method further includes: dividing the warning range of the tower crane according to a preset distance to determine the warning ranges of the tower crane corresponding to the first warning level and the second warning level, wherein the warning range of the tower crane corresponding to the first warning level is closer to the tower crane than the warning range of the tower crane corresponding to the second warning level.

[0013] In the embodiments of the present application, performing corresponding control operations on the tower crane according to the position of the warning target within the warning range of the tower crane includes: when the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the first warning level, giving an alarm prompt and / or controlling the tower crane to decelerate until it stops slewing; when the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the second warning level, giving an alarm prompt.

[0014] In an embodiment of the present application, determining a second horizontal distance between a target position and a working arm on which a device to be pre-warning detected is installed based on a first horizontal distance between an installation position and the working arm on which the device to be pre-warning detected is installed and the target position includes: determining the second horizontal distance d between the target position and the working arm on which the device to be pre-warning detected is installed through formula (1):

[0015]

[0016] Wherein, d0 is the first horizontal distance between the installation position and the working arm on which the device to be pre-warning monitored is installed, x and y are respectively the horizontal coordinate distance and the vertical coordinate distance of the position information of the target position of the pre-warning target relative to the detection device coordinate system. Wherein, the detection device coordinate system takes the device to be pre-warning detected as the origin, the detection orientation of the device to be pre-warning detected is the y-axis, the direction horizontally perpendicular to the y-axis is the x-axis, and α is the included angle between the detection orientation of the device to be pre-warning detected and the working arm on which the device to be pre-warning monitored is installed.

[0017] A second aspect of the present application provides a control device for anti-collision of tower cranes. The device includes:

[0018] A memory configured to store instructions; and

[0019] A processor configured to call instructions from the memory and capable of implementing the above-mentioned control method for anti-collision of tower cranes when executing the instructions.

[0020] A third aspect of the present application provides a tower crane. The tower crane includes:

[0021] A main boom;

[0022] A counterweight boom;

[0023] A first detection device installed at the root of the main boom for detecting the plane where the main boom is located;

[0024] A second detection device installed at the root of the main boom for detecting the plane where the main boom is located;

[0025] A third detection device installed on the counterweight boom for detecting the extending direction of the counterweight boom; and the above-mentioned control device for anti-collision of tower cranes.

[0026] In an embodiment of the present application, the tower crane further includes: the first detection device and the second detection device are respectively installed on both sides of the root of the main boom for detecting the horizontal areas corresponding to both sides of the main boom.

[0027] A fourth aspect of the present application provides a machine-readable storage medium. Instructions are stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the above-mentioned control method for anti-collision of tower cranes.

[0028] Through the above technical solution, a detection device is installed at the root of the working arm to detect the working range of the tower crane, so as to quickly judge the distance between the early warning target and the tower crane in a timely manner, thereby controlling the tower crane to avoid collision with the early warning target, reducing the use cost of the detection device and not requiring communication with other tower cranes.

[0029] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0031] Figure 1 Schematically shows a flowchart of a control method for preventing collision of a tower crane according to an embodiment of the present application;

[0032] Figure 2 Schematically shows a schematic diagram of the early warning range of a tower crane according to an embodiment of the present application;

[0033] Figure 3 Schematically shows a structural block diagram of a control device for preventing collision of a tower crane according to an embodiment of the present application;

[0034] Figure 4 Schematically shows a structural diagram of a tower crane according to an embodiment of the present application;

[0035] Figure 5 Schematically shows an internal structural diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0037] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] In addition, if descriptions such as "first" and "second" are involved in the embodiments of the present application, such descriptions of "first", "second", etc. are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0039] Figure 1 Schematically shows a schematic flowchart of a control method for anti-collision of a tower crane according to an embodiment of the present application. As Figure 1 shown, an embodiment of the present application provides a control method for anti-collision of a tower crane, and the method may include the following steps.

[0040] Step 101, when an echo signal fed back by any one of a plurality of detection devices is received, determine the detection device as a detection device to be pre-warned.

