阅读说明：本技术 用于智能塔吊的运行数据监控识别系统及其方法 (Operation data monitoring and identifying system and method for intelligent tower crane ) 是由 陈德木 蒋云 陆建江 陈曦 赵晓东 顾姣燕 于 2021-07-19 设计创作，主要内容包括：本申请公开了用于智能塔吊的运行数据监控识别系统及其方法,其中吊运阶段识别模块获取塔吊吊运执行机构的运行参数,进而识别出吊运件当前所处的吊运阶段及阶段过渡状态,声波发射控制模块当阶段过渡状态为正在进行阶段过渡时,控制安装于塔吊的吊具上的超声波发射器发出声波信号,空间距离运算模块基于安装于吊具上的超声波接收器接收到的回波信号得到吊具与其附近存在物之间的空间距离,阶段匹配运算模块依据空间距离得到吊具在当前吊运阶段下的环境空间裕度与目标吊运路径中相应阶段的环境空间裕度之间的匹配度,路径修正报警模块在匹配度超出匹配范围时进行吊运路径修正的报警。该系统在路径失效或不合理后进行报警和提示。(The application discloses an operation data monitoring and identifying system and method for an intelligent tower crane, wherein a lifting stage identifying module acquires operation parameters of a tower crane lifting actuating mechanism, further identifying the current hoisting stage and stage transition state of the hoisting piece, when the stage transition state is the ongoing stage transition state, the method comprises the steps of controlling an ultrasonic transmitter arranged on a lifting appliance of the tower crane to send out a sound wave signal, obtaining the spatial distance between the lifting appliance and objects nearby the lifting appliance by a spatial distance operation module based on an echo signal received by an ultrasonic receiver arranged on the lifting appliance, obtaining the matching degree between the environmental space margin of the lifting appliance at the current lifting stage and the environmental space margin of a corresponding stage in a target lifting path according to the spatial distance by a stage matching operation module, and giving an alarm for correcting the lifting path when the matching degree exceeds the matching range by a path correction alarm module. The system gives an alarm and prompts after the path is failed or unreasonable.)

1. The utility model provides an operation data monitoring identification system for intelligent tower crane which characterized in that includes:

the hoisting stage identification module is used for acquiring the operation parameters of the hoisting execution mechanism of the tower crane, and further identifying the current hoisting stage and stage transition state of a hoisting piece;

the sound wave emission control module is used for controlling an ultrasonic emitter arranged on a lifting appliance of the tower crane to emit a sound wave signal when the stage transition state is the stage transition;

the spatial distance calculation module is used for obtaining the spatial distance between the lifting appliance and an object nearby based on the echo signal received by the ultrasonic receiver arranged on the lifting appliance;

the stage matching operation module is used for obtaining the matching degree between the environment space margin of the lifting appliance in the current lifting stage and the environment space margin of the corresponding stage in the target lifting path according to the space distance;

and the path correction alarm module is used for alarming for correcting the lifting path when the matching degree exceeds the matching range.

2. The operational data monitoring and identification system of claim 1, wherein the spatial distance calculation module comprises:

a transmitting time acquiring unit for acquiring the sound wave transmitting time of the ultrasonic transmitter;

an envelope generation unit configured to generate an upper envelope of an echo signal received by the ultrasonic receiver;

the peak time acquisition unit is used for identifying one or more maximum values of the envelope curve so as to obtain peak times corresponding to the maximum values;

the time difference acquisition unit is used for acquiring the time difference between the echo lifting moment and the wave crest moment based on the performance parameters of the ultrasonic transducer;

a return duration obtaining unit configured to obtain a sound wave return duration based on the emission time, the peak time, and the time difference;

and the space distance calculation unit is used for acquiring the ambient temperature near the tower crane power plant, and obtaining the distance between the tower crane power plant and a nearby object based on the ambient temperature and the sound wave return duration.

3. The operational data monitoring and identification system of claim 1, further comprising: the existing object type identification module is used for analyzing the envelope to obtain a feature vector of the envelope after the space distance is obtained, inputting the feature vector into a classifier for classification, and identifying the type of the existing object;

and when the stage matching operation module obtains the matching degree, the stage matching operation module also obtains the matching degree according to the type of the existing object.

4. The operational data monitoring and identification system of claim 3, wherein the path modification alert module comprises:

a sub-phase dividing unit, configured to divide the corresponding path undergoing the phase transition into a plurality of sub-phases according to a path length;

the matching quantity recording unit is used for acquiring the matching degree of the current ongoing sub-stage and classifying and recording the matching degree of each sub-stage according to the pre-divided matching degree category;

and the matching number judging unit is used for judging the number of the recorded matching degrees and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

5. The operational data monitoring and identification system of claim 1, further comprising:

the induction voltage acquisition module is used for acquiring the induction voltage of an induction coil arranged on a tower crane balance arm;

the compensation voltage acquisition module is used for calculating a theoretical value of compensation current of a compensation coil arranged on a tower crane boom, and the theoretical value of the current enables a mutual inductance coefficient generated between the compensation coil and a receptor coil formed by a tower crane and the ground to generate compensation voltage opposite to the induction voltage on the tower crane;

and the compensation current output module is used for outputting the current theoretical value to the compensation coil.

6. The utility model provides an operation data monitoring identification method for intelligent tower crane which characterized in that includes:

acquiring operation parameters of a tower crane lifting actuating mechanism, and further identifying a lifting stage and a stage transition state of a lifting piece;

when the stage transition state is the stage transition, controlling an ultrasonic transmitter arranged on a lifting appliance of the tower crane to send out a sound wave signal;

obtaining a spatial distance between the lifting appliance and a nearby object based on an echo signal received by an ultrasonic receiver arranged on the lifting appliance;

obtaining the matching degree between the environment space margin of the lifting appliance at the current lifting stage and the environment space margin at the corresponding stage in the target lifting path according to the space distance;

and when the matching degree exceeds the matching range, the alarm of the correction of the lifting path is carried out.

