The invention provides an obstacle avoidance early warning method for a tower crane, and relates to the field of tower crane obstacle avoidance. The obstacle avoidance early warning method based on the tower crane comprises the following steps: Step 1, establishing a coordinate system by taking a geometric center of a tower crane support column as a pole and taking a magnetic declination zero line as an OX axis, Step 2, setting a length value of a tower crane support arm by taking a direction which is the same as a gravity direction as an OY axis, and Step 3, mounting a distance sensor on a lifting hook. The geometric center of the tower crane supporting column is used as the original point, errors generated in the measuring process of a cab are avoided, the early warning accuracy is improved, the magnetic declination and the distance sensor are used, correction of obstacles can be achieved in the environment changing process, the early warning accuracy is improved, and the safety of a cab is improved. And a barometer, an angular velocity sensor, an angular acceleration sensor and an acceleration sensor are arranged, so that a hoisted object is prevented from swinging greatly, and meanwhile, the position and the motion state of the object can be monitored in real time.
本发明提供塔吊起重机的避障预警方法,涉及吊塔避障领域。该基于塔吊起重机的避障预警方法,包括以下步骤:Step1.以塔吊支撑柱的几何中心为极点,以磁偏角零度线为OX轴建立坐标系,Step2.以与重力方向相同的方向为OY轴,并设置塔吊支臂的长度的