[0041] The tower crane may include a plurality of detection devices and a plurality of working arms. The plurality of working arms included in the tower crane may include a main arm and a balance arm. The plurality of detection devices may include a first detection device, a second detection device, and a third detection device. The first detection device and the second detection device may both be installed at the root of the main arm of the tower crane for detecting the plane where the main arm is located. The third detection device may be installed on the balance arm for detecting the extending direction of the balance arm. The detection device may detect items within the detection range and collect echo signals generated by the items. When the processor receives an echo signal fed back by any one of the plurality of detection devices, the processor may determine the detection device that feeds back the echo signal as the detection device to be pre-warned. For example. Suppose the processor receives an echo signal fed back by the first detection device, then the processor may determine the first detection device as the detection device to be pre-warned. Suppose the processor receives echo signals fed back by the first detection device and the second detection device at the same time, the processor may determine both the first detection device and the second detection device as the detection devices to be pre-warned.

[0042] Step 102, determine the target position where the warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal.

[0043] After the processor determines the detection device to be pre-warned among multiple detection devices, it can obtain the installation position of the detection device to be pre-warned. The processor can determine the target position where the pre-warning target is located based on the installation position of the detection device to be pre-warned and the position information carried by the echo signal. For example, assuming the detection device is a radar, the processor can determine the coordinates of the pre-warning target in the detection coordinate system according to the detection coordinate system corresponding to the radar and the echo signal, and the processor can determine the target position where the pre-warning target is located based on the coordinates of the pre-warning target and the installation position of the radar.

[0044] Step 103: Determine the second horizontal distance between the target position and the working arm on which the detection device to be pre-warned is installed according to the first horizontal distance between the installation position and the working arm on which the detection device to be pre-warned is installed and the target position.

[0045] The processor can determine the installation position of the detection device to be pre-warned and determine the first horizontal distance between the installation position and the working arm on which the detection device to be pre-warned is installed. The processor can determine the second horizontal distance between the target position of the pre-warning target and the working arm on which the detection device to be pre-warned is installed according to the target position of the pre-warning target and the first horizontal distance. For example, assuming the detection device to be pre-warned is the first detection device and the first detection device is installed on the main arm of the tower crane, the processor can determine the first horizontal distance between the installation position of the first detection device and the main arm, and determine the second horizontal distance between the target position of the pre-warning target and the main arm according to the first horizontal distance and the target position of the pre-warning target.

[0046] Step 104: Determine whether the pre-warning target is within the tower crane pre-warning range of the tower crane according to the second horizontal distance, where the tower crane pre-warning range is determined according to the slewing speed of the tower crane.

[0047] Step 105: Perform corresponding control operations on the tower crane according to the position of the pre-warning target within the tower crane pre-warning range to prevent the tower crane from colliding with the pre-warning target.

[0048] The processor can determine the pre-warning range of the tower crane according to the slewing speed of the tower crane. After determining the second horizontal distance between the target position of the pre-warning target and the working arm on which the detection device to be pre-warned is installed, the processor can determine whether the pre-warning target is within the tower crane pre-warning range of the tower crane according to the second horizontal distance (i.e., the distance between the target position and the working arm on which the detection device to be pre-warned is installed). For example, the processor can determine whether the pre-warning target is within the tower crane pre-warning range of the tower crane by determining whether the tower crane pre-warning range covers the second horizontal distance. If the tower crane pre-warning range covers the second horizontal distance, the processor can determine that the pre-warning target is within the tower crane pre-warning range, and the processor can perform corresponding control operations on the tower crane according to the position of the pre-warning target within the tower crane pre-warning range to prevent the tower crane from colliding with the pre-warning target.

[0049] In one embodiment, the first detection device and the second detection device are respectively used to detect the horizontal areas corresponding to both sides of the main boom. Determining the target position where the warning target is located according to the installation position of the detection device to be warned and the position information carried by the echo signal includes: when the detection device to be warned is the first detection device and / or the second detection device, determining the boom area occupied by the main boom within the detection range corresponding to the detection device to be warned; when the warning target is in the area corresponding to the other side of the main boom side corresponding to the detection device to be warned and / or within the boom area, filtering the warning target; when the detection device to be warned is the third detection device, determining the balance boom area occupied by the balance boom within the detection range corresponding to the detection device to be warned; when the warning target is within the balance boom area, filtering the warning target.