7. The method for monitoring and identifying operational data according to claim 6, wherein the obtaining of the spatial distance between the spreader and the nearby objects based on the echo signals received by the ultrasonic receiver installed on the spreader comprises:

acquiring the sound wave emission time of the ultrasonic emitter;

generating an upper envelope of the echo signal received by the ultrasonic receiver;

identifying one or more maximum values of the envelope line, and further obtaining peak moments corresponding to the maximum values;

obtaining the time difference between the rising moment of the echo and the crest moment based on the performance parameters of the ultrasonic transducer;

obtaining the sound wave returning time length based on the transmitting time, the wave crest time and the time difference;

and acquiring the ambient temperature near the tower crane power plant, and obtaining the distance between the tower crane power plant and a nearby object based on the ambient temperature and the sound wave returning time length.

8. The operation data monitoring and identifying method according to claim 6, wherein after the spatial distance is obtained, the envelope is further analyzed to obtain a feature vector of the envelope, and the feature vector is input into a classifier to be classified, so that the type of the existing object is identified;

and when the matching degree is obtained, obtaining the matching degree according to the type of the existing object.

9. The operation data monitoring and identifying method according to claim 8, wherein the alarming for the correction of the lifting path when the matching degree exceeds the matching range comprises:

dividing the corresponding path in the stage transition into a plurality of sub-stages according to the path length;

acquiring the matching degree of the currently-performed sub-stage, and classifying and recording the matching degree of each sub-stage according to the pre-divided matching degree category;

and judging the number of the recorded matching degrees, and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

10. The operational data monitoring and identification method of claim 6, further comprising:

acquiring the induction voltage of an induction coil arranged on a tower crane balance arm;

calculating a theoretical current value of a compensating coil arranged on a tower crane boom, wherein the theoretical current value enables a mutual inductance coefficient generated between the compensating coil and a receptor coil formed by a tower crane and the ground to generate compensating voltage opposite to the induced voltage on the tower crane;

and outputting the current theoretical value to the compensation coil.

Technical Field

The application relates to the technical field of tower crane equipment control, in particular to an operation data monitoring and identifying system and method for an intelligent tower crane.

Background

The tower crane is also called a tower crane, is a common hoisting device on construction sites, and is used for hoisting building materials such as reinforcing steel bars, wood ridges, concrete, steel pipes and the like required by construction. Before each material is hoisted, the lifting hook is controlled by the pulley to descend to the position near the upper part of the material, the material is loaded in a lifting appliance of a stacking area or packed on the lifting appliance of the stacking area, a steel cable or a connecting structure is sleeved on the lifting appliance to serve as a lifting part of the lifting appliance, the lifting part serves as a medium sleeved with the lifting hook, the lifting part can be placed on the hook-shaped surface on the inner side of the lifting hook, then the lifting hook is controlled by the pulley to lift, and the lifting part drives the lifting appliance and the material in or on the lifting hook to lift off.

For an intelligent tower crane, before a hoisting part is hoisted, a hoisting path can be planned according to environmental scene conditions such as building facilities, material placement and the like of a construction site, a safe hoisting part moving path is generated in advance, execution actions of each execution mechanism of the tower crane capable of driving the hoisting part to realize the hoisting path are determined in advance, and when the hoisting can be performed, the execution mechanisms are controlled to drive the hoisting part to move according to the reserved hoisting path according to the predetermined actions until the hoisting part is hoisted to a specified position. However, a certain time is left between the completion of the planning of the hoisting path and the formal hoisting of the hoisting part, and the field construction environment and scene may change in the time, for example, a row of steel bars are newly laid on the outer edge of the top of a certain building facility in the time, because the steel bars are laid on the outer edge of the top of the certain building facility in the time, the path cannot consider the existence of the steel bars, and the steel bars may collide with the hoisting part, so how to monitor the hoisting state and identify the objects existing around the hoisting state by collecting analysis data in the hoisting process of the tower crane, thereby timely judging the rationality and effectiveness of the hoisting path, and alarming and prompting after the path is invalid or unreasonable, which is a problem to be solved urgently at present.

Disclosure of Invention

Based on this, in order to judge the rationality and effectiveness of the lifting path in time and give an alarm and prompt after the path is invalid or unreasonable, the application discloses the following technical scheme.

In one aspect, an operation data monitoring and identifying system for an intelligent tower crane is provided, which comprises:

the hoisting stage identification module is used for acquiring the operation parameters of the hoisting execution mechanism of the tower crane, and further identifying the current hoisting stage and stage transition state of a hoisting piece;

the sound wave emission control module is used for controlling an ultrasonic emitter arranged on a lifting appliance of the tower crane to emit a sound wave signal when the stage transition state is the stage transition;

the spatial distance calculation module is used for obtaining the spatial distance between the lifting appliance and an object nearby based on the echo signal received by the ultrasonic receiver arranged on the lifting appliance;

the stage matching operation module is used for obtaining the matching degree between the environment space margin of the lifting appliance in the current lifting stage and the environment space margin of the corresponding stage in the target lifting path according to the space distance;

and the path correction alarm module is used for alarming for correcting the lifting path when the matching degree exceeds the matching range.

In one possible embodiment, the operating parameters include: horizontal movement speed, horizontal movement direction, horizontal movement acceleration, vertical movement speed, vertical movement direction, vertical movement acceleration, rotation speed, rotation direction, and rotation acceleration.

