阅读说明：本技术 一种装配式建筑施工塔吊辅助驾驶系统 (Auxiliary driving system for assembly type building construction tower crane ) 是由 周大兴 王庆彬 孙玉龙 康伟德 李胤 曾帅康 董磊 张红伟 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种装配式建筑施工塔吊辅助驾驶系统,包括吊钩定位设备、构件定位设备、移动端操作设备、数据处理中心、控制模块、智能检测设备、无线网络模块。本发明的有益效果是：该智能塔吊系统无需信号工指挥,在移动端操作设备上给出吊装指令后,系统可自动运行,完成吊装工作,不仅可以减少吊装作业的人工,且通过系统自动驱使塔吊运行,减少人工操作,降低了安全隐患；由系统计算塔吊的行驶路线,提高了塔吊运行的效率。(The invention discloses an auxiliary driving system of an assembly type building construction tower crane, which comprises a lifting hook positioning device, a component positioning device, a mobile terminal operating device, a data processing center, a control module, an intelligent detection device and a wireless network module. The invention has the beneficial effects that: the intelligent tower crane system does not need command of a signal worker, and can automatically operate after a hoisting instruction is given on the mobile end operation equipment to complete hoisting work, so that not only can the manpower of hoisting work be reduced, but also the tower crane is automatically driven to operate through the system, the manual operation is reduced, and the potential safety hazard is reduced; the running route of the tower crane is calculated by the system, so that the running efficiency of the tower crane is improved.)

1. The utility model provides an assembly type structure construction tower crane auxiliary driving system which characterized in that: comprises that

The lifting hook positioning device is fixed on a lifting appliance under a tower crane lifting hook by adopting a satellite positioning device of an RTK measuring instrument high-precision GNSS receiver, continuously receives coordinate data of the position of the lifting hook, represents the coordinate of the tower crane lifting hook, and transmits the coordinate data to a data processing center in real time through network transmission;

a component positioning device that receives position coordinates of the satellite positioning device, which are storage coordinates representing the component; checking coordinates received by satellite positioning equipment such as an RTK measuring instrument high-precision GNSS receiver in real time through mobile terminal operation equipment, and transmitting the coordinate data to a data processing center;

the mobile terminal operation equipment can be mobile phones, flat panels and other equipment, mobile terminal software is developed, and the software can send and receive data through a network and can send hoisting and positioning instructions to a data processing center;

the data processing center is constructed by a server and comprises a database, system software and a data processing module, wherein the database is used for storing data operated by a system and calculating and processing the data;

the control module is connected with the data control center and an operation system in the tower crane, receives data transmitted by the data processing center and drives the tower crane to run according to the data;

the intelligent detection equipment is used for sending a stop instruction to the data processing center when detecting factors influencing the safe operation of the tower crane;

and the wireless network module provides a network environment for the operation of the whole system through the base station AP and the antenna.

2. The assembly type building construction tower crane auxiliary driving system according to claim 1, characterized in that: the data processing center utilizes a SocketServer development data receiving system to receive coordinate data of a tower crane hook and storage coordinate data of a member to be hoisted, installation coordinate data of the member is imported through a BIM technology, and when an instruction sent by mobile terminal operation equipment is received, if hoisting is carried out, the traveling direction of the tower crane is calculated according to the storage coordinate Xa of the member to be hoisted and the coordinate Xb of the current tower crane hook, and the starting time of member hoisting operation is recorded;

the calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle alpha between a connecting line XbO and a connecting line XaO,

if alpha is greater than 0 and alpha is less than 180, determining that the tower crane large arm runs to the left,

if alpha <0 and alpha > -180, determining that the tower crane large arm travels to the right,

until alpha is 0, the tower crane hook and the member to be hung are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Da of the XaO connecting line,

if Db is less than Da, the trolley is driven forwards;

if Db is larger than Da, the trolley is driven backwards;

until Db is Da, the horizontal positions of the tower crane hook and the member to be hung are superposed;

calculating the height difference H1 between the lifting hook and the component to be lifted;

thirdly, if H1> the designed hoisting height value H0, the hook falls downwards,

and H1 is the designed hoisting height H0, which indicates that the hook is in place and the spotter can carry out the hooking operation.