[0050] The first detection device and the second detection device are installed at the root of the main boom of the tower crane. The first detection device and the second detection device can be respectively used to detect the horizontal areas corresponding to both sides of the main boom. When the processor determines that the detection device to be warned (i.e., the detection device that receives the echo signal) is the first detection device and / or the second detection device, the processor can determine the detection range corresponding to the detection device to be warned, determine the boom area occupied by the main boom within the detection range, and the processor can also determine the area occupied by the other side of the main boom side corresponding to the detection device to be warned within the detection range. When the warning target is in the area corresponding to the other side of the main boom side corresponding to the detection device to be warned and / or within the boom area, the processor can filter the warning target. Thus, it is avoided that the boom is identified as a warning target or the first detection device and the second detection device perform repeated identification for the same warning target, ensuring the accuracy of the warning target. For example, assume that the first detection device is used to detect the horizontal area corresponding to the first side of the tower crane boom, and the second detection device is used to detect the horizontal area corresponding to the second side of the tower crane boom. The detection range of the first detection device may cover the boom itself and the horizontal area corresponding to the second side. To prevent the warning target from being repeatedly detected by the first detection device and the second detection device, or misdetecting the boom itself as a warning target, assume that the detection device to be warned is the first detection device. The processor can invalidate the areas occupied by the boom and the horizontal area corresponding to the second side within the detection range of the first detection device. That is, when a warning target is detected in the above two areas, the processor can filter the detected warning target.

[0051] Similarly, to avoid identifying the balance boom itself as a warning target, when the detection device to be warned is the third detection device, the processor can determine the balance boom area occupied by the balance boom within the detection range corresponding to the detection device to be warned, and when the warning target is within the balance boom area, the processor can filter the warning target.

[0052] In one embodiment, the method further includes: obtaining a first rotational speed at the root of the working arm of the tower crane and a second rotational speed at the end of the working arm of the tower crane; determining a first warning range from the root of the working arm according to the first rotational speed, and determining a second warning range from the end of the working arm according to the second rotational speed, wherein the first warning range is smaller than the second warning range; determining a third warning range for other working arms between the root of the working arm and the end of the working arm according to the first warning range and the second warning range according to a preset rule; and determining the first warning range, the second warning range, and the third warning range as the tower crane warning range of the tower crane.

[0053] In one embodiment, the method further includes: dividing the tower crane warning range according to a preset distance to determine the tower crane warning ranges corresponding to the first warning level and the second warning level, wherein the tower crane warning range corresponding to the first warning level is closer to the tower crane than the tower crane warning range corresponding to the second warning level.

[0054] During the rotation of the tower crane, the rotational speeds of the end of the working arm and the root of the working arm are different. Therefore, the processor can obtain the first rotational speed at the root of the working arm of the tower crane and the second rotational speed at the end of the working arm of the tower crane. The linear speed of the part closer to the end of the working arm is higher, and the required braking distance is longer. Therefore, the processor can determine the first warning range from the root of the working arm according to the first rotational speed, and determine the second warning range from the end of the working arm according to the second rotational speed, wherein the first warning range is smaller than the second warning range. After the processor determines the first warning range corresponding to the root of the working arm and the second warning range corresponding to the end of the working arm, the processor can determine the third warning range for other working arms between the root of the working arm and the end of the working arm according to the first warning range and the second warning range according to a preset rule. The processor can determine the first warning range, the second warning range, and the third warning range as the tower crane warning range corresponding to the tower crane.

[0055] After the processor determines the tower crane warning range, it can divide the tower crane warning range according to a preset distance to determine the tower crane warning ranges corresponding to the first warning level and the second warning level, wherein the tower crane warning range corresponding to the first warning level is closer to the tower crane than the tower crane warning range corresponding to the second warning level. For example Figure 2 the shown tower crane warning range Figure 2The shown tower crane includes a cab, a main boom, and a counterweight boom. The processor can determine a first warning range corresponding to the root of the main boom and a second warning range corresponding to the end of the main boom, and then determine a third warning range corresponding to other parts of the main boom between the root and the end of the main boom in a stepped manner from small to large. Similarly, the processor can determine a first warning range, a second warning range, and a third warning range corresponding to the counterweight boom. The processor can determine the first warning range, the second warning range, and the third warning range corresponding to the main boom and the counterweight boom respectively as the tower crane warning range of the tower crane. The processor can also divide the tower crane warning range according to the data input by the user. For example Figure 2 as shown, the processor can divide the tower crane warning range into a range close to the working boom of the tower crane ( Figure 2 the range indicated by the red area in Figure 2 ) and a range far from the working boom of the tower crane ( Figure 2 the range indicated by the yellow area in Figure 2 ), and determine the warning level corresponding to the warning range close to the tower crane as the first warning level (corresponding to