In one possible embodiment, the phase transition state includes entering a transition, transitioning, and a transition pull-off.

In a possible implementation, the spatial distance operation module includes:

a transmitting time acquiring unit for acquiring the sound wave transmitting time of the ultrasonic transmitter;

an envelope generation unit configured to generate an upper envelope of an echo signal received by the ultrasonic receiver;

the peak time acquisition unit is used for identifying one or more maximum values of the envelope curve so as to obtain peak times corresponding to the maximum values;

the time difference acquisition unit is used for acquiring the time difference between the echo lifting moment and the wave crest moment based on the performance parameters of the ultrasonic transducer;

a return duration obtaining unit configured to obtain a sound wave return duration based on the emission time, the peak time, and the time difference;

and the space distance calculation unit is used for acquiring the ambient temperature near the tower crane power plant, and obtaining the distance between the tower crane power plant and a nearby object based on the ambient temperature and the sound wave return duration.

In one possible embodiment, the system further comprises: the existing object type identification module is used for analyzing the envelope to obtain a feature vector of the envelope after the space distance is obtained, inputting the feature vector into a classifier for classification, and identifying the type of the existing object;

and when the stage matching operation module obtains the matching degree, the stage matching operation module also obtains the matching degree according to the type of the existing object.

In one possible embodiment, the path modification alarm module includes:

a sub-phase dividing unit, configured to divide the corresponding path undergoing the phase transition into a plurality of sub-phases according to a path length;

the matching quantity recording unit is used for acquiring the matching degree of the current ongoing sub-stage and classifying and recording the matching degree of each sub-stage according to the pre-divided matching degree category;

and the matching number judging unit is used for judging the number of the recorded matching degrees and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

In one possible embodiment, the system further comprises:

the induction voltage acquisition module is used for acquiring the induction voltage of an induction coil arranged on a tower crane balance arm;

the compensation voltage acquisition module is used for calculating a theoretical value of compensation current of a compensation coil arranged on a tower crane boom, and the theoretical value of the current enables a mutual inductance coefficient generated between the compensation coil and a receptor coil formed by a tower crane and the ground to generate compensation voltage opposite to the induction voltage on the tower crane;

and the compensation current output module is used for outputting the current theoretical value to the compensation coil.

On the other hand, the method for monitoring and identifying the operation data of the intelligent tower crane is also provided, and comprises the following steps:

acquiring operation parameters of a tower crane lifting actuating mechanism, and further identifying a lifting stage and a stage transition state of a lifting piece;

when the stage transition state is the stage transition, controlling an ultrasonic transmitter arranged on a lifting appliance of the tower crane to send out a sound wave signal;

obtaining a spatial distance between the lifting appliance and a nearby object based on an echo signal received by an ultrasonic receiver arranged on the lifting appliance;

obtaining the matching degree between the environment space margin of the lifting appliance at the current lifting stage and the environment space margin at the corresponding stage in the target lifting path according to the space distance;

and when the matching degree exceeds the matching range, the alarm of the correction of the lifting path is carried out.

In one possible embodiment, the operating parameters include: horizontal movement speed, horizontal movement direction, horizontal movement acceleration, vertical movement speed, vertical movement direction, vertical movement acceleration, rotation speed, rotation direction, and rotation acceleration.

In one possible embodiment, the phase transition state includes entering a transition, transitioning, and a transition pull-off.

In a possible embodiment, the obtaining the spatial distance between the lifting appliance and the nearby existing object based on the echo signal received by the ultrasonic receiver mounted on the lifting appliance includes:

acquiring the sound wave emission time of the ultrasonic emitter;

generating an upper envelope of the echo signal received by the ultrasonic receiver;

identifying one or more maximum values of the envelope line, and further obtaining peak moments corresponding to the maximum values;

obtaining the time difference between the rising moment of the echo and the crest moment based on the performance parameters of the ultrasonic transducer;

obtaining the sound wave returning time length based on the transmitting time, the wave crest time and the time difference;

and acquiring the ambient temperature near the tower crane power plant, and obtaining the distance between the tower crane power plant and a nearby object based on the ambient temperature and the sound wave returning time length.

In a possible implementation mode, after the space distance is obtained, analyzing the envelope to obtain a feature vector of the envelope, inputting the feature vector into a classifier for classification, and identifying the type of the existing object;

and when the matching degree is obtained, obtaining the matching degree according to the type of the existing object.

In a possible implementation manner, the warning for correcting the lifting path when the matching degree exceeds the matching range includes:

dividing the corresponding path in the stage transition into a plurality of sub-stages according to the path length;

acquiring the matching degree of the currently-performed sub-stage, and classifying and recording the matching degree of each sub-stage according to the pre-divided matching degree category;

and judging the number of the recorded matching degrees, and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

In one possible embodiment, the method further comprises:

acquiring the induction voltage of an induction coil arranged on a tower crane balance arm;

calculating a theoretical current value of a compensating coil arranged on a tower crane boom, wherein the theoretical current value enables a mutual inductance coefficient generated between the compensating coil and a receptor coil formed by a tower crane and the ground to generate compensating voltage opposite to the induced voltage on the tower crane;

and outputting the current theoretical value to the compensation coil.

