Anti-collision hoisting device among multiple hoisting devices

Abstract

The utility model relates to a kind of anti-collision hoisting devices between multiple hoisting equipment, belong to construction equipment scheduling technical field. Including: control center installed on different hoisting equipment;Multiple communication devices respectively installed on different hoisting equipment, data connection is carried out between multiple communication devices by networking;Multi-dimensional sensor group is connected with control center communication;Early warning execution mechanism, and control center communication connection. For solving when there is mobile equipment of car hoist and temporary cable machine in construction site, the existing technology needs to be constantly updated, and it is inconvenient to apply to the technical problems of such complex working conditions.

Description

Technical Field

[0001] This utility model belongs to the field of capacitor processing technology, and specifically relates to a collision prevention hoisting device between multiple lifting devices. Background Technology

[0002] On-site hoisting equipment, including truck cranes, tower cranes, and cable cranes, works in coordination, with overlapping work areas. During crane use, it is important to avoid mutual interference between cranes to prevent equipment damage and safety accidents. Multi-equipment stop systems can coordinate operations and improve on-site work efficiency.

[0003] Patent CN107285206B discloses an anti-collision method based on a tower crane collision avoidance and early warning system. This method virtualizes the construction site of the tower crane into a controllable image environment and integrates it into the corresponding system's anti-collision automatic control module to achieve collision avoidance. Specifically, it maps the parameter features of the construction site, including relative obstacles, the target crane boom, and related environmental parameters, to the image environment. After the motion occurring at the construction site is calculated by the anti-collision algorithm of the image environment, a control command is issued to execute the motion at the construction site.

[0004] The existing technology has at least the following problems in its use:

[0005] After virtual simulation, the anti-collision control module is loaded onto the corresponding equipment. The deployment of the equipment needs to be pre-simulated and calculated. When there are mobile equipment such as truck cranes and temporary cable cranes on the construction site, the simulation module needs to be constantly updated, which is not convenient for application to such complex working conditions. Utility Model Content

[0006] This utility model provides a collision prevention hoisting device between multiple lifting devices, which solves the technical problem that the existing pre-simulation module needs to be constantly updated when there are mobile equipment such as truck cranes and temporary cable cranes on the construction site, making it inconvenient to apply to such complex working conditions.

[0007] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0008] A collision avoidance hoisting device for multiple lifting devices includes: a control center installed on different lifting devices; multiple communication devices installed on different lifting devices, which are connected to each other via a network; a multi-dimensional sensor group that is communicatively connected to the control center; and a warning execution mechanism that is communicatively connected to the control center.

[0009] Furthermore, the communication device includes a data transceiver antenna, which forms a communication network among multiple lifting devices.

[0010] Furthermore, the multidimensional sensor includes: a height sensor, which is communicatively connected to the control center; an amplitude sensor, which is communicatively connected to the control center; a radar sensor, which is communicatively connected to the control center; and a rotation sensor, which is communicatively connected to the control center.

[0011] Furthermore, the control center includes: a radar ranging processing center, which is communicatively connected to the radar sensor; a collision avoidance processing center, which is communicatively connected to the height sensor, amplitude sensor, and slewing sensor; and a working machine, which is communicatively connected to both the radar ranging processing center and the collision avoidance processing center. The working machine is used to process the data from the radar ranging processing center and the collision avoidance processing center in real time. The working machine exchanges data with working machines on other lifting equipment through the data transceiver antenna. The working machine is communicatively connected to the early warning execution mechanism.

[0012] Furthermore, the multidimensional sensor also includes: an encoder; the lifting equipment is equipped with a cable winch and a hook; the encoder is mounted on the cable winch; the encoder is communicatively connected to the working machine; and the height sensor is mounted on the hook.

[0013] Furthermore, the early warning execution mechanism includes: an alarm device, which is communicatively connected to the working machine; and an emergency stop device, which forms a stop system with the working machine for stopping the tower crane device.

[0014] This utility model provides a collision prevention hoisting device for multiple lifting devices. By setting up independent control centers on multiple lifting devices and installing multi-dimensional sensor groups on the lifting devices to collect three-dimensional position information of different lifting devices, the control centers independently calculate the data and connect the different lifting devices through communication devices, thereby realizing mutual communication of data between different lifting devices. This allows for the rapid acquisition of the position information of moving lifting devices, thus achieving collision prevention between multiple devices. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of an automated stop system for an anti-collision hoisting device between multiple lifting equipment provided in this embodiment of the utility model;

[0017] Figure 2 This is a communication block diagram of a stop system for an anti-collision hoisting device between multiple lifting equipment, provided as an embodiment of the present utility model. Detailed Implementation

[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0019] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to welding, bolting, or riveting; they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0022] Example:

[0023] According to the appendix Figure 1 and Figure 2 As shown, this embodiment provides a collision avoidance hoisting device between multiple lifting devices, including: a control center installed on different lifting devices; multiple communication devices installed on different lifting devices, which are connected to each other through a network; a multi-dimensional sensor group that is connected to the control center; and a warning execution mechanism that is connected to the control center.