[0056] the red area in

[0057] In one embodiment, performing corresponding control operations on the tower crane according to the position of the warning target within the tower crane warning range includes: when the warning target is within the tower crane warning range and the target position is within the tower crane warning range corresponding to the first warning level, giving an alarm prompt and / or controlling the tower crane to decelerate until it stops rotating; when the warning target is within the tower crane warning range and the target position is within the tower crane warning range corresponding to the second warning level, giving an alarm prompt.After the processor determines the warning range of the tower crane and the warning levels corresponding to different ranges within the warning range of the tower crane, the processor can determine the position of the warning target within the warning range of the tower crane by determining the second horizontal distance between the target position of the warning target and the working arm where the warning detection device to be installed is located. When the processor determines through the second horizontal distance that the target position corresponding to the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the first warning level, that is, when the target position is within the warning range closer to the tower crane, the processor can give an alarm prompt and / or control the tower crane to decelerate until it stops rotating. When the processor determines through the second horizontal distance that the warning target is within the warning range of the tower crane and the target position of the warning target is within the warning range of the tower crane corresponding to the second warning level, the processor can give an alarm prompt to remind the operator. When there are multiple warning detection devices to be installed and warning targets corresponding to each warning detection device to be installed, the processor can determine the target position where the warning target is first detected and control the tower crane according to the target position of the warning target, or the processor can control the tower crane according to the target position of the warning target closest to the tower crane among multiple warning targets to avoid collision between the tower crane and the warning target.

[0058] In one embodiment, determining the second horizontal distance between the target position and the working arm where the warning detection device to be installed is located according to the first horizontal distance between the installation position and the working arm where the warning detection device to be installed is located and the target position includes: determining the second horizontal distance d between the target position and the working arm where the warning detection device to be installed is located through formula (1):

[0059]

[0060] where d0 is the first horizontal distance between the installation position and the working arm where the warning monitoring device to be installed is located, x and y are respectively the horizontal coordinate distance and vertical coordinate distance of the position information of the target position of the warning target relative to the coordinate system of the detection device. In the coordinate system of the detection device, the warning detection device to be installed is the origin, the detection direction of the warning detection device to be installed is the y-axis, the direction horizontally perpendicular to the y-axis is the x-axis, and α is the included angle between the detection direction of the warning detection device to be installed and the working arm where the warning monitoring device to be installed is located.

[0061] The processor can obtain the first horizontal distance between the installation position of the warning detection device to be installed and the working arm where the warning detection device to be installed is located, the included angle between the detection direction of the warning detection device to be installed and the working arm where the warning monitoring device to be installed, and determine the position information of the target position of the warning target in the coordinate system of the corresponding warning detection device, through formula (1) Determine the second horizontal distance d between the target position and the working arm where the warning detection device is to be installed. Here, d0 is the first horizontal distance between the installation position and the working arm where the warning monitoring device is to be installed, x and y are respectively the horizontal coordinate distance and vertical coordinate distance of the position information of the target position of the warning target relative to the coordinate system of the detection device. The coordinate system of the detection device takes the warning detection device as the origin, the detection direction of the warning detection device as the y-axis, the direction horizontally perpendicular to the y-axis as the x-axis, and α is the included angle between the detection direction of the warning detection device and the working arm where the warning monitoring device is to be installed.

[0062] In one embodiment, as Figure 3 shown, a schematic structural block diagram of a control device 300 for anti-collision of tower cranes according to the present application is shown. The device includes:

[0063] A memory 301 configured to store instructions; and

[0064] A processor 302 configured to call instructions from the memory 301 and capable of implementing the above-mentioned control method for anti-collision of tower cranes when executing the instructions.