The application discloses an operation data monitoring and identifying system and method for an intelligent tower crane, the position and the stage of a hoisting piece on a hoisting path are identified by monitoring the operation data of the tower crane, the movable space distance range of the hoisting piece at the stage of the hoisting path is obtained by carrying out ultrasonic detection at the stage which is easily influenced by scene change, the environment space margin taking the distance range as a main factor is compared with the expected environment space margin when the hoisting path is planned, the effectiveness and the collision risk of the hoisting path are obtained, failure prompt alarm or collision prompt alarm is sent out in a targeted manner, and the collision risk caused by the environment and scene change near the hoisting path due to implementation lag of the hoisting path is avoided.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present application and should not be construed as limiting the scope of the present application.

FIG. 1 is a block diagram of an embodiment of an operation data monitoring and identifying system for an intelligent tower crane disclosed in the present application.

Fig. 2 is a schematic diagram of the ultrasonic wave return time period.

FIG. 3 is a schematic flow diagram of an embodiment of an operation data monitoring and identifying method for an intelligent tower crane disclosed in the application.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.

The embodiment of the operation data monitoring and identifying system for the intelligent tower crane disclosed by the application is described in detail below with reference to fig. 1-2. As shown in fig. 1, the operation data monitoring and identifying system disclosed in this embodiment mainly includes: the device comprises a hoisting stage identification module, a sound wave emission control module, a space distance operation module, a stage matching operation module and a path correction alarm module.

The hoisting stage identification module is used for acquiring the operation parameters of the tower crane hoisting execution mechanism, and further identifying the current hoisting stage and stage transition state of the hoisting piece.

The hoisting part is a lifting appliance loaded with materials, the materials can be round steel pipe columns, I-shaped steel, cement bags, tiles, glass, water pipes, canned paint, mechanical equipment and the like, and the lifting appliance can be a wooden tray or a steel tray or a wooden box or a steel box.

The operating parameters of the executing mechanism mainly refer to parameters related to the expected movement of the hoisting part, and can comprise horizontal moving speed, horizontal moving direction and horizontal moving acceleration (for the amplitude-variable trolley), or can comprise vertical moving speed, vertical moving direction and vertical moving acceleration (for the pulley), or can comprise rotating speed, rotating direction and rotating acceleration (for the slewing mechanism), and the like.

The hoisting stage refers to a stage in which each executing mechanism acts according to an action sequence to drive the hoisting part to move, for example, the hoisting stage, the first translation stage, the horizontal steering stage, the second translation stage and the descending stage can be included from the hoisting of the hoisting part to the reaching of a specified position, and the action sequence of the executing mechanisms is a pulley, a variable amplitude trolley, a swing mechanism, a variable amplitude trolley and a pulley.

Before the lifting piece is lifted, the lifting path of the lifting piece and the action sequence of the executing mechanism are obtained in advance through calculation, so that the lifting piece actually moves according to the lifting path obtained in advance under the action sequence of the executing mechanism in the actual lifting process, and the action executing process of the executing mechanism can also be correspondingly recorded, so that the lifting stage in which the lifting piece is currently positioned can be identified by comparing the current operating parameters of the executing mechanism with the action tasks executed in advance, for example, in the current operating parameters, only the parameters of the horizontal moving speed and the horizontal moving direction are not zero, and the second time is not zero, so that the lifting piece is currently positioned in the second translation stage.

Generally, the lifting process involves a plurality of lifting stages, namely a plurality of actuating mechanisms are matched with each other, different lifting stages are also responsible for different actuating mechanisms, and adjacent lifting stages are also responsible for different actuating mechanisms, so that stage transition exists between the stages, and a stage transition state is generated. The phase transition state is equivalent to the switching condition between the hoisting phases and can comprise states of transition, starting after transition and the like. The entering transition means that the lifting piece is about to reach a transition position on a lifting path in the current lifting stage, and at the moment, an executing mechanism in the current lifting stage may start to reduce the speed; the transition means that the operation parameters of the executing mechanism in the current hoisting stage are zero and the executing mechanism in the next hoisting stage is started, and the starting after the transition means that the corresponding executing mechanism in the next hoisting stage is starting and accelerating.

The following description takes the phase transition state of starting after transition as an example: the hoisting path is generated in advance, so that the transition state of the current hoisting stage can be obtained through analysis of the operating parameters of the executing mechanism, for example, the current translation stage of the hoisting tool is identified through the operating parameters of the luffing trolley, and the first acceleration state of the hoisting tool after entering the stage can be known through the horizontal moving speed or the horizontal moving acceleration, which indicates that the hoisting tool is currently just entering the current hoisting stage (translation stage) from the last hoisting stage (such as a hoisting stage), namely, the starting state after transition.

And the sound wave emission control module is used for controlling an ultrasonic emitter arranged on a lifting appliance of the tower crane to emit a sound wave signal when the stage transition state is the stage transition.

The construction site of the construction site is an area with a complex space, various areas such as a building decoration operation area, a building body structure building operation area, a foundation pit enclosure operation area, an earth excavation operation area, a pile foundation construction operation area, a material storage area, a lifting appliance storage area, a material processing area, a personnel office area, a personnel living area and the like can exist, the functions of different areas are different, in the lifting process, objects can pass through in the lifting process from the lifting position to the placing position, for example, other objects pass through other construction buildings in the air, other materials on two sides in lifting, other structures nearby in descending and the like, the objects in the objects refer to solid objects occupying a certain space, and the objects are potential obstacles. When the lifting path is planned in advance, the factors of the obstacles are eliminated, and the path which can not collide with other objects and has more space distance between a lifting piece and the surrounding objects as far as possible is planned to be used as the lifting path.

However, in order to ensure that the tower crane executing mechanism can actually drive the hoisting member to execute according to the hoisting path, and also in order to avoid that the actual hoisting occurrence time lags behind the planning time of the hoisting path, so that the actual hoisting scene and the scene during the planning of the hoisting path are changed, and the hoisting path becomes unreasonable but cannot be perceived, the surrounding environment of the hoisting path needs to be detected by an additional detection means, so that the risk of collision with an object caused by execution error or due to the fact that the hoisting path is not suitable any more due to the scene change of a construction site is avoided.

