Crane part assembly tracing method and application thereof

Abstract

The invention discloses a crane part assembly tracing method and application thereof.According to the scheme, a monitoring unit and an identifier are ingeniously arranged on a pin shaft, so that the pin shaft can flexibly and conveniently track the direction of subsequent use when being installed on a windproof mooring line assembly, and meanwhile, the pin shaft is prevented from being damaged. Whether the pin shaft is correctly installed or not can be determined according to the tracking structure in combination with the windproof mooring line installation information of the windproof mooring line deployment scheme, so that the risk of misuse is avoided. According to the scheme, communication signals are broadcasted through the Bluetooth beacon device deployed in a working site, then feedback is performed after communication is received by the monitoring unit, and a localized verification hardware basis is provided for reliable assembly of the windproof mooring rope assembly and correct assembly of a pin shaft; therefore, an operator does not need to check the windproof mooring rope assembly tediously, and meanwhile, the flexible tracking of the field assembly condition of the windproof mooring rope assembly by a background manager is improved.

Description

Technical Field

[0001] The present invention relates to the technical fields of crane component monitoring technology and component assembly traceability technology, and particularly relates to a method for tracing the assembly of crane components and its application. Background Art

[0002] As an important transportation tool at construction sites, port terminals, warehouse sites, etc., when a crane is deployed at an outdoor site, it will have body risks due to environmental factors. Especially when there is environmental wind at the work site, once the wind speed exceeds a certain value, the fuselage or hook components of the crane will be affected by the wind force to varying degrees. As an important component to ensure the stability of the crane fuselage, the wind-proof cable assembly will generate large lateral forces and torsional forces on various parts of the crane (especially the extended boom and slewing platform) under strong winds or bad weather conditions; the wind-proof cable restricts its excessive swinging or deviation under the action of wind force by connecting the key parts of the crane to fixed anchor points or bases, thereby preventing structural damage or even overturning accidents caused by wind force; in addition, the wind-proof cable also helps to reduce the force fluctuation of the equipment when the wind speed is relatively high, making the crane in a more stable state. This not only protects the equipment itself, but also ensures the safety of operators and the surrounding environment (such as buildings, vehicles, etc.), and reduces accidents that may be caused by equipment out of control. In addition, for some cranes in a fixed or long-term parked state, the wind-proof cable can enhance the wind resistance performance of the entire equipment in a strong wind environment, so that it can remain stable even in bad weather.

[0003] At present, the wind-proof cable devices of most cranes are not always fixedly installed, but are designed as a flexible and detachable safety accessory. That is to say, when designing a crane, anchor points or connection points for installing the wind-proof cable are usually reserved, but whether to install the wind-proof cable in actual use is determined according to the on-site operation environment and meteorological conditions. Under this design, in normal operation or when the wind speed is relatively low, in order not to affect the normal operation of the crane, the wind-proof cable is usually not installed; while in case of strong winds or bad weather, according to safety regulations and the actual situation on site, the wind-proof cable will be temporarily assembled to reinforce the equipment.

[0004] In a windproof mooring device, a bolt or a pin shaft is usually an important detachable component for connecting and fixing the device, which is used to achieve a firm connection between the mooring system and a fixed point or other components; when on-site workers assemble the windproof mooring, the pin shaft is often used as a pivotal component for disassembly, and the assembly and disassembly of local components of the windproof mooring device can be achieved by quickly disassembling and assembling the pin shaft. Based on the application purpose of the windproof mooring device being to ensure the wind resistance stability of the crane, therefore, most of the pin shafts on it are solid pin shafts, and there are fewer cases of using hollow pin shafts. There are also some other detachable components on the crane that use hollow pin shafts. Since the hollow pin shaft and the solid pin shaft are quite similar in shape, when the windproof mooring components of the crane are installed temporarily and urgently on-site, there are situations of misusing or wrongly using hollow pin shafts or other non-matching pin shafts. Especially when a large number of cranes are deployed at the work site and sudden environmental wind interference occurs at the work site, multiple installers are often required to carry out emergency and rapid assembly, which also increases the possibility of misusing and wrongly using pin shafts. Currently, there are few literatures disclosing a scheme for warning and monitoring the misusing and wrongly using situations of the windproof mooring pin shafts on the crane. Therefore, how to improve the reliability and timeliness of monitoring the misusing and wrongly using of pin shafts or installation traceability on the windproof mooring is a topic with very positive practical significance. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose a reliable, flexible and efficient response feedback method for tracing the assembly of crane parts and its application.

[0006] In order to achieve the above technical purposes, the present invention adopts the following technical solutions:

[0007] A method for tracing the assembly of crane parts, which is used for tracing the assembly of the pin shafts of the windproof mooring components of a crane. Multiple installation anchor points with known positions and used for connecting the windproof mooring components are pre-deployed at the work site of the crane. There are multiple connecting parts on the crane, which are respectively used to connect multiple windproof mooring components to improve the fuselage stability of the crane at the work site. The tracing method includes:

[0008] Assign unique identification information to all pin shafts applied to the windproof mooring components and requiring disassembly and assembly, and at the same time, set monitoring units on the pin shafts one by one;

[0009] Receive the windproof warning instruction of the crane, construct a windproof mooring deployment plan according to the deployment position of the crane in the work site, and generate windproof mooring installation information;

[0010] According to the windproof mooring installation information, take the windproof mooring components containing pin shafts according to the preset requirements, install and deploy them in the work site of the crane, and connect the windproof mooring components to the connecting parts on the crane and the installation anchor points on the work site respectively;

[0011] Monitor the installation progress of the wind-proof mooring components. When all are completed, generate feedback information indicating that the wind-proof deployment is completed.

[0012] In response to the feedback information indicating the completion of the deployment of the wind-proof mooring components, obtain the location information of all monitoring units within the work site, generate assembly monitoring information, and complete the traceability of the installation whereabouts of the pin shafts within the work site.