3. The assembly type building construction tower crane auxiliary driving system according to claim 1, characterized in that: the data processing center sends an in-place instruction through the mobile end operation equipment after the hook operation is finished, calculates the traveling direction of the tower crane according to the installation coordinate Xc of the member to be hung and the coordinate Xb of the current tower crane hook after receiving the in-place instruction sent by the mobile end operation equipment,

the calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle beta between a connecting line XbO and a connecting line XcO,

if beta is greater than 0 and beta is less than 180, determining that the tower crane large arm drives to the left,

if beta <0 and beta > -180, determining that the tower crane large arm travels to the right,

until beta is 0, the tower crane hook and the member installation position are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Dc of the XcO connecting line,

if Db is less than Dc, the trolley is driven forwards;

if Db > Dc, the vehicle is driven backwards;

until Db is equal to Dc, the horizontal projection of the tower crane lifting hook and the member installation position is superposed;

calculating the height difference H2 between the lifting hook and the component to be lifted;

thirdly, if H2> the designed height H0, the hook is dropped downwards,

until H2 becomes the design value of installation height H0, which indicates that the component is hoisted to the installation position, the worker can install and unhook the component;

and after the hook is detached, the tower crane hook leaves the member mounting position, the completion time of member hoisting operation is recorded, and the member hoisting duration is calculated according to the start time and the completion time.

4. The fabricated building construction tower crane auxiliary driving system according to claim 2 or 3, characterized in that: the data processing center calculates the traveling track of the tower crane by using the coordinate data and other related parameters, and the traveling direction is displayed on a screen of a cockpit of a tower crane driver for the tower crane driver to refer to; and meanwhile, the driving data is transmitted to the control module.

5. The assembly type building construction tower crane auxiliary driving system according to claim 1, characterized in that: the detection items of the intelligent detection equipment comprise: collision avoidance detection, fault detection, overload detection, and over-torque detection.

6. The operation method of the auxiliary driving system of the fabricated building construction tower crane based on the claim 1 is characterized in that: the operation method comprises the following steps:

(1) transmitting the installation coordinates of the component to a data processing center through a BIM technology;

(2) transmitting the storage coordinates of the member to a data processing center through member positioning equipment and mobile terminal operation equipment;

(3) starting a hoisting instruction to a data processing center through mobile terminal operation equipment;

(4) and calculating the running track of the tower crane according to the instruction, the storage coordinate and the installation coordinate of the member, the coordinate of the tower crane hook and other related parameters, and displaying the running direction on a screen of a tower crane driver cockpit for the reference of a tower crane driver. And meanwhile, the driving data is transmitted to the control module.

(5) And a tower crane driver drives the tower crane according to the prompt or drives the tower crane to run by the control module to finish the hoisting.

Technical Field

The invention relates to an auxiliary driving system for a tower crane, in particular to an auxiliary driving system for an assembly type building construction tower crane, and belongs to the technical field of building construction tower crane driving.

Background

Present tower crane hoist and mount component needs 1 tower crane driver and 2 signal workers to cooperate and accomplish, command the tower crane driver operation by the signal worker, because the problem of visual angle, the signal worker hardly commands the tower crane driver once only to drive the tower crane lifting hook to appointed position, need to relapse the swing arm, the dolly that traveles just can stop the lifting hook directly over treating hanging the component, not only increased the manual work of hoist and mount operation, also make the efficiency of hoist and mount operation reduce simultaneously, in addition because need a large amount of manual works to operate, also can have certain potential safety hazard.

Based on this, this application provides an assembly type construction tower crane auxiliary driving system.

Disclosure of Invention

The invention aims to provide an auxiliary driving system of an assembly type building construction tower crane for solving the problems.