The additional detection means adopted by the embodiment is ultrasonic detection, ultrasonic is a sound wave with the frequency higher than 20000Hz (hertz), and the ultrasonic wave has good directivity and strong reflection capability, and is easy to obtain more concentrated sound energy. The specific detection mode is that an ultrasonic transmitter and an ultrasonic receiver are installed on a lifting appliance of the tower crane, and the distance between the lifting appliance and an object existing in the environment is measured by sending an ultrasonic signal, so that whether the lifting path still has applicability under the current environment is judged. The ultrasonic transmitter is an ultrasonic transducer, the ultrasonic transducer can convert electric energy into sound energy and also can convert the sound energy into electric energy, so that ultrasonic signals can be transmitted and received, and the ultrasonic transducer can be a transceiver transducer, such as a piezoelectric transducer.

In addition, the embodiment only utilizes ultrasonic waves to detect the distance between the lifting path and nearby existing objects when the stage transition is carried out, because although the lifting path has hysteresis, the lifting path does not lag for a long time after all, the scene of field construction does not change sharply in a short time, the change of the scene needs to be established on the basis of the existing objects, and the transition position of the stage transition has an association relationship with the existing objects, for example, when the lifting path is planned, because a lifting piece needs to pass through a construction building on one side, the lifting path is planned to be firstly translated to a position close to the side wall of the building from an open environment, then turned to another position and finally translated again, in the process, the lifting path during the stage transition needs to be paid most attention, because the middle part of the lifting path in each stage usually moves at a normal uniform speed and occurs in a scene with an open environment, the collision risk caused by scene change of the lifting appliance is very low, but when the head and tail parts of the lifting stage are in the stage transition part, other scenes with other existing objects exist in the environment possibly, and at the moment, the collision risk caused by the scene change of the lifting appliance is higher due to the fact that the existing objects possibly generate new change, and therefore ultrasonic detection is carried out on the stage transition part.

The spatial distance operation module is used for obtaining the spatial distance between the lifting appliance and the nearby object based on the echo signal received by the ultrasonic receiver installed on the lifting appliance.

The ultrasonic receiver employs the same type of ultrasonic transducer as the ultrasonic transmitter. By calculating the transmission time of the ultrasonic wave and the reception time of the echo, the spatial distance between the spreader and the nearby existing object, for example, the spatial distance between the spreader and the side wall of the building, which is gradually approached by the spreader due to the turning, in the transition state of the transition from the turning stage to the descending stage can be obtained.

And the stage matching operation module is used for obtaining the matching degree between the environment space margin of the lifting appliance in the current lifting stage and the environment space margin of the corresponding stage in the target lifting path according to the space distance.

The environmental space margin refers to the maximum movable space range of the lifting piece. When a lifting path is planned, one of the influencing factors is the environmental space margin of the path, and in the process of moving the lifting piece along the lifting path, the lifting piece may generate deflection motion due to self inertia, that is, the gravity center of the lifting piece and the actuating mechanism relatively move along the acceleration direction, and the lifting piece may also be influenced by air flow to generate deflection motion, that is, the lifting piece may not strictly move according to the lifting path, but has certain distance errors with the path due to the deflection motion, the errors of the actuating mechanism and the like in the moving process, so the environmental space margin is required to accommodate the errors, otherwise, if the lifting path is planned to be tightly attached to the side wall of the building to move, the lifting piece is very easily collided with the building.

Recording is reserved in the system for the environmental space margins at different positions of the path in the lifting path planning process, the spatial distance between the lifting piece and surrounding objects in the current stage transition state of the current lifting stage is used as the current environmental space margin of the lifting piece, the environmental space margin of the lifting piece in the stage transition state of the lifting stage is determined in the recording, and the two environmental space margins are compared to obtain the margin matching degree.

The matching degree of the space margins can be obtained through the difference between the space margins and the real space margin in ultrasonic detection, for example, when a lifting path is planned, the space margin at a certain position is theoretically X1, but when the space margin is actually detected through ultrasonic detection and is reduced to X2 meters, an absolute value of the difference between X1 and X2 is obtained, the absolute value is compared with a preset threshold value, if the absolute value exceeds the threshold value, the change of the space margin is large, the lifting path can be failed, namely, the surrounding environment of the lifting path is different from the expected environment, and the difference is that the lifting path is changed into an error path shielded by an obstacle; and if the real space distance obtained by detection is smaller than the preset distance threshold, the fact that the distance between the lifting piece and the object is very close at the moment is indicated, and collision is possibly caused, therefore, the matching degree can be divided into three grades, in two items that the absolute value exceeds the preset threshold and the real distance is smaller than the distance threshold, if the absolute value does not exceed the preset threshold, the matching degree of the lifting piece and the object is considered to be high, if the absolute value does not exceed the preset threshold, the matching degree of the lifting piece and the object is considered to be low, if the real distance is smaller than the distance threshold, the matching degree of the lifting piece and the object is considered to be medium.

And the path correction alarm module is used for alarming for correcting the lifting path when the matching degree exceeds the matching range.