[0013] As a possible implementation, further, this solution also includes:

[0014] According to the wind-proof mooring installation information, determine the planned installation location information of each wind-proof mooring component within the work site, and combine the assembly monitoring information to judge the assembly whereabouts of the pin shafts to determine whether the pin shafts are correctly allocated for installation.

[0015] As a preferred implementation, preferably, a local server is deployed in the work site of the crane in this solution. The local server is used to receive and / or publish the wind-proof warning instructions and wind-proof mooring installation information of the crane, and is used to receive the feedback information indicating the completion of the wind-proof deployment and obtain the location information of all monitoring units within the work site, and then generate assembly monitoring information according to preset conditions.

[0016] As a preferred implementation, preferably, at least three Bluetooth beacon devices are also deployed within the work site of the crane in this solution, and their positions are all known. The Bluetooth beacon devices are used to broadcast communication information with their own characteristic codes, and at least one signal detector is correspondingly deployed within the range of 0.8 to 1.5 meters of each Bluetooth beacon device. The signal detector is used to detect the broadcast signal strength of the Bluetooth beacon device and generate a reference signal strength.

[0017] The identification information of the pin shafts includes one or more of the number and appearance marks.

[0018] As a preferred implementation, preferably, the monitoring unit in this solution is internally provided with a Bluetooth receiver module, a signal detection module, and a communication module; among them, the Bluetooth receiver module is used to receive the communication information broadcast by the Bluetooth beacon device, and the signal detection module is used to detect the signal strength received by the Bluetooth receiver module.

[0019] Among them, at least three of the Bluetooth beacon devices, multiple monitoring units, and the signal detectors are all communicatively connected to the local server.

[0020] As a preferred implementation, preferably, this solution also includes:

[0021] The weather conditions within the preset range of the crane work site are monitored, and a crane wind protection warning instruction is generated according to the preset conditions; the steps include:

[0022] A01. Collect weather parameters within the preset range of the crane's work site to generate weather parameter information, including wind speed V, wind direction θ ω and air density ρ;

[0023] A02, compare the wind speed V obtained in real time with the preset wind speed threshold V th For comparison, when the wind speed V exceeds the preset wind speed threshold V th When , a wind protection instruction is generated, and at the same time, the wind pressure P in the workplace is calculated, and the formula is defined as follows:

[0024]

[0025] Where P is the wind pressure in the workplace, ρ is the air density within the preset range of the workplace where the crane is located, and V is the wind speed within the preset range of the workplace where the crane is located;

[0026] A03. Calculate the required windproof mooring tension T of the crane based on the crane's windward area A and the preset safety factor k. req , whose formula is defined as follows:

[0027] T rew = k·P·A

[0028] Where P is the wind pressure in the workplace, T req is the required wind-proof mooring tension of the crane, A is the windward area of the crane, which is used to describe the area actually subjected to wind pressure under a specific wind direction, which is predetermined by the geometric projection of the crane structure combined with wind tunnel tests or CFD simulations, and k is the preset safety factor;

[0029] A04. Set the windproof instruction and the windproof cable tension T required by the crane. req Gather and generate wind warning instructions for cranes.

[0030] As a preferred implementation scheme, preferably, this scheme receives a crane wind warning instruction, constructs a wind-proof mooring cable deployment scheme according to the deployment position of the crane in the work site, and generates wind-proof mooring cable installation information including:

[0031] B01, receive the crane wind warning instruction, and according to the deployment position of the crane in the work site, change the absolute coordinates P of the crane base in the work site crane Defined as:

[0032] P crane =(x c ,yc , z c )

[0033] Among them, x c , y c , z c are respectively the coordinate values of the base of the crane in the x, y, z space coordinate system;

[0034] Define the local coordinates of multiple connecting parts provided on the crane relative to the crane base as:

[0035]

[0036] Among them, are respectively the local coordinate values of the connecting part relative to the crane base in the x, y, z space coordinate system, and i is the number of the connecting part;

[0037] Therefore, the absolute coordinates of multiple connecting parts are as follows:

[0038]

[0039] Among them, x i , y i , z i are the coordinate values of the connecting part in the x, y, z space coordinate system;

[0040] B02. Number multiple connecting parts C i and select an installation anchor point for the connecting part in the work site to define the connection relationship group of the windproof mooring component (C i , A j ); then calculate the expected length L ij of the mooring cable of the windproof mooring component, and its definition is as follows:

[0041]

[0042] Among them, x i , y i , z i are the coordinate values of the connecting part in the x, y, z space coordinate system, and are the coordinate values of the installation anchor point in the x, y, z space coordinate system;

[0043] The horizontal angle θ ij of the mooring cable installation connection direction of the windproof mooring component is defined as follows:

[0044]

[0045] Among them, x i , y iare the coordinate values of the connection part in the x, y space coordinate system, are the coordinate values of the installation anchor point in the x, y space coordinate system;

[0046] The deviation angle Δθ between the wind direction and the cable connection direction ij is defined as follows:

[0047] Δθ ij = |θ ij - θ ω |

[0048] where θ ω is the wind direction angle obtained by monitoring the preset range of the working site where the crane is located; θ ij is the horizontal angle of the cable installation connection direction;

[0049] B03. Establish an objective function that takes into account the cable length and wind direction matching, and its definition is as follows:

[0050] f(i,j) = α·L ij + β·|Δθ ij |

[0051] α is the cable length weight coefficient, β is the cable angle weight coefficient; L ij is the expected cable length, Δθ ij is the deviation angle between the wind direction and the cable connection direction;

[0052] B04. For each connection part C i , under the condition of satisfying the constraint condition |Δθ ij | ≤ θ max , select the installation anchor point A j on the working site to make it satisfy the following formula to obtain an optimal deployment plan for the windproof cable:

[0053]

[0054] where θ max is the allowable maximum deviation angle;

[0055] B05. Collect the corresponding connection relationships between the connection part C i on the crane and the installation anchor point A j on the working site, the expected cable length L ij , the horizontal angle θ ij of the cable installation connection direction, the deviation angle Δθ ij between the wind direction and the cable connection direction, and the windproof cable tension T req required by the crane, and construct a windproof cable deployment plan to generate windproof cable installation information.