[0065] In one embodiment, as Figure 4 shown, a schematic structural block diagram of a tower crane according to the present application is shown. The tower crane includes: a main boom; a counterweight boom; a first detection device installed at the root of the main boom for detecting the plane where the main boom is located; a second detection device installed at the root of the main boom for detecting the plane where the main boom is located; a third detection device installed on the counterweight boom for detecting the extending direction of the counterweight boom; and the above-mentioned control device for anti-collision of tower cranes (not shown in the figure).

[0066] In one embodiment, as Figure 4 shown, the tower crane further includes: the first detection device and the second detection device are respectively installed on both sides of the root of the main boom for detecting the horizontal areas corresponding to both sides of the main boom. As Figure 4 shown, the tower crane further includes a cab located between the counterweight boom and the main boom.

[0067] In one embodiment, for the tower crane as Figure 4 shown, the tower crane includes a cab, a main boom, a counterweight boom, a first detection device, a second detection device, and a third detection device. The first detection device and the second detection device are respectively installed on both sides of the root of the main boom of the tower crane for detecting the horizontal areas corresponding to both sides of the main boom. The third detection device can be installed on the counterweight boom for detecting the extending direction of the counterweight boom. The detection ranges of the first detection device, the second detection device, and the third detection device can be as Figure 4 shown.

[0068] The detection device can detect the articles within the detection range and collect the echo signals generated by the articles. When the processor receives the echo signals fed back by any one of the multiple detection devices, the processor can determine the detection device that feeds back the echo signals as the detection device to be pre-warned. For example, assume that the processor receives the echo signals fed back by the first detection device, then the processor can determine the first detection device as the detection device to be pre-warned. Assume that the processor receives the echo signals fed back by the first detection device and the second detection device at the same time, the processor can determine both the first detection device and the second detection device as the detection devices to be pre-warned. After the processor determines the detection devices to be pre-warned among the multiple detection devices, when the processor determines that the detection device to be pre-warned (i.e., the detection device that receives the echo signals) is the first detection device and / or the second detection device, the processor can determine the detection range corresponding to the detection device to be pre-warned, and determine the boom area occupied by the main boom within the detection range. The processor can also determine the area occupied by the other side of the main boom side corresponding to the detection device to be pre-warned within the detection range. When the warning target is within the area corresponding to the other side of the main boom side corresponding to the detection device to be pre-warned and / or the boom area, the processor can filter the warning target. Thus, it is avoided that the boom is identified as a warning target or the first detection device and the second detection device perform repeated identification for the same warning target, ensuring the accuracy of the warning target. Similarly, in order to avoid identifying the counterweight boom itself as a warning target, when the detection device to be pre-warned is the third detection device, the processor can determine the counterweight boom area occupied by the counterweight boom within the detection range corresponding to the detection device to be pre-warned, and when the warning target is within the counterweight boom area, the processor can perform filtering processing on the warning target.

[0069] The processor can obtain the installation position of the detection device to be pre-warned, and the processor can determine the target position where the warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal. For example, assume that the detection device is a radar, the processor can determine the coordinates of the warning target in the detection coordinate system according to the detection coordinate system corresponding to the radar and the echo signal, and the processor can determine the target position where the warning target is located according to the coordinates of the warning target and the installation position of the radar. The processor can determine the installation position of the detection device to be pre-warned, and determine the first horizontal distance between the installation position and the working boom where the detection device to be pre-warned is installed. The processor can determine the second horizontal distance between the target position of the warning target and the working boom where the detection device to be pre-warned is installed according to the target position of the warning target and the first horizontal distance. For example, assume that the detection device to be pre-warned is the first detection device, and the first detection device is installed on the main boom of the tower crane, then the processor can determine the first horizontal distance between the installation position of the first detection device and the main boom, and determine the second horizontal distance between the target position of the warning target and the main boom according to the first horizontal distance and the target position of the warning target to be pre-warned.