The margin matching degree can reflect the change degree of the construction scene from the time of planning the lifting path to the time of actual lifting, and the lower the matching degree is, the larger the scene change is. The matching range is used for judging whether the change degree of the construction scene can cause lifting collision accidents, if the change degree of the construction scene does not exceed the matching range, the lifting piece can be influenced only because the error of an actuating mechanism, the deflection of the lifting piece or the change of the construction scene is not enough (the lifting piece is not influenced because the distance is long even if the object is changed), and therefore the lifting can be continuously carried out according to the lifting task and the path; if the matching range is exceeded, the change of the construction scene can obviously influence the lifting (the object is closer to the lifting path, so that some changes can obviously increase the collision risk), or the change of the construction scene does not influence the lifting, but the scene change is overlarge, so that the subsequent lifting path can have the risks of failure and collision. Therefore, an alarm is needed to prompt path modification and even control the executing mechanism to stop running so as to avoid accidents.

When a lifting path is planned, the environmental space margin of the lifting path at the position A is large, the position A is located at a position point in a transition state between two lifting stages in the lifting path, and due to the updating and the change of a construction scene, a row of small reinforcing steel bars are outwards constructed at the top of a building near the position A, so that the space occupation range of objects is enlarged, the spatial distance between a lifting piece and the objects is reduced when the lifting path is actually executed, namely the environmental space margin is reduced.

If the reduction of the environmental space margin is large, but the environmental space margin is still large and the collision risk between the hoisting piece and the existing object is not increased (the existing object becomes an obstacle at the moment), the situation corresponds to high matching degree, and an alarm for hoisting path correction needs to be sent to the system to prompt that the hoisting path has failed.

If the reduction of the environmental space margin already causes the collision risk between the lifting piece and the existing object to rise no matter the size, for example, if the lifting piece generates deflection due to inertia or the deflection is influenced by airflow, collision between the lifting piece and the existing object may occur, or the lifting path fails, the matching degree in the situation corresponds to the matching degree, and an alarm for correcting the lifting path needs to be sent to the system to prompt that the collision risk exists.

If the reduction of the environmental space margin can lead to the judgment that collision accidents necessarily occur between the lifting piece and the existing object even if deflection is not considered (the existing object becomes an obstacle at the moment), the situation corresponds to low matching degree, and the current lifting execution mechanism needs to be controlled to stop the current action and send a lifting path correction alarm to the system at the same time, so that the collision accidents are avoided, and other paths are selected to complete lifting tasks.

The specific judgment about the collision risk between the lifting piece and the existing object and the judgment about whether the collision accident happens inevitably can be carried out by corresponding judgment through the same means as the planning of the lifting path or directly judgment through the space distance calculated by the space distance operation module.

The embodiment identifies the position and the stage of the hoisting part on the hoisting path by monitoring the operation data of the tower crane, obtains the movable space distance range of the hoisting part at the stage of the hoisting path by performing ultrasonic detection at the stage which is easily influenced by scene change, and compares the environment space margin taking the distance range as a main factor with the expected environment space margin when the hoisting path is planned, thereby obtaining the effectiveness and the collision risk of the hoisting path, and sending out failure prompt alarm or collision prompt alarm in a targeted manner, thereby avoiding the collision risk of the hoisting part caused by the implementation hysteresis of the hoisting path due to the environment and scene change near the hoisting path.

In one embodiment, the spatial distance operation module includes: the device comprises a transmitting time acquisition unit, an envelope line generation unit, a peak time acquisition unit, a time difference acquisition unit, a return duration acquisition unit and a spatial distance calculation unit.

The emission time acquisition unit is used for acquiring the sound wave emission time t of the ultrasonic emitter_{Hair-like device}。

The envelope generation unit is configured to generate an upper envelope of the echo signal received by the ultrasonic receiver.

The transmitted ultrasonic wave may adopt any one of a rectangular wave, a triangular wave, a sine wave, and the like as the waveform of the pulse signal, and no matter what waveform is adopted, the received echo signal starts with rising and ends with falling, and the upper side and the lower side of the signal waveform are symmetrical, so that the signal is enveloped at the upper side to obtain a smooth curve, and the shape of the smooth curve is similar to the sine wave.

The peak time acquisition unit is used for identifying one or more maximum values of the envelope curve and further obtaining peak time t corresponding to each maximum value_Peak(s)。

The maximum value is the peak of the smooth curve, if a plurality of objects exist near the lifting piece, a plurality of sections of echo signals exist, the receiving time of each section of echo signal is usually different, so that the echo signals cannot be mixed together, and the peak can be directly identified through the maximum value. Since the position of the maximum is easily identified, the acoustic wave return time is calculated on the basis of the corresponding time instant at the position of the maximum.

The time difference acquisition unit is used for acquiring the time difference t between the rising moment of the echo and the peak moment based on the performance parameters of the ultrasonic transducer_Deflection。

The ultrasonic transmitter and the ultrasonic receiver can both adopt piezoelectric transducers, and the performance parameters of the ultrasonic transmitter and the ultrasonic receiver can comprise a resonance frequency f and the number Np of pulse periods contained in an ascending section in an echo signal, wherein the resonance frequency reflects the resonance performance, and the higher the resonance frequency is, the larger the energy attenuation rate is; the number of pulse periods contained in the rising segment of the echo signal is also a performance parameter of the transducer, which expresses how many pulse signals need to be passed from the time the echo is received to reach the peak, i.e. the peak of the smooth curve. Specifically, the time difference t_DeflectionCan be calculated by the following formula: t is t_Deflection=Np/f。

The return time length obtaining unit is used for obtaining the sound wave return time length t based on the emission time length, the wave crest time length and the time difference_{To and from}。

The sound wave returning time period refers to the time taken from the beginning of the emission of the sound wave by the transmitter to the arrival of the echo at the receiver, and specifically, as shown in fig. 2, the sound wave returning time period t_{To and from}Can be calculated by the following formula: t is t_{To and from}=t_Peak(s)-t_{Hair-like device}-t_Deflection。

The space distance calculating unit is used for obtaining the ambient temperature temp near the tower crane power plant, and obtaining the distance between the tower crane power plant and nearby objects based on the ambient temperature and the sound wave returning time length.