[0056] As a preferred implementation solution, preferably, the monitoring of the installation progress of the windproof mooring component in this solution includes: recording the installation progress of multiple windproof mooring components by manually feeding back the completion of installation; when all are completed, generating feedback information indicating the completion of the windproof deployment;

[0057] In response to the feedback information indicating the completion of the deployment of the windproof mooring component, obtaining the position information of all monitoring units within the work site, and generating assembly monitoring information including:

[0058] C01. In response to the feedback information indicating the completion of the deployment of the windproof mooring component, broadcasting communication information through three of the Bluetooth beacon devices deployed within the work site;

[0059] C02. The monitoring units deployed within the work site receive the communication information broadcast by the Bluetooth beacon devices, perform signal strength detection and information parsing on it, obtain the signal strength when the communication information is received and the feature code contained therein, and then gather and form received aggregation information and send it to the local server;

[0060] C03. The local server determines the position information of the monitoring units within the work site based on the deployment positions of the three Bluetooth beacon devices, the information strength detected by their corresponding signal detectors, and the received aggregation information sent by the monitoring units, and generates assembly monitoring information.

[0061] As a preferred implementation solution, preferably, the installation anchor points within the work site in this solution do not coincide, and the pin shafts on multiple windproof mooring components do not coincide with each other in the vertical space projection; each monitoring unit is at least within the broadcast signal range of three or more Bluetooth beacon devices, and a signal detector is correspondingly deployed at a position 1 meter away from each Bluetooth beacon device.

[0062] As a preferred implementation solution, preferably, C03 in this solution includes:

[0063] Set the deployment positions of the three Bluetooth beacon devices as P1(x1, y1), P2(x2, y2), and P3(x3, y3) respectively; define the position where the monitoring unit is located as P(x, y);

[0064] Establish a distance attenuation model for Bluetooth signal broadcasting, which is defined as follows:

[0065] RSSI=-10nlog 10 (d)+A

[0066] where RSSI is the intensity of the communication signal sent by the Bluetooth beacon device received by the monitoring unit, d is the distance from the monitoring unit to the Bluetooth beacon device, n is the path loss exponent, and A is the reference signal intensity measured at a position 1 meter away from the Bluetooth beacon device;

[0067] Based on this, the distance d from the monitoring unit to the Bluetooth beacon device can be expressed as follows:

[0068]

[0069] The monitoring unit obtains the signal strength of the communication information when it is received and the characteristic code contained therein, and determines the distances d1, d2, and d3 from the monitoring unit to the three Bluetooth beacon devices respectively;

[0070] The formula for trilateration of the monitoring unit to three Bluetooth beacon devices is defined as follows:

[0071] (x-x1) 2 +(y-y1) 2 =d1 2 (1)

[0072] (x-x2) 2 +(y-y2) 2 =d2 2 (2)

[0073] (x-x3) 2 +(y-y3) 2 =d3 2 (3)

[0074] Subtract equation (1) from equation (2) and equation (3) respectively, and then expand the square terms and simplify to obtain the following equations (4) and (5):

[0075] 2(x2-x1)x+2(y2-y1)y=d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2 (4)

[0076] 2(x3-x1)x+2(y3-y1)y=d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2 (5)

[0077] By combining equations (4) and (5), we get the following linear equations:

[0078] a1x+b1y=c1

[0079] a2x+b2y=c2

[0080] in:

[0081] a1 = 2(x2 - x1)

[0082] b1 = 2(y2 - y1)

[0083] c1 = d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2

[0084] a2 = 2(x3 - x1)

[0085] b2 = 2(y3 - y1)

[0086] c2 = d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2

[0087] The coordinates P(x, y) of the monitoring unit are obtained by solving using Cramer's rule and are defined as follows:

[0088]

[0089] By substituting the coordinates of the deployment positions of the three Bluetooth beacon devices and the distances d1, d2, and d3 between the monitoring unit and the three Bluetooth beacon devices, the coordinate values of the monitoring unit are obtained, that is, its two-dimensional position information within the working site.

[0090] Based on the above, this solution also proposes a safety monitoring method for the installation of the anti-wind cables of a crane, which applies the above-mentioned method for tracing the assembly of crane components.

[0091] Based on the above, this solution also proposes a system for tracing the assembly of crane components, which includes:

[0092] Multiple monitoring units, which are arranged on the pins where multiple anti-wind cable assemblies need to be disassembled and assembled;

[0093] An environmental monitoring unit, which is deployed in the working site to monitor the weather conditions within a preset range of the working site where the crane is located, and generates an anti-wind warning instruction for the crane according to preset conditions;

[0094] A cable deployment module, which is used to receive the anti-wind warning instruction for the crane, construct an anti-wind cable deployment plan according to the deployment position of the crane within the working site, and generate anti-wind cable installation information;

[0095] The mooring installation monitoring module is used to monitor the installation progress of the windproof mooring assembly. When all installations are completed, it generates feedback information indicating that the windproof deployment is completed.

[0096] The component traceability unit is used to respond to the feedback information indicating the completion of the windproof mooring assembly deployment, obtain the location information of all monitoring units within the work site, generate assembly monitoring information, and complete the traceability of the installation whereabouts of the pin within the work site.

[0097] The installation verification unit is used to determine the planned installation position information of each windproof mooring assembly within the work site based on the windproof mooring installation information, and combine the assembly monitoring information to judge the assembly whereabouts of the pin to determine whether the pin is correctly allocated for installation.