[0024] Furthermore, the communication device includes a data transceiver antenna, which forms a communication network among multiple lifting devices.

[0025] Furthermore, the multi-dimensional sensors include: a height sensor, which communicates with the control center; an amplitude sensor, which communicates with the control center; a radar sensor, which communicates with the control center; and a rotation sensor, which communicates with the control center.

[0026] Furthermore, such as Figure 1 and Figure 2 As shown, the control center includes: a radar ranging processing center, which communicates with the radar sensors; a collision avoidance processing center, which communicates with the height sensor, amplitude sensor, and slewing sensor; and a work status unit, which communicates with both the radar ranging processing center and the collision avoidance processing center. The work status unit processes data from the radar ranging processing center and the collision avoidance processing center in real time. It exchanges data with work status units on other lifting equipment via a data transceiver antenna and communicates with the early warning execution mechanism.

[0027] Furthermore, the multidimensional sensor also includes: an encoder, a cable crane and a hook are provided on the lifting equipment, the encoder is installed on the cable crane, the encoder is connected to the working machine for communication, and a height sensor is installed on the hook.

[0028] Furthermore, the early warning execution mechanism includes: an alarm device that is connected in communication with the operating machine; and an emergency stop device that is integrated with the operating machine into a stop system for controlling the tower crane equipment to stop.

[0029] In this embodiment, the on-site hoisting equipment includes truck cranes, tower cranes, and cable cranes, with the tower cranes having overlapping working areas. Within these overlapping working areas, a 3D coordinate system is used to designate the tower cranes as master and slave cranes. When any set of tower cranes is within the overlapping working area, the 3D coordinate system restricts the working rotation range of the other tower cranes. To avoid mutual interference between equipment during tower crane hoisting, the 3D coordinate system restricts the rotation and luffing of the tower cranes, and a multi-dimensional sensor array detects the real-time height of the hook and its relative coordinates with the equipment to limit the hook's operating space.

[0030] Radar sensors are installed on both sides of the tower crane boom. With the assistance of calculations and software from the control center, the radar sensors actively detect obstacles entering the detection area to prevent the boom from colliding with large buildings and the tower crane. The specific implementation of the calculations and software assistance from the control center can be obtained by those skilled in the art using existing technology.

[0031] The tower crane incorporates hook height, amplitude, and slewing sensors to detect the hook's height, horizontal position, and X / Y / Z-axis spatial range. It also detects the hook's height and slewing range, as well as the working area's location and limits the hook's safe working zone in three-dimensional space. This system utilizes boom amplitude parameters. A communication network is established within the working area for equipment to communicate with each other. Radar sensors are installed at critical locations on the crane to prevent collisions between equipment and with large buildings. The specific implementation of this communication network and its interconnection within the working area can be derived by those skilled in the art using existing technology.

[0032] The data processing of the stop system is mainly handled by the work status machine. Each lifting device has a work status machine that performs calculations and information processing locally, uploading position information to other lifting devices. The position information of each lifting device is exchanged, and a 3D model is created on the construction site. Real-time dynamic information is established using corresponding 3D coordinates to prevent interference between devices. A touchscreen displays the position and operating status of each device in an animated format. When devices overlap, a color change and audible / visual alarm are displayed on the screen to alert the operator of the potential overlap. The work status machine then outputs a stop command to prevent further operation. The creation of the 3D model and data processing can be implemented by those skilled in the art using existing technologies.

[0033] Radar sensors are used between tower cranes and cable cranes to detect obstacles at horizontal distances, and data feedback is used to monitor objects on both sides of the boom to prevent interference. A local area network is established between tower cranes and gantry cranes to exchange data. A three-coordinate system is used to limit the operating space of the tower cranes, thereby avoiding interference between tower cranes.

[0034] The automatic stop system uses a network between the tower crane and the gantry crane to communicate with each other. The corresponding sensor group detects the position of the tower crane on the XYZ axis, and the system software calculates and displays the area where the tower crane is located and the interference range in real time.

[0035] The system utilizes radar sensors and communication between cable cranes, tower cranes, gantry cranes, and truck cranes to complete the task, while also addressing horizontal interference from mountains and large objects.

[0036] The 3D and active data operate independently, employing a complementary approach to achieve comprehensive anti-interference.