After the return time length is known, the space distance between the lifting piece and the nearby existing object can be calculated according to the time length and the propagation speed of the ultrasonic wave in the air, and specifically, the space distance Dis can be calculated through the following formula: dis =165.725 × t_{To and from}+0.303*t_{To and from}Temp. It can be understood that when a plurality of objects exist near the lifting piece, the ultrasonic waves emitted at the same time can return a plurality of echoes, and the wave crest time t of the echoes is different due to the different distances between the objects and the lifting piece_Peak(s)Different, time difference t_DeflectionThen is different in soundWave return duration t_{To and from}And will be different, so will the final calculated spatial distance.

In one embodiment, the system further includes an existing object type identification module, configured to, after obtaining the spatial distance, analyze the envelope to obtain a feature vector of the envelope, input the feature vector into a classifier for classification, and identify the type of the existing object. Wherein the feature vector comprises a time-frequency feature, a curve feature and an energy feature.

The time-frequency characteristics may include kurtosis coefficients, form coefficients, impulse coefficients, and peak coefficients, which may all be calculated from the underlying time-frequency data. The kurtosis coefficient can be obtained by a quotient of the kurtosis and the fourth power of the root mean square of the envelope amplitude, the waveform coefficient can be obtained by a quotient of the root mean square of the envelope amplitude and the average value, the pulse coefficient can be obtained by a quotient of the peak value and the average value of the envelope amplitude, and the peak coefficient can be obtained by a quotient of the peak value and the root mean square of the envelope amplitude.

The curve characteristics may include a half-peak width, which refers to a width in time between two points where a straight line crosses an envelope when the amplitude is one-half of the peak, a lifting time, which refers to a width in time during which the amplitude rises from 10% to 90% of the peak and a width in time during which the amplitude falls from 90% to 10% of the peak, and a lifting area, which is an area between the envelope taken by a vertical line formed by the lifting time and the X-axis.

The energy characteristics can be obtained by analyzing and extracting through wavelet packet decomposition, empirical mode decomposition or other decomposition modes.

And inputting the time-frequency characteristics, the curve characteristics and the energy characteristics as characteristic vectors into a pre-trained classifier, and identifying the types of the existing objects, such as cement wall surfaces, steel columns and the like.

In addition, when the stage matching operation module obtains the matching degree, the stage matching operation module also obtains the matching degree according to the type of the existing object.

That is to say, the stage matching operation module can calculate the matching degree according to the spatial distance and the type of the existing object, the matching degree expresses whether the matching is carried out on the spatial margin or not and whether the matching is carried out on the environmental change or not, wherein the spatial margin matching part in the matching degree is used for judging the collision risk between the lifting piece and the existing object around, and the environmental change matching part is used for judging whether the effectiveness of the lifting path is changed during planning and during current lifting, because an important factor of the lifting path planning is the type of the surrounding environment object, and the change of the type of the surrounding environment object also indicates that the factor influencing the lifting path planning is changed, the influence on the effectiveness of the lifting path is possibly generated, and the risk of failure and collision of the lifting path in the subsequent process is possibly generated.

In one embodiment, the path modification alarm module includes: the device comprises a sub-stage dividing unit, a matching number recording unit and a matching number judging unit.

The sub-phase dividing unit is used for dividing the corresponding path in the phase transition into a plurality of sub-phases according to the path length.

If the process of performing the phase transition includes a path with a length, the path needs to be divided into a plurality of sub-paths, i.e., sub-phases.

The matching number recording unit is used for acquiring the matching degree of the current ongoing sub-stage, and classifying and recording the matching degree of each sub-stage included in the current ongoing stage transition state according to the pre-divided matching degree category.

And acquiring and judging the matching degree by taking the sub-stage as a unit, and acquiring and judging the matching degree according to the space margin and the type of the existing object. The pre-divided matching degree category is a category for dividing the size of the matching degree, and may be divided into three categories, i.e., a high category, a medium category, and a low category.

Assuming that the current state is in a transition stage, the transition stage comprises 20 sub-stages, the current lifting piece is in the 9 th sub-stage, and the 9 sub-stages are all high matching degrees, and the record numbers of the high, medium and low classes are respectively 9, 0 and 0.

The matching number judging unit is used for judging the number of the recorded matching degrees and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

Different models exceeding the matching range are preset in the system, for example, if the number of records with low matching degree is greater than 0, the matching degree of the whole current stage in stage transition and the corresponding stage of the lifting path is considered to be low matching degree, and the current lifting execution mechanism needs to be controlled to stop the current action and send an alarm for correcting the lifting path to the system at the same time, so that the occurrence of collision accidents is avoided and other paths are selected to complete lifting tasks; assuming that the number of records with low matching degree is 0, the number of records with medium matching degree exceeds 5/Y, and Y is the number of sub-stages, the matching degree of the whole current stage in stage transition and the corresponding stage of the lifting path is the medium matching degree, and an alarm for correcting the lifting path needs to be sent to a system so as to prompt that the risk of collision exists; if the number of records with low matching degree is 0 and the number of records with medium matching degree does not exceed 5/Y, the matching degree of the whole current stage in stage transition and the corresponding stage of the lifting path is high, and an alarm for correcting the lifting path needs to be sent to a system so as to prompt the risk that the lifting path is failed.

In one embodiment, the system further comprises: the device comprises an induction voltage acquisition module, a compensation voltage acquisition module and a compensation current output module.