[0098] Adopting the above technical solution, compared with the prior art, the present invention has the following beneficial effects: The ingenuity of this solution lies in setting monitoring units and identifiers on the pin, which enables flexible and convenient tracking of the subsequent usage whereabouts when the pin is installed on the windproof mooring assembly. At the same time, it is possible to determine whether the pin is correctly installed based on the tracking results in combination with the windproof mooring installation information of the windproof mooring deployment plan, so as to avoid the risks of misusage and incorrect use. That is, the on-site temporary installation reliability of the windproof mooring assembly is further improved through the subsequent quality inspection link after installation. In addition, this solution broadcasts communication signals through Bluetooth beacon devices deployed in the work site, and then uses the monitoring units to receive the communication and provide feedback, thereby realizing the determination of the installation positions of the monitoring units within the construction site. It is not only flexible to implement but also can improve the positioning accuracy. The operator can deploy and install the Bluetooth beacon devices according to the actual terrain conditions on site; it provides a localized verification hardware foundation for the reliable assembly of the windproof mooring assembly and the correct assembly of the pin; enables the operator to avoid the cumbersome inspection of the windproof mooring assembly, and at the same time, it also improves the flexible tracking of the on-site assembly situation of the windproof mooring assembly by the back-end management personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0100] Figure 1 It is a schematic diagram of the brief implementation process of the method of this solution;

[0101] Figure 2 It is a schematic diagram of the brief on-site situation when the method of this solution is applied to the construction site;

[0102] Figure 3It is a schematic diagram of the connection of the brief unit modules of the system of this solution. Specific implementation mode

[0103] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be specifically pointed out that the following embodiments are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only partial embodiments of the present invention rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present invention.

[0104] As Figure 1 shown, a method for tracing the assembly of crane parts in this implementation scheme is used for tracing the pin assembly of the anti-wind cable assembly of the crane. Multiple installation anchor points with known positions and used for connecting the anti-wind cable assembly are pre-deployed at the work site of the crane. A plurality of connecting parts are provided on the crane, which are respectively used to connect a plurality of anti-wind cable assemblies to improve the fuselage stability of the crane at the work site. The tracing method includes:

[0105] S01. Assign unique identification information to all pins applied to the anti-wind cable assembly and requiring disassembly and assembly. At the same time, monitoring units are respectively set on the pins.

[0106] S02. Receive the anti-wind warning instruction of the crane, construct an anti-wind cable deployment plan according to the deployment position of the crane in the work site, and generate anti-wind cable installation information.

[0107] S03. According to the anti-wind cable installation information, take the anti-wind cable assembly containing pins as required according to the preset requirements, and install and deploy it in the work site of the crane, so that the anti-wind cable assemblies are respectively connected to the connecting parts on the crane and the installation anchor points on the work site.

[0108] S04. Monitor the installation progress of the anti-wind cable assembly. When all are completed, generate feedback information on the completion of the anti-wind deployment.

[0109] S05. Respond to the feedback information on the completion of the deployment of the anti-wind cable assembly, obtain the position information of all monitoring units in the work site, generate assembly monitoring information, and complete the tracing of the installation whereabouts of the pins in the work site.

[0110] As a possible superimposed implementation mode, further, this solution further includes:

[0111] S06. According to the anti-wind cable installation information, determine the planned installation position information of each anti-wind cable assembly in the work site, and combine the assembly monitoring information to judge the assembly whereabouts of the pins to determine whether the pins are correctly allocated and installed.

[0112] In the solution of this embodiment, the used windproof mooring component can directly adopt commercially available existing products. The ingenuity of this solution lies in setting a monitoring unit and an identifier on the pin shaft, which enables convenient tracking of the whereabouts of the pin shaft during subsequent use during assembly. At the same time, it is possible to determine whether the pin shaft is correctly installed based on the tracking structure in combination with the windproof mooring installation information of the windproof mooring deployment plan, so as to avoid the risk of misapplication and misuse. That is, the on-site temporary installation reliability of the windproof mooring component is further improved through the subsequent quality inspection link after installation is completed.

[0113] In order to better monitor the on-site situation and at the same time achieve local processing, as a preferred alternative implementation solution, preferably, a local server is deployed in the working site of the crane in this solution. The local server is used to receive and / or publish crane windproof warning instructions, windproof mooring installation information, and is used to receive feedback information on the completion of windproof deployment and obtain the position information of all monitoring units within the working site, and then generate assembly monitoring information according to preset conditions.

[0114] Combined with Figure 2 As shown, in order to improve the positioning acquisition reliability and flexibility of the monitoring unit, as a preferred alternative implementation solution, preferably, at least three Bluetooth beacon devices are also deployed within the working site of the crane in this solution, and their positions are all known. The Bluetooth beacon device is used to broadcast communication information with its own characteristic code, and at least one signal detector is correspondingly deployed within the range of 0.8 to 1.5 meters of each Bluetooth beacon device, which is used to detect the broadcast signal strength of the Bluetooth beacon device and generate a reference signal strength.

[0115] The identification information of the pin shaft includes one or more of a number and an appearance mark.

[0116] As a preferred alternative implementation solution, preferably, the monitoring unit in this solution is built-in with a Bluetooth receiver module, a signal detection module, and a communication module; among them, the Bluetooth receiver module is used to receive the communication information broadcast by the Bluetooth beacon device, and the signal detection module is used to detect the signal strength received by the Bluetooth receiver module;

[0117] Among them, at least three of the Bluetooth beacon devices, multiple monitoring units, and the signal detectors are all communicatively connected to the local server.

[0118] In this solution, a Bluetooth beacon device is used to broadcast a communication signal, and then the monitoring unit is used to give feedback after receiving the communication, so as to determine the installation position of the monitoring unit within the construction site. It is not only flexible to implement, but also can improve the positioning accuracy. The operator can deploy and place the Bluetooth beacon device according to the actual terrain conditions on site.