The invention realizes the purpose through the following technical scheme: an auxiliary driving system of an assembly type building construction tower crane comprises a lifting hook positioning device, a component positioning device, a mobile terminal operation device, a data processing center, a control module, an intelligent detection device and a wireless network module;

the lifting hook positioning equipment adopts a satellite positioning equipment of a high-precision GNSS receiver of an RTK measuring instrument to be fixed on a lifting appliance under a tower crane lifting hook, continuously receives coordinate data of the position where the satellite positioning equipment is located, the coordinate represents the coordinate of the tower crane lifting hook, and transmits the coordinate data to a data processing center in real time through network transmission;

the component positioning equipment receives position coordinates of the satellite positioning equipment, wherein the coordinates represent storage coordinates of the component; checking coordinates received by satellite positioning equipment such as an RTK measuring instrument high-precision GNSS receiver in real time through mobile terminal operation equipment, and transmitting the coordinate data to a data processing center;

the mobile terminal operating equipment can be mobile phones, flat panels and other equipment, mobile terminal software is developed, and the software can send and receive data through a network and can send hoisting and positioning instructions to a data processing center;

the data processing center is constructed by a server and comprises a database, a system software and a data processing module, wherein the database is used for storing data operated by the system and calculating and processing the data;

the control module is connected with the data control center and an operation system in the tower crane, receives data transmitted by the data processing center and drives the tower crane to run according to the data;

the intelligent detection equipment is used for sending a stop instruction to the data processing center when detecting factors influencing the safe operation of the tower crane;

the wireless network module provides a network environment for the operation of the whole system through the base station AP and the antenna.

As a still further scheme of the invention: the data processing center utilizes a SocketServer development data receiving system to receive coordinate data of a tower crane hook and storage coordinate data of a member to be hoisted, installation coordinate data of the member is imported through a BIM technology, and when an instruction sent by mobile terminal operation equipment is received, if hoisting is carried out, the traveling direction of the tower crane is calculated according to the storage coordinate Xa of the member to be hoisted and the coordinate Xb of the current tower crane hook, and starting time of member hoisting operation is recorded.

The calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle alpha between a connecting line XbO and a connecting line XaO,

if alpha is greater than 0 and alpha is less than 180, determining that the tower crane large arm runs to the left,

if alpha <0 and alpha > -180, determining that the tower crane large arm travels to the right,

until alpha is 0, the tower crane hook and the member to be hung are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Da of the XaO connecting line,

if Db is less than Da, the trolley is driven forwards;

if Db is larger than Da, the trolley is driven backwards;

until Db is Da, the horizontal positions of the tower crane hook and the member to be hung are superposed;

calculating the height difference H1 between the lifting hook and the component to be lifted;

thirdly, if H1> the designed hoisting height value H0, the hook falls downwards,

and H1 is the designed hoisting height H0, which indicates that the hook is in place and the spotter can carry out the hooking operation.

As a still further scheme of the invention: the data processing center sends an in-place instruction through the mobile end operation equipment after the hook operation is finished, calculates the traveling direction of the tower crane according to the installation coordinate Xc of the member to be hung and the coordinate Xb of the current tower crane hook after receiving the in-place instruction sent by the mobile end operation equipment,

the calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle beta between a connecting line XbO and a connecting line XcO,

if beta is greater than 0 and beta is less than 180, determining that the tower crane large arm drives to the left,

if beta <0 and beta > -180, determining that the tower crane large arm travels to the right,

until beta is 0, the tower crane hook and the member installation position are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Dc of the XcO connecting line,

if Db is less than Dc, the trolley is driven forwards;

if Db > Dc, the vehicle is driven backwards;

until Db is equal to Dc, the horizontal projection of the tower crane lifting hook and the member installation position is superposed;

calculating the height difference H2 between the lifting hook and the component to be lifted;

thirdly, if H2> the designed height H0, the hook is dropped downwards,

until H2 becomes the design value of installation height H0, which indicates that the component is hoisted to the installation position, the worker can install and unhook the component;

and after the hook is detached, the tower crane hook leaves the member mounting position, the completion time of member hoisting operation is recorded, and the member hoisting duration is calculated according to the start time and the completion time.