[0037] By installing three encoders on the cable crane, the number of turns of the wire rope coil is calculated, along with the hook height, hook position, and trolley travel position. This allows us to determine the hook's position on the X-axis (trolley travel), Y-axis (cab travel), and Z-axis (hook height). If the tower crane or gantry crane enters the cable crane's interference zone, the cable crane needs to pass through the tower crane's working area. In this case, the cable crane's hook height must exceed the total height of the tower crane's subframes, allowing the cable crane to pass over the tower crane. If the cable crane enters the tower crane's working area but does not exceed the set value, data exchange is performed based on the tower crane's rotation position. At this point, the cable crane will display that the tower crane has entered the interference zone, and the cable crane cannot pass through this zone, thus achieving the purpose of preventing interference.

[0038] The automatic stop system is developed and designed based on radar sensor technology. It actively detects objects entering the detection area and sends alarm information to the main control room, enabling operators to take timely measures to avoid them; or it provides control signals to directly issue instructions to the hoisting equipment. When the set parameters are set, it issues warnings, and when the set parameters are set, it gives control signals to control the hoisting equipment to a slow running state, and finally stops the tower crane from running.

[0039] The system utilizes millimeter-wave radar technology from in-vehicle autonomous driving systems. Through software development, it enhances detection capabilities by including azimuth, opening angle, and hoisting equipment rotation speed. Obstacles are detected via reflected signals from radar sensors. It can detect 15mm steel cables within 0.7 to 10 meters and objects within 0.7 to 30 meters. The radar sensors typically operate in the 30–300 GHz frequency range with wavelengths of 1–10mm, with the 24 GHz and 77 GHz bands primarily used for vehicle collision avoidance. Millimeter waves, with wavelengths between centimeter waves and light waves, combine the advantages of microwave and photoelectric guidance. Compared to centimeter-wave radar, radar sensors are smaller, easier to integrate, and have higher spatial resolution. Compared to optical sensors such as cameras, infrared, and lasers, radar sensors have stronger penetration capabilities through fog, smoke, and dust, stronger anti-interference capabilities, and are available in all weather and all-weather conditions, making them well-suited for harsh construction environments. The system mainly consists of a control center, early warning execution mechanisms, radar sensors, cables, and accessories.

[0040] In summary, when using a multi-lifting anti-collision hoisting device to control and schedule multiple devices for anti-collision purposes, data exchange and communication between the multiple lifting devices are achieved through a network of data transceiver antennas, providing an information foundation for collaborative work and anti-collision control. Real-time detection of hook height, relative coordinates of the equipment, operating parameters, and wire rope winding status by a multi-dimensional sensor array enables the restriction of the hook's operating area in three-dimensional space, accurately defining the safe working range. Through the radar ranging processing center and anti-collision processing center in the control center, combined with real-time processing of multi-source data and data exchange between devices, a three-dimensional dynamic model of the construction site is established, enabling real-time monitoring of the position and operating status of each device and early warning of interference risks. Through the independent operation and complementarity of three-dimensional positioning data and active detection data, local data calculation, and the exchange of position information between devices, dynamic collaborative management and anti-interference control of equipment positions on the construction site are achieved, improving the stability judgment of multiple devices under complex working conditions.

[0041] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A collision prevention lifting device between multiple lifting devices, characterized in that, include: The control center is installed on different lifting equipment; Multiple communication devices are installed on different lifting equipment, and the multiple communication devices are connected to each other through a network; A multi-dimensional sensor group, which is communicatively connected to the control center; The early warning execution mechanism is connected to the control center.

2. The anti-collision lifting device between multiple lifting devices according to claim 1, characterized in that, The communication device includes: A data transceiver antenna is used to form a communication network among multiple lifting devices.

3. The anti-collision hoisting device between multiple hoisting equipment according to claim 2, characterized in that, The multidimensional sensor includes: The altitude sensor is communicatively connected to the control center. An amplitude sensor is communicatively connected to the control center. The radar sensor is communicatively connected to the control center. The rotation sensor is connected in communication with the control center.

4. The anti-collision hoisting device between multiple hoisting equipment according to claim 3, characterized in that, The control center includes: The radar ranging and processing center is communicatively connected to the radar sensor. The anti-collision processing center is connected in communication with the height sensor, amplitude sensor and rotation sensor; The working condition machine is communicatively connected to both the radar ranging processing center and the collision avoidance processing center. The working condition machine is used to process the data from the radar ranging processing center and the collision avoidance processing center in real time. The working condition machine exchanges data with the working condition machines on other lifting equipment through the data transceiver antenna. The working condition machine is communicatively connected to the early warning execution mechanism.

5. The anti-collision hoisting device between multiple hoisting equipment according to claim 4, characterized in that, The multidimensional sensor also includes: The encoder is installed on the cable winch and hook of the lifting equipment. The encoder is connected to the working machine for communication. The height sensor is installed on the hook.

6. The anti-collision hoisting device between multiple hoisting equipment according to claim 5, characterized in that, The early warning execution agencies include: An alarm device is communicatively connected to the operating machine; An emergency stop device, together with the working condition unit, has a stop system for controlling the tower crane device to stop.

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