[0119] In this solution, the monitoring of the environmental conditions is the key to generating the wind prevention warning instructions. It can not only provide real-time monitoring of the weather conditions for on-site operators, but also provide data basis for wind prevention deployment. As a preferred implementation solution, preferably, this solution further includes:

[0120] Monitor the weather conditions within the preset range of the working site where the crane is located, and generate the wind prevention warning instructions for the crane according to the preset conditions; it includes the following steps:

[0121] A01. Collect the weather parameters within the preset range of the working site where the crane is located to generate weather parameter information, which includes wind speed V, wind direction θ ω and air density ρ;

[0122] A02. Compare the real-time obtained wind speed V with the preset wind speed threshold V th . When the wind speed V exceeds the preset wind speed threshold V th , generate the wind prevention instructions. At the same time, calculate the wind pressure P within the working site, and its formula definition is as follows:

[0123]

[0124] where P is the wind pressure within the working site, ρ is the air density within the preset range of the working site where the crane is located, and V is the wind speed within the preset range of the working site where the crane is located;

[0125] A03. According to the windward area A of the crane and the preset safety factor k, calculate the wind prevention cable tension T required for the crane req , and its formula definition is as follows:

[0126] T req = k·P·A

[0127] where P is the wind pressure within the working site, T req is the wind prevention cable tension required for the crane, A is the windward area of the crane, which is used to describe the area actually bearing the wind pressure under a specific wind direction, and it is pre-determined through the geometric projection of the crane structure combined with wind tunnel tests or CFD simulations, and k is the preset safety factor;

[0128] A04. Collect the wind prevention instructions and the wind prevention cable tension T required for the crane req to generate the wind prevention warning instructions for the crane.

[0129] In the construction of the wind prevention cable deployment plan, as a preferred implementation solution, preferably, this solution receives the wind prevention warning instructions for the crane, and constructs the wind prevention cable deployment plan according to the deployment position of the crane within the working site, and generates the wind prevention cable installation information including:

[0130] B01. Receive the anti-wind warning instruction of the crane. According to the deployment position of the crane in the work site, define the absolute coordinates P of the crane's base in the work site as: crane Defined as:

[0131] P crane =(x c , y c , z c )

[0132] Wherein, x c , y c , z c Are respectively the coordinate values of the crane's base in the x, y, z space coordinate system;

[0133] Define the local coordinates of multiple connecting parts provided on the crane relative to the crane base as: Defined as:

[0134]

[0135] Wherein, Are respectively the local coordinate values of the connecting part relative to the crane base in the x, y, z space coordinate system, and i is the number of the connecting part;

[0136] Therefore, the absolute coordinates of multiple connecting parts are as follows:

[0137]

[0138] Wherein, x i , y i , z i Are the coordinate values of the connecting part in the x, y, z space coordinate system;

[0139] B02. Number multiple connecting parts C i , and select an installation anchor point for the connecting part in the work site To define the connection relationship group (C i , A j ) of the anti-wind mooring component; then calculate the expected mooring length L ij Of the anti-wind mooring component, and its definition is as follows:

[0140]

[0141] Wherein, x i , y i , z i Are the coordinate values of the connecting part in the x, y, z space coordinate system, Is the coordinate value of the installation anchor point in the x, y, z space coordinate system;

[0142] Horizontal Angle θ of the Mooring Installation Connection Direction of the Windproof Mooring Assembly ij is defined as follows:

[0143]

[0144] where x i , y i are the coordinate values of the connection part in the x, y space coordinate system, and are the coordinate values of the installation anchor point in the x, y space coordinate system;

[0145] The deviation angle Δθ between the wind direction and the mooring connection direction ij is defined as follows:

[0146] Δθ ij = |θ ij - θ ω |

[0147] where θ ω is the wind direction angle obtained by monitoring the preset range of the working site where the crane is located; θ ij is the horizontal angle of the mooring installation connection direction;

[0148] B03. Establish an objective function that takes into account the mooring length and wind direction matching, which is defined as follows:

[0149] f(i,j) = α·L ij + β·|Δθ ij |

[0150] α is the length weight coefficient of the mooring, β is the angle weight coefficient of the mooring; L ij is the expected length of the mooring, and Δθ ij is the deviation angle between the wind direction and the mooring connection direction;

[0151] B04. For each connection part C i , under the condition of satisfying the constraint condition |Δθ ij | ≤ θ max , select the installation anchor point A j on the working site to make it satisfy the following formula to obtain an optimal deployment plan for the windproof mooring:

[0152]

[0153] where θ max is the allowable maximum deviation angle;

[0154] B05. Collect the corresponding connection relationships between the connection part C i on the crane and the installation anchor point A j on the working site, and the expected length L ij, the horizontal angle θ of the mooring installation connection direction ij , the deviation angle Δθ between the wind direction and the mooring connection direction ij and the anti-wind mooring tension T required by the crane req , construct an anti-wind mooring deployment plan and generate anti-wind mooring installation information.

[0155] As a preferred implementation option, preferably, the monitoring of the installation progress of the anti-wind mooring components in this plan includes: manually feedback the installation completion status to record the installation progress of multiple anti-wind mooring components; after all are completed, generate feedback information on the completion of the anti-wind deployment.

[0156] Among them, the manual feedback of the installation completion status can be assisted by a mobile terminal.

[0157] In this plan, on the premise that Bluetooth beacon devices are deployed inside the work site, the determination of the position of the monitoring unit has a hardware basis, and it does not need to rely on external communication base stations or other auxiliary devices.

[0158] In the determination of the position information of the monitoring unit, this plan responds to the feedback information on the completion of the deployment of the anti-wind mooring components, obtains the position information of all monitoring units in the work site, and generates assembly monitoring information including:

[0159] C01, in response to the feedback information on the completion of the deployment of the anti-wind mooring components, broadcast communication information through three of the Bluetooth beacon devices deployed inside the work site;

[0160] C02, the monitoring unit deployed inside the work site receives the communication information broadcast by the Bluetooth beacon device, detects the signal strength and parses the information, obtains the signal strength when the communication information is received and the characteristic code contained therein, and then aggregates and forms received aggregation information and sends it to the local server;

[0161] C03, the local server determines the position information of the monitoring unit in the work site according to the deployment positions of the three Bluetooth beacon devices, the information strength detected by their corresponding signal detectors, and the received aggregation information sent by the monitoring unit, and generates assembly monitoring information.