As a still further scheme of the invention: the data processing center calculates the traveling track of the tower crane by using the coordinate data and other related parameters, and the traveling direction is displayed on a screen of a cockpit of a tower crane driver for the tower crane driver to refer to; and meanwhile, the driving data is transmitted to the control module.

As a still further scheme of the invention: the detection items of the intelligent detection equipment comprise: collision avoidance detection, fault detection, overload detection, and over-torque detection.

The utility model provides an assembly type structure construction tower crane auxiliary driving system which characterized in that: the operation method comprises the following steps:

(1) transmitting the installation coordinates of the component to a data processing center through a BIM technology;

(2) transmitting the storage coordinates of the member to a data processing center through member positioning equipment and mobile terminal operation equipment;

(3) starting a hoisting instruction to a data processing center through mobile terminal operation equipment;

(4) and calculating the running track of the tower crane according to the instruction, the storage coordinate and the installation coordinate of the member, the coordinate of the tower crane hook and other related parameters, and displaying the running direction on a screen of a tower crane driver cockpit for the reference of a tower crane driver. And meanwhile, the driving data is transmitted to the control module.

(5) And a tower crane driver drives the tower crane according to the prompt or drives the tower crane to run by the control module to finish the hoisting.

The invention has the beneficial effects that: the auxiliary driving system of the fabricated building construction tower crane is reasonable in design, the intelligent tower crane system does not need command of a signal worker, and can automatically operate after a hoisting instruction is given on the mobile end operation equipment, so that the hoisting work is completed, the labor of the hoisting operation can be reduced, the tower crane is automatically driven to operate through the system, the manual operation is reduced, and the potential safety hazard is reduced; the running route of the tower crane is calculated by the system, so that the running efficiency of the tower crane is improved.

Drawings

FIG. 1 is a schematic flow chart of the system of the present invention;

FIG. 2 is a schematic diagram of the framework structure of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-2, an auxiliary driving system for an assembly type building construction tower crane includes a hook positioning device, a member positioning device, a mobile terminal operating device, a data processing center, a control module, an intelligent detection device and a wireless network module;

the lifting hook positioning equipment adopts a satellite positioning equipment of a high-precision GNSS receiver of an RTK measuring instrument to be fixed on a lifting appliance under a tower crane lifting hook, continuously receives coordinate data of the position where the satellite positioning equipment is located, the coordinate represents the coordinate of the tower crane lifting hook, and transmits the coordinate data to a data processing center in real time through network transmission;

the component positioning equipment receives position coordinates of the satellite positioning equipment, wherein the coordinates represent storage coordinates of the component; checking coordinates received by satellite positioning equipment such as an RTK measuring instrument high-precision GNSS receiver in real time through mobile terminal operation equipment, and transmitting the coordinate data to a data processing center;

the mobile terminal operating equipment can be mobile phones, flat panels and other equipment, mobile terminal software is developed, and the software can send and receive data through a network and can send hoisting and positioning instructions to a data processing center;

the data processing center is constructed by a server and comprises a database, a system software and a data processing module, wherein the database is used for storing data operated by the system and calculating and processing the data;

the control module is connected with the data control center and an operation system in the tower crane, receives data transmitted by the data processing center and drives the tower crane to run according to the data;

the intelligent detection equipment is used for sending a stop instruction to the data processing center when detecting factors influencing the safe operation of the tower crane;

the wireless network module provides a network environment for the operation of the whole system through the base station AP and the antenna.

In the embodiment of the invention, the data processing center utilizes a SocketServer development data receiving system to receive coordinate data of a tower crane hook and storage coordinate data of a member to be hoisted, installation coordinate data of the member is imported through a BIM technology, and when an instruction sent by mobile terminal operation equipment is received, if hoisting is carried out, the traveling direction of the tower crane is calculated according to the storage coordinate Xa of the member to be hoisted and the current coordinate Xb of the tower crane hook, and the starting time of hoisting operation of the member is recorded.

The calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle alpha between a connecting line XbO and a connecting line XaO,

if alpha is greater than 0 and alpha is less than 180, determining that the tower crane large arm runs to the left,

if alpha <0 and alpha > -180, determining that the tower crane large arm travels to the right,

until alpha is 0, the tower crane hook and the member to be hung are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Da of the XaO connecting line,

if Db is less than Da, the trolley is driven forwards;

if Db is larger than Da, the trolley is driven backwards;

until Db is Da, the horizontal positions of the tower crane hook and the member to be hung are superposed;

calculating the height difference H1 between the lifting hook and the component to be lifted;

thirdly, if H1> the designed hoisting height value H0, the hook falls downwards,

and H1 is the designed hoisting height H0, which indicates that the hook is in place and the spotter can carry out the hooking operation.

Further, in the embodiment of the present invention, after the hooking operation is finished, the data processing center sends the positioning instruction through the mobile terminal operating device, and after receiving the positioning instruction sent by the mobile terminal operating device, calculates the traveling direction of the tower crane according to the installation coordinate Xc of the member to be lifted and the current coordinate Xb of the tower crane hook,

the calculation method is as follows: taking the origin of the tower crane as the center of a circle O,

firstly, calculating a horizontal included angle beta between a connecting line XbO and a connecting line XcO,

if beta is greater than 0 and beta is less than 180, determining that the tower crane large arm drives to the left,

if beta <0 and beta > -180, determining that the tower crane large arm travels to the right,

until beta is 0, the tower crane hook and the member installation position are in the same direction;

secondly, calculating the length Db of the XbO connecting line and the horizontal projection length Dc of the XcO connecting line,

if Db is less than Dc, the trolley is driven forwards;

if Db > Dc, the vehicle is driven backwards;

until Db is equal to Dc, the horizontal projection of the tower crane lifting hook and the member installation position is superposed;

calculating the height difference H2 between the lifting hook and the component to be lifted;

thirdly, if H2> the designed height H0, the hook is dropped downwards,

until H2 becomes the design value of installation height H0, which indicates that the component is hoisted to the installation position, the worker can install and unhook the component;

and after the hook is detached, the tower crane hook leaves the member mounting position, the completion time of member hoisting operation is recorded, and the member hoisting duration is calculated according to the start time and the completion time.

Further, in the embodiment of the invention, the data processing center calculates the traveling track of the tower crane by using the coordinate data and other related parameters, and displays the traveling direction on a screen of a cockpit of a tower crane driver for reference by the tower crane driver; and meanwhile, the driving data is transmitted to the control module.

Further, in the embodiment of the present invention, the items detected by the intelligent detection device include: collision avoidance detection, fault detection, overload detection, and over-torque detection.

Example two

An operation method of an auxiliary driving system of an assembly type building construction tower crane comprises the following steps:

(1) transmitting the installation coordinates of the component to a data processing center through a BIM technology;

(2) transmitting the storage coordinates of the member to a data processing center through member positioning equipment and mobile terminal operation equipment;

(3) starting a hoisting instruction to a data processing center through mobile terminal operation equipment;

(4) and calculating the running track of the tower crane according to the instruction, the storage coordinate and the installation coordinate of the member, the coordinate of the tower crane hook and other related parameters, and displaying the running direction on a screen of a tower crane driver cockpit for the reference of a tower crane driver. And meanwhile, the driving data is transmitted to the control module.

(5) And a tower crane driver drives the tower crane according to the prompt or drives the tower crane to run by the control module to finish the hoisting.

The working principle is as follows: when the auxiliary driving system of the prefabricated building construction tower crane is used, the tower crane is driven to run through the storage coordinates and the installation coordinates of the member, the coordinates of the tower crane hook and the relationship among the storage coordinates and the installation coordinates of the member, and the coordinates of the tower crane hook are automatically calculated by the system, so that the coordinates of the tower crane hook respectively reach the storage coordinates and the installation coordinates of the member.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.