The induced voltage acquisition module is used for acquiring the induced voltage of an induction coil arranged on a tower crane balance arm.

The tower crane is characterized in that an induction coil can be installed on a balance arm of the tower crane, for example, the induction coil is hung on the lower side of the balance arm and used for inducing induction voltage generated by the influence of a strong magnetic field when the tower crane is close to the construction site, and the induction voltage is acquired by an induction voltage acquisition module.

The compensation voltage acquisition module is used for calculating a theoretical compensation current value of a compensation coil installed on a tower crane boom, and the theoretical current value enables a mutual inductance coefficient generated between the compensation coil and a receptor coil formed by a tower crane and the ground to generate a compensation voltage opposite to the induction voltage on the tower crane.

In order to reduce the interference and noise generated by the induced voltage to the signal transmission of the tower crane, a compensating coil may be installed on the tower crane boom, for example, fixed on the upper side of the boom, for outputting a compensating current to eliminate the induced voltage, and further eliminate the interference and noise generated by the induced voltage. The key point is the numerical calculation of the compensation current I. The compensation current theoretical value I can be specifically calculated by the following formula:

wherein, U_{Feeling of}An induced voltage induced by the induction coil, A_{To be received}Is the area of the receptor coil, A_{Feeling of}Is the area of the induction coil, M_Ganzhui-buqiIs the mutual inductance between the induction coil and the compensation coil, T is the number of turns of the induction coil, M_{Tonification-reception}To compensate for the mutual inductance between the coil and the receptor coil.

And the compensation current output module is used for outputting the current theoretical value to the compensation coil.

After signal sampling, alternating current-direct current conversion, inversion and other operations, the compensation current theoretical value is output to the compensation coil, the compensation coil generates compensation voltage which is opposite in phase and equal in size to the induction voltage on the receptor coil through the compensation current theoretical value, the existence of the induction voltage is offset, and then the interference and the influence on a tower crane control signal are eliminated.

The embodiment of the operation data monitoring and identifying method for the intelligent tower crane disclosed by the application is described in detail below with reference to fig. 3. The present embodiment is a method for implementing the foregoing embodiment of the operation data monitoring and identifying system.

As shown in fig. 3, the method disclosed in this embodiment includes the following steps:

step 100, acquiring operation parameters of a tower crane lifting actuating mechanism, and further identifying a lifting stage and a stage transition state of a lifting piece;

step 200, when the stage transition state is in the stage transition state, controlling an ultrasonic transmitter arranged on a lifting appliance of the tower crane to send out a sound wave signal;

step 300, obtaining the spatial distance between the lifting appliance and an object nearby based on an echo signal received by an ultrasonic receiver installed on the lifting appliance;

step 400, obtaining the matching degree between the environment space margin of the lifting appliance in the current lifting stage and the environment space margin of the corresponding stage in the target lifting path according to the space distance;

and 500, alarming for correcting the lifting path when the matching degree exceeds the matching range.

In one embodiment, the operating parameters include: horizontal movement speed, horizontal movement direction, horizontal movement acceleration, vertical movement speed, vertical movement direction, vertical movement acceleration, rotation speed, rotation direction, and rotation acceleration.

In one embodiment, the phase transition state includes entering a transition, transitioning, and a transition pull-off.

In one embodiment, the obtaining of the spatial distance between the lifting appliance and the nearby existing object based on the echo signal received by the ultrasonic receiver mounted on the lifting appliance includes:

acquiring the sound wave emission time of the ultrasonic emitter;

generating an upper envelope of the echo signal received by the ultrasonic receiver;

identifying one or more maximum values of the envelope line, and further obtaining peak moments corresponding to the maximum values;

obtaining the time difference between the rising moment of the echo and the crest moment based on the performance parameters of the ultrasonic transducer;

obtaining the sound wave returning time length based on the transmitting time, the wave crest time and the time difference;

and acquiring the ambient temperature near the tower crane power plant, and obtaining the distance between the tower crane power plant and a nearby object based on the ambient temperature and the sound wave returning time length.

In one embodiment, after the spatial distance is obtained, analyzing the envelope to obtain a feature vector of the envelope, inputting the feature vector into a classifier for classification, and identifying the type of the existing object;

and when the matching degree is obtained, obtaining the matching degree according to the type of the existing object.

In one embodiment, the warning for the correction of the lifting path when the matching degree exceeds the matching range includes:

dividing the corresponding path in the stage transition into a plurality of sub-stages according to the path length;

acquiring the matching degree of the currently-performed sub-stage, and classifying and recording the matching degree of each sub-stage according to the pre-divided matching degree category;

and judging the number of the recorded matching degrees, and judging that the matching range is exceeded when the number exceeds a matching number threshold value.

In one embodiment, the method further comprises:

acquiring the induction voltage of an induction coil arranged on a tower crane balance arm;

calculating a theoretical current value of a compensating coil arranged on a tower crane boom, wherein the theoretical current value enables a mutual inductance coefficient generated between the compensating coil and a receptor coil formed by a tower crane and the ground to generate compensating voltage opposite to the induced voltage on the tower crane;

and outputting the current theoretical value to the compensation coil.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate their degree of importance, order, and the like.

The division of modules, units or components herein is merely a logical division, and other divisions may be possible in an actual implementation, for example, a plurality of modules and/or units may be combined or integrated in another system. Modules, units, or components described as separate parts may or may not be physically separate. The components displayed as cells may or may not be physical cells, and may be located in a specific place or distributed in grid cells. Therefore, some or all of the units can be selected according to actual needs to implement the scheme of the embodiment.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.