[0070] During the rotation of the tower crane, the rotation speed at the end of the working arm is different from that at the root of the working arm. Therefore, the processor can obtain the first rotation speed at the root of the working arm of the tower crane and the second rotation speed at the end of the working arm of the tower crane. The linear speed of the part closer to the end of the working arm is higher, and the required braking distance is larger. Therefore, the processor can determine the first warning range from the root of the working arm according to the first rotation speed, and determine the second warning range from the end of the working arm according to the second rotation speed, where the first warning range is smaller than the second warning range. After the processor determines the first warning range corresponding to the root of the working arm and the second warning range corresponding to the end of the working arm, the processor can determine the third warning range of other working arms between the root of the working arm and the end of the working arm according to the first warning range and the second warning range according to a preset rule. The processor can determine the first warning range, the second warning range, and the third warning range as the tower crane warning range corresponding to the tower crane.

[0071] After determining the tower crane warning range, the processor can divide the tower crane warning range according to a preset distance to determine the tower crane warning ranges corresponding to the first warning level and the second warning level, where the distance between the tower crane warning range corresponding to the first warning level and the tower crane is closer than the distance between the tower crane warning range corresponding to the second warning level and the tower crane. For example Figure 2 As shown, the tower crane includes a cab, a main boom, and a counterweight boom. The processor can determine the first warning range corresponding to the root of the main boom, the second warning range corresponding to the end of the main boom, and then determine the third warning range corresponding to other parts of the main boom between the root of the main boom and the end of the main boom in a stepped manner from small to large. Similarly, the processor can determine the first warning range, the second warning range, and the third warning range corresponding to the counterweight boom. The processor can determine the first warning range, the second warning range, and the third warning range corresponding to the main boom and the counterweight boom respectively as the tower crane warning range of the tower crane. The processor can also divide the tower crane warning range according to the data input by the user. For example Figure 2 As shown, the processor can divide the tower crane warning range into a range close to the working arm of the tower crane ( Figure 2 the range indicated by the red area in Figure 2 ) and a range far from the working arm of the tower crane ( Figure 2 the range indicated by the yellow area in Figure 2 ), and determine the warning level corresponding to the warning range close to the tower crane as the first warning level (corresponding to

[0072] After the processor determines the warning range of the tower crane and the warning levels corresponding to different ranges within the warning range of the tower crane, the processor can determine the position of the warning target within the warning range of the tower crane by determining the second horizontal distance between the target position of the warning target and the working arm where the warning detection device to be installed is located. When the processor determines through the second horizontal distance that the target position corresponding to the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the first warning level, that is, when the target position is within the warning range closer to the tower crane, the processor can give an alarm prompt and / or control the tower crane to decelerate until it stops rotating. When the processor determines through the second horizontal distance that the warning target is within the warning range of the tower crane and the target position of the warning target is within the warning range of the tower crane corresponding to the second warning level, the processor can give an alarm prompt to remind the operator. When there are multiple warning detection devices to be installed and warning targets corresponding to each warning detection device, the processor can determine the target position where the warning target is first detected and control the tower crane according to the target position of the warning target, or the processor can control the tower crane according to the target position of the warning target closest to the tower crane among multiple warning targets to avoid collision between the tower crane and the warning target.

[0073] In the above technical solution, by installing a detection device at the root of the working arm to detect the working range of the tower crane, the distance between the warning target and the tower crane can be quickly judged in a timely manner, so as to control the tower crane to avoid collision with the warning target. Compared with the prior art, the detection device has a low use cost and does not need to communicate with other tower cranes.

[0074] The embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to cause the machine to execute the above control method for anti-collision of tower cranes.

[0075] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 5As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected by a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data obtained during the operation of the tower crane. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it implements a control method for preventing collision of a tower crane.

[0076] Figure 1 It is a schematic flowchart of a control method for preventing collision of a tower crane in an embodiment. It should be understood that although Figure 1 the steps in the flowchart are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0077] This application embodiment provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when receiving an echo signal fed back by any one of a plurality of detection devices, determining the detection device as a detection device to be pre-warned; determining a target position where a pre-warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal; determining a second horizontal distance between the target position and the working arm where the detection device to be pre-warned is installed according to the first horizontal distance between the installation position and the working arm where the detection device to be pre-warned is installed and the target position; determining whether the pre-warning target is within the tower crane warning range of the tower crane according to the second horizontal distance, where the tower crane warning range is determined according to the slewing speed of the tower crane; performing corresponding control operations on the tower crane according to the position of the pre-warning target within the tower crane warning range to prevent the tower crane from colliding with the pre-warning target.