[0162] As a preferred implementation option, preferably, the installation anchor points in the work site in this plan do not coincide, and the pin shafts on multiple anti-wind mooring components do not coincide with each other in the vertical space projection; each monitoring unit is at least within the broadcast signal range of three or more Bluetooth beacon devices, and a signal detector is correspondingly deployed at a position 1 meter away from each Bluetooth beacon device.

[0163] Among them, since the positions of the Bluetooth beacon devices are known (can be recorded during deployment), therefore, in terms of determining the position of the monitoring unit, the trilateration principle can be used in combination with the signal strength attenuation situation for judgment. As a preferred implementation solution, preferably, this solution C03 includes:

[0164] Set the deployment positions of the three Bluetooth beacon devices as P1(x1, y1), P2(x2, y2), and P3(x3, y3) respectively; define the position where the monitoring unit is located as P(x, y);

[0165] Establish a distance attenuation model for Bluetooth signal broadcasting, which is defined as follows:

[0166] RSSI = -10nlog 10 (d) + A

[0167] Among them, RSSI is the strength of the communication signal sent by the Bluetooth beacon device received by the monitoring unit, d is the distance from the monitoring unit to the Bluetooth beacon device, n is the path loss exponent, and A is the reference signal strength measured at a position 1 meter away from the Bluetooth beacon device;

[0168] Based on this, the distance d from the monitoring unit to the Bluetooth beacon device can be expressed as follows:

[0169]

[0170] Obtain the signal strength when the communication information is received and the feature code contained therein through the monitoring unit, and respectively determine the distances d1, d2, and d3 from the monitoring unit to the three Bluetooth beacon devices;

[0171] Define the formulas for the monitoring unit to the three Bluetooth beacon devices by the trilateration method as follows:

[0172] (x - x1) 2 +(y - y1) 2 = d1 2 (1)

[0173] (x - x2) 2 +(y - y2) 2 = d2 2 (2)

[0174] (x - x3) 2 +(y - y3) 2 = d3 2 (3)

[0175] Subtract Equation (1) from Equation (2) and Equation (3) respectively, and then after expanding the square terms and simplifying, the following Equations (4) and (5) are obtained:

[0176] 2(x2 - x1)x + 2(y2 - y1)y = d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2 (4)

[0177] 2(x3 - x1)x + 2(y3 - y1)y = d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2 (5)

[0178] By combining equations (4) and (5), the following system of linear equations is obtained:

[0179] a1x + b1y = c1

[0180] a2x + b2y = c2

[0181] where:

[0182] a1 = 2(x2 - x1)

[0183] b1 = 2(y2 - y1)

[0184] c1 = d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2

[0185] a2 = 2(x3 - x1)

[0186] b2 = 2(y3 - y1)

[0187] c2 = d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2

[0188] Using Cramer's rule to solve, the coordinates P(x, y) of the monitoring unit are obtained, which are defined as follows:

[0189]

[0190] By substituting the deployment position coordinates of the three Bluetooth beacon devices and the distances d1, d2, and d3 between the monitoring unit and the three Bluetooth beacon devices, the coordinate value of the monitoring unit, that is, its two-dimensional position information in the work site, is obtained.

[0191] In this solution, since the positions of the connecting parts and the installation anchor points on the crane are known, after determining the position information of the monitoring unit in the work site, the connecting parts and the installation anchor points can be matched in combination with the installation deployment information of the windproof cable assembly, and a virtual connection line between the two can be constructed. It is then determined whether the corresponding monitoring unit is located on the virtual connection line or its projection or within the preset allowable error range. This allows the pin shaft to be traced while verifying whether the windproof cable assembly is installed in place.

[0192] Based on the above, the crane parts assembly traceability method proposed in this scheme can be applied to the crane windproof cable installation safety monitoring method, so as to realize the monitoring of whether the windproof cable assembly is correctly installed.

[0193] Among them, the crane windproof cable installation safety monitoring method also includes:

[0194] In response to the lifting of the wind warning order, the wind mooring cable components in the work area were removed;

[0195] Obtain the location information of all monitoring units in the work site, generate assembly monitoring information, verify whether the windproof cable assembly is removed in place based on the assembly monitoring information, and generate verification results;

[0196] Obtain verification results, and generate crane start-up information or wind-proof cable assembly removal site verification information according to preset conditions.

[0197] Combination Figure 3 As shown, based on the above, this solution also proposes a crane parts assembly traceability system, which includes:

[0198] A plurality of monitoring units are arranged on the pins of a plurality of windproof mooring cable assemblies that need to be disassembled and assembled;

[0199] The environmental monitoring unit is deployed in the work site to monitor the weather conditions within the preset range of the work site where the crane is located, and generate a wind warning instruction for the crane according to the preset conditions;

[0200] The mooring cable deployment module is used to receive the wind-proof warning instructions of the crane, build a wind-proof mooring cable deployment plan according to the deployment position of the crane in the work site, and generate wind-proof mooring cable installation information;

[0201] The mooring installation monitoring module is used to monitor the installation progress of the windproof mooring assembly and generate feedback information on the completion of the windproof deployment when all are completed;

[0202] A component traceability unit, which is used to respond to the feedback information of the completion of the deployment of the windproof mooring assembly, obtain the position information of all monitoring units in the work site, generate assembly monitoring information, and complete the traceability of the installation whereabouts of the pin shaft in the work site;

[0203] An installation verification unit, which is used to determine the planned installation position information of each windproof mooring assembly in the work site according to the windproof mooring installation information, and judge the assembly whereabouts of the pin shaft in combination with the assembly monitoring information to determine whether the pin shaft is correctly allocated for installation.

