The invention discloses a tower crane group tower operation anti-collision method. The method comprises the following steps that parameters of tower cranes are set, the tower cranes of the tower crane group are divided into self tower cranes and associated tower cranes during setting, and the parameters of the self tower cranes and the associated tower cranes are set; then anti-collision data are calculated, an origin coordinate system, a low-position tower crane coordinate system and a high-position tower crane coordinate system are established, coordinate transformation is carried out among the three coordinate systems through a homogeneous coordinate transformation method to obtain the anti-collision data, the vertical distance d1 between a high-position tower crane trolley and the x axis in the low-position tower crane coordinate system and the distance d2 between the high-position tower crane trolley and the origin of the low-position tower crane coordinate system; and finally, the anti-collision data d1 and d2 are judged through an anti-collision MCU, the working conditions of the two tower cranes are combined, anti-collision adjustment is conducted through a linkage table, d1 is made to be larger than half of the width of a tower arm of the low-position tower crane, and anti-collision control is achieved. The method not only can avoid collision during tower crane group tower operation, but also has the advantages of good construction safety and convenience in operation.
本发明公开了一种塔机群塔作业防碰撞方法,该方法先进行塔机参数设置,在设置时将塔机群塔分为自身塔机和关联塔机,对自身塔机和关联塔机分别进行参数设置;然后计算防碰撞数据,建立原点坐标系、低位塔机坐标系和高位塔机坐标系,通过齐次坐标变换方法在三个坐标系之间进行坐标变换来求获得防碰撞数据,高位塔机小车与低位塔机坐标系中x轴的垂直距离d1,高位塔机小车与低位塔机坐标系原点的距离d2;最后通过防碰撞MCU对防碰撞数据d1和d2进行判断,并结合两个塔机的工况,通过联动台进行防碰撞调节,使d1大于低位塔机塔臂宽度的一半,实现防碰撞控制。本发明不仅能够避免塔机群塔作业时发生碰撞,还具有施工安全性好和操作方便的优点。
Tower crane group tower operation anti-collision method
一种塔机群塔作业防碰撞方法
2021-05-14
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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