[0078] In one embodiment, the first detection device and the second detection device are respectively used to detect the corresponding horizontal areas on both sides of the main boom. Determining the target position where the early warning target is located according to the installation position of the early warning detection device and the position information carried by the echo signal includes: when the early warning detection device is the first detection device and / or the second detection device, determining the boom area occupied by the main boom within the detection range corresponding to the early warning detection device; when the early warning target is in the area corresponding to the other side of the main boom side corresponding to the early warning detection device and / or within the boom area, filtering the early warning target; when the early warning detection device is the third detection device, determining the counterweight boom area occupied by the counterweight boom within the detection range corresponding to the early warning detection device; when the early warning target is within the counterweight boom area, filtering the early warning target.

[0079] In one embodiment, the method further includes: obtaining a first rotational speed at the root of the working boom of the tower crane and a second rotational speed at the end of the working boom of the tower crane; determining a first early warning range from the root of the working boom according to the first rotational speed, and determining a second early warning range from the end of the working boom according to the second rotational speed, where the first early warning range is smaller than the second early warning range; determining a third early warning range of other working booms between the root of the working boom and the end of the working boom according to the first early warning range and the second early warning range according to a preset rule; determining the first early warning range, the second early warning range, and the third early warning range as the tower crane early warning range of the tower crane.

[0080] In one embodiment, the method further includes: dividing the tower crane early warning range according to a preset distance to determine the tower crane early warning ranges corresponding to the first early warning level and the second early warning level, where the tower crane early warning range corresponding to the first early warning level is closer to the tower crane than the tower crane early warning range corresponding to the second early warning level.

[0081] In one embodiment, performing corresponding control operations on the tower crane according to the position of the early warning target within the tower crane early warning range includes: when the early warning target is within the tower crane early warning range and the target position is within the tower crane early warning range corresponding to the first early warning level, giving an alarm prompt and / or controlling the tower crane to decelerate until it stops rotating; when the early warning target is within the tower crane early warning range and the target position is within the tower crane early warning range corresponding to the second early warning level, giving an alarm prompt.

[0082] In one embodiment, determining a second horizontal distance between the target position and the working boom where the early warning detection device is installed according to the first horizontal distance between the installation position and the working boom where the early warning detection device is installed and the target position includes: determining the second horizontal distance d between the target position and the working boom where the early warning detection device is installed through formula (1):

[0083]

[0084] Among them, d0 is the first horizontal distance between the installation position and the working arm for installing the device to be pre-warning monitored. x and y are respectively the horizontal coordinate distance and the vertical coordinate distance of the target position of the pre-warning target relative to the coordinate system of the detection device. The coordinate system of the detection device takes the device to be pre-warning detected as the origin, the detection orientation of the device to be pre-warning detected as the y-axis, and the direction horizontally perpendicular to the y-axis as the x-axis. α is the included angle between the detection orientation of the device to be pre-warning detected and the working arm for installing the device to be pre-warning monitored.

[0085] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0087] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1The steps for the functions specified in one or more boxes.

[0089] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0090] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0091] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0092] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0093] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for preventing collisions of tower cranes, characterized in that The tower crane includes a plurality of detection devices and a plurality of working arms. Among them, the plurality of detection devices at least include a first detection device, a second detection device, and a third detection device. The plurality of working arms include a main arm and a counterweight arm. The first detection device and the second detection device are both installed at the root of the main arm and are used to detect the plane where the main arm is located. The third detection device is installed on the counterweight arm and is used to detect the extending direction of the counterweight arm. The control method includes: When an echo signal fed back by any one of the plurality of detection devices is received, determining the detection device as a detection device to be pre-warned; Determining a target position where a pre-warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal; Determining a second horizontal distance between the target position and the working arm on which the detection device to be pre-warned is installed according to the first horizontal distance between the installation position and the working arm on which the detection device to be pre-warned is installed and the target position; Determining whether the pre-warning target is within the tower crane pre-warning range of the tower crane according to the second horizontal distance, where the tower crane pre-warning range is determined according to the slewing speed of the tower crane; Performing corresponding control operations on the tower crane according to the position of the pre-warning target within the tower crane pre-warning range to prevent the tower crane from colliding with the pre-warning target.