[0204] In addition, in each embodiment of the present invention, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0205] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0206] The above are only partial embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for tracing the assembly of crane components, used for tracing the pin assembly of the windproof cable assembly of a crane. Multiple installation anchor points with known positions and used for connecting the windproof cable assembly are pre-deployed at the working site of the crane. A plurality of connecting parts are provided on the crane, which are respectively used for connecting a plurality of windproof cable assemblies to improve the fuselage stability of the crane at the working site. It is characterized in that, The tracing method includes: Assign unique identification information to all pins applied to the windproof mooring assembly that need to be disassembled and assembled. At the same time, monitoring units are respectively arranged on the pins. Receive the windproof warning instruction of the crane. According to the deployment position of the crane in the work site, construct a windproof mooring deployment plan and generate windproof mooring installation information. According to the windproof mooring installation information, take the windproof mooring assembly containing pins as required by preset requirements, install and deploy it in the work site of the crane, and connect the windproof mooring assembly to the connection part on the crane and the installation anchor point on the work site respectively. Monitor the installation progress of the windproof mooring assembly. When all are completed, generate feedback information on the completion of the windproof deployment. Respond to the feedback information on the completion of the deployment of the windproof mooring assembly, obtain the position information of all monitoring units in the work site, generate assembly monitoring information, and complete the tracing of the installation whereabouts of the pins in the work site.

2. The crane component assembly traceability method according to claim 1, wherein, It also includes: According to the windproof mooring installation information, determine the planned installation position information of each windproof mooring assembly in the work site, and combine the assembly monitoring information to judge the assembly whereabouts of the pins to determine whether the pins are correctly allocated and installed.

3. The crane component assembly traceability method according to claim 1 or 2, characterized in that, A local server is deployed in the work site of the crane. The local server is used to receive and / or publish the windproof warning instruction and windproof mooring installation information of the crane, and is used to receive the feedback information on the completion of the windproof deployment and obtain the position information of all monitoring units in the work site, and then generate assembly monitoring information according to preset conditions.

4. The crane component assembly traceability method according to claim 3, characterized in that, At least three Bluetooth beacon devices are also deployed in the work site of the crane, and their positions are all known. The Bluetooth beacon devices are used to broadcast communication information with their own characteristic codes. At least one signal detector is correspondingly deployed within the range of 0.8 to 1.5 meters of each Bluetooth beacon device, and it is used to detect the broadcast signal strength of the Bluetooth beacon device and generate a reference signal strength. The identification information of the pin includes one or more of the number and appearance mark. The monitoring unit is internally provided with a Bluetooth receiver module, a signal detection module and a communication module. Among them, the Bluetooth receiver module is used to receive the communication information broadcast by the Bluetooth beacon device, and the signal detection module is used to detect the signal strength received by the Bluetooth receiver module. Among them, at least three of the Bluetooth beacon devices, multiple monitoring units and the signal detectors are all communicatively connected to the local server.

5. The crane component assembly traceability method according to claim 4, wherein, It also includes: Monitor the weather conditions within the preset range of the work site where the crane is located, and generate a windproof warning instruction for the crane according to preset conditions. It includes the following steps: A01. Collect weather parameters within a preset range of the working site where the crane is located to generate weather parameter information, including wind speed V, wind direction θ ω and air density ρ; A02. Compare the real-time obtained wind speed V with the preset wind speed threshold V th When the wind speed V exceeds the preset wind speed threshold V th a wind protection instruction is generated. At the same time, calculate the wind pressure P in the working site, and its formula definition is as follows: Where, P is the wind pressure in the work site, ρ is the air density within the preset range of the work site where the crane is located, and V is the wind speed within the preset range of the work site where the crane is located. A03. Calculate the anti-wind mooring tension T required for the crane according to the windward area A of the crane and the preset safety factor k req , and its formula is defined as follows: T req = k·P·A Wherein, P is the wind pressure in the working area, and T req is the anti-wind cable tension required for the crane, A is the windward area of the crane, which is used to describe the area actually bearing the wind pressure under a specific wind direction, and is pre-determined by combining the geometric projection of the crane structure with wind tunnel tests or CFD simulations, and k is a preset safety factor; A04. Combine the wind prevention instruction and the wind prevention cable tension T required by the crane req to generate a wind prevention early warning instruction for the crane.

6. The crane component assembly traceability method according to claim 5, characterized in that, Receive the windproof warning instruction of the crane. According to the deployment position of the crane in the work site, constructing a windproof mooring deployment plan and generating windproof mooring installation information includes: B01. Receive the anti-wind warning instruction of the crane, and define the absolute coordinate P of the crane's base in the working site according to the deployment position of the crane in the working site. crane It is defined as: P crane = (x c , y c , z c ) where x c , y c , z c are the coordinate values of the base of the crane in the x, y, and z space coordinate systems, respectively; Define the local coordinates of multiple connecting parts provided on the crane relative to the crane base as follows: wherein, are respectively the local coordinate values of the connecting part relative to the crane base in the x, y, z space coordinate system, and i is the number of the connecting part; Therefore, the absolute coordinates of multiple connection parts are as follows: where x i , y i , z i are the coordinate values of the connecting part in the x, y, z space coordinate system; B02. Number the multiple connecting parts C i and select an installation anchor point for the connecting part within the work site to define the connection relationship group of the windproof mooring assembly (C i , A j ); then calculate the expected length L of the mooring cable of the windproof mooring assembly ij , which is defined as follows: Among them, x i , y i , z i are the coordinate values of the connecting part in the x, y, z space coordinate system, and are the coordinate values of the installation anchor point in the x, y, z space coordinate system; Horizontal angle θ of the mooring installation and connection direction of the windward mooring assembly ij Is defined as follows: where x i , y i are the coordinate values of the connecting part in the x, y space coordinate system, and are the coordinate values of the installation anchor point in the x, y space coordinate system; The deviation angle Δθ between the wind direction and the mooring connection direction ij is defined as follows: Δθ ij = |θ ij - θ ω | Among them, θ ω is the wind direction angle obtained by monitoring the preset range of the working site where the crane is located; θ ij is the horizontal angle of the mooring installation connection direction; B03. Establish an objective function that takes into account the mooring length and wind direction matching, and its definition is as follows: f(i,j) = α·L ij + β·|Δθ ij | α is the length weight coefficient of the mooring line, and β is the angle weight coefficient of the mooring line; L ij is the expected length of the mooring line used, and Δθ ij is the deviation angle between the wind direction and the mooring line connection direction; B04. For each connecting part C i , when the constraint condition |Δθ ij | ≤ θ max is satisfied, select and install the anchor point A j on the work site so that it satisfies the following formula to obtain an optimal deployment plan for the wind-proof mooring cable: where θ max is the maximum allowable deviation angle; B05. Connecting part C on the gantry crane i The corresponding connection relationship with the installation anchor point A on the work site j , the expected length L of the mooring cable ij , the horizontal angle θ of the mooring cable installation connection direction ij , the deviation angle Δθ between the wind direction and the mooring cable connection direction ij and the anti-wind mooring cable tension T required by the crane req , construct an anti-wind mooring cable deployment plan and generate anti-wind mooring cable installation information.