2. The control method for anti-collision of tower cranes according to claim 1, wherein The first detection device and the second detection device are respectively used to detect the corresponding horizontal areas on both sides of the main arm. Determining the target position where the pre-warning target is located according to the installation position of the detection device to be pre-warned and the position information carried by the echo signal includes: When the detection device to be pre-warned is the first detection device and / or the second detection device, determining the boom area occupied by the main arm within the detection range corresponding to the detection device to be pre-warned; When the pre-warning target is in the area corresponding to the other side of the main arm side corresponding to the detection device to be pre-warned and / or in the boom area, performing filtering processing on the pre-warning target; When the detection device to be pre-warned is the third detection device, determining the counterweight arm area occupied by the counterweight arm within the detection range corresponding to the detection device to be pre-warned; When the pre-warning target is in the counterweight arm area, performing filtering processing on the pre-warning target.

3. The control method for preventing collision of tower cranes according to claim 1, characterized in that, The method further includes: Obtaining a first slewing speed at the root of the working arm of the tower crane and a second slewing speed at the end of the working arm of the tower crane; Determining a first pre-warning range at a distance from the root of the working arm according to the first slewing speed, and determining a second pre-warning range at a distance from the end of the working arm according to the second slewing speed, where the first pre-warning range is smaller than the second pre-warning range; Determining a third pre-warning range of other working arms between the root of the working arm and the end of the working arm according to the first pre-warning range and the second pre-warning range according to a preset rule; Determining the first pre-warning range, the second pre-warning range, and the third pre-warning range as the tower crane pre-warning range of the tower crane.

4. The control method for preventing collision of tower cranes according to claim 3, characterized in that, The method further includes: Divide the warning range of the tower crane according to a preset distance to determine the warning ranges of the first warning level and the second warning level corresponding to the tower crane. Among them, the warning range of the tower crane corresponding to the first warning level is closer to the tower crane than the warning range of the tower crane corresponding to the second warning level.

5. The control method for anti-collision of tower cranes according to claim 4, characterized in that, The corresponding control operation of the tower crane according to the position of the warning target within the warning range of the tower crane includes: When the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the first warning level, give an alarm prompt and / or control the tower crane to decelerate until it stops rotating; When the warning target is within the warning range of the tower crane and the target position is within the warning range of the tower crane corresponding to the second warning level, give an alarm prompt.

6. The control method for anti-collision of tower cranes according to claim 1, wherein, The determination of the second horizontal distance between the target position and the working arm on which the device to be warned and detected is installed according to the first horizontal distance between the installation position and the working arm on which the device to be warned and detected is installed and the target position includes: Determine the second horizontal distance d between the target position and the working arm on which the device to be warned and detected is installed through formula (1): Where d0 is the first horizontal distance between the installation position and the working arm on which the device to be warned and monitored is installed, x and y are respectively the horizontal coordinate distance and vertical coordinate distance of the position information of the target position of the warning target relative to the detection device coordinate system. Among them, the detection device coordinate system takes the device to be warned and detected as the origin, the detection direction of the device to be warned and detected is the y-axis, the direction horizontally perpendicular to the y-axis is the x-axis, and α is the included angle between the detection direction of the device to be warned and detected and the working arm on which the device to be warned and monitored is installed.

7. A control device for preventing collision of tower cranes, characterized in that, The device includes: A memory configured to store instructions; and A processor configured to call instructions from the memory and capable of implementing the control method for tower crane anti-collision according to claims 1 to 6 when executing the instructions.

8. A tower crane, characterized in that, The tower crane includes: A main boom; A counterweight boom; A first detection device installed at the root of the main boom for detecting the plane where the main boom is located; A second detection device installed at the root of the main boom for detecting the plane where the main boom is located; A third detection device installed on the counterweight boom for detecting the extending direction of the counterweight boom; and The control device for tower crane anti-collision according to claim 7.

9. The tower crane according to claim 8, characterized in that, The tower crane further includes: The first detection device and the second detection device are respectively installed on both sides of the root of the main boom for detecting the horizontal areas corresponding to both sides of the main boom.

10. A machine-readable storage medium, characterized in that, Instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the control method for tower crane anti-collision according to claims 1 to 6.

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