7. The crane component assembly traceability method according to any one of claims 4 to 6, characterized in that, Monitoring the installation progress of the windproof mooring assembly includes: recording the installation progress of multiple windproof mooring assemblies by manually providing feedback on the completion of the installation; and generating feedback information on the completion of the windproof deployment when all are completed; In response to the feedback information of the completion of the deployment of the windproof cable assembly, the location information of all monitoring units in the work site is obtained, and the assembly monitoring information is generated including: C01, responding to the feedback information of the completion of the deployment of the windproof mooring assembly, broadcasting communication information through three of the Bluetooth beacon devices deployed in the work site; C02. The monitoring unit deployed in the workplace receives the communication information broadcast by the Bluetooth beacon device, performs signal strength detection and information analysis, obtains the signal strength of the communication information when it is received and the feature code contained therein, and then aggregates the received aggregate information to send to the local server; C03. The local server determines the location information of the monitoring unit in the work area according to the deployment locations of the three Bluetooth beacon devices, the information strength detected by the corresponding signal detectors and the receiving aggregation information sent by the monitoring unit, and generates assembly monitoring information.

8. The crane component assembly traceability method according to claim 7, characterized in that, The installation anchor points in the work site do not overlap, and the pins on the multiple windproof cable assemblies do not overlap each other in vertical spatial projection; each monitoring unit is within the broadcast signal range of at least three Bluetooth beacon devices, and each Bluetooth beacon device is deployed with a signal detector at a distance of 1 meter; C03 includes: The deployment positions of the three Bluetooth beacon devices are set as P1(x1, y1), P2(x2, y2), and P3(x3, y3) respectively; the location of the monitoring unit is defined as P(x, y); A distance attenuation model for Bluetooth signal broadcasting is established, which is defined as follows: RSSI = -10nlog 10 (d) + A Wherein, RSSI is the strength of the communication signal sent by the Bluetooth beacon device received by the monitoring unit, d is the distance from the monitoring unit to the Bluetooth beacon device, n is the path loss index, and A is the reference signal strength measured at a distance of 1 meter from the Bluetooth beacon device; Based on this, the distance d from the monitoring unit to the Bluetooth beacon device can be expressed as follows: The monitoring unit obtains the signal strength of the communication information when it is received and the characteristic code contained therein, and determines the distances d1, d2, and d3 from the monitoring unit to the three Bluetooth beacon devices respectively; The formula for trilateration of the monitoring unit to three Bluetooth beacon devices is defined as follows: (x - x1) 2 +(y - y1) 2 = d1 2 (1) (x - x2) 2 +(y - y2) 2 = d2 2 (2) (x - x3) 2 +(y - y3) 2 = d3 2 (3) Subtract equation (1) from equation (2) and equation (3) respectively, and then expand the square terms and simplify to obtain the following equations (4) and (5): 2(x2 - x1)x + 2(y2 - y1)y = d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2 (4) 2(x3 - x1)x + 2(y3 - y1)y = d1 2 -d3 2 +x3 2 -x1 2 +y3 2 -y1 2 (5) By combining equations (4) and (5), we get the following linear equations: a1x+b1y=c1 a2x+b2y=c2 in: a1=2(x2-x1) b1=2(y2-y1) c1 = d1 2 -d2 2 +x2 2 -x1 2 +y2 2 -y1 2 a2=2(x3-x1) b2=2(y3-y1) c2 = d1 2 - d3 2 + x3 2 - x1 2 + y3 2 - y1 2 The coordinates P(x,y) of the monitoring unit are obtained by using Cramer's rule, which is defined as follows: By substituting the deployment position coordinates of the three Bluetooth beacon devices and the distances d1, d2, and d3 between the monitoring unit and the three Bluetooth beacon devices, the coordinate value of the monitoring unit, that is, its two-dimensional position information in the work site, is obtained.

9. A safety monitoring method for the installation of anti-wind cables of a crane, characterized in that, The application has the crane component assembly traceability method described in any one of claims 1 to 8.

10. A crane component assembly traceability system, characterized in that, It includes: A plurality of monitoring units, which are arranged on the pins where a plurality of windproof mooring components need to be disassembled and assembled; An environmental monitoring unit, deployed in the work site, monitors the weather conditions within a preset range of the work site where the crane is located, and generates a crane windproof warning instruction according to preset conditions; A mooring deployment module, which is used to receive the crane windproof warning instruction, construct a windproof mooring deployment plan according to the deployment position of the crane in the work site, and generate windproof mooring installation information; A mooring installation monitoring module, which is used to monitor the installation progress of the windproof mooring components, and generate a feedback message indicating the completion of the windproof deployment when all are completed; A component traceability unit, which is used to respond to the feedback message indicating the completion of the deployment of the windproof mooring components, obtain the position information of all monitoring units in the work site, generate assembly monitoring information, and complete the traceability of the installation whereabouts of the pins in the work site; An installation verification unit, which is used to determine the planned installation position information of each windproof mooring component in the work site according to the windproof mooring installation information, and judge the assembly whereabouts of the pins in combination with the assembly monitoring information to determine whether the pins are correctly allocated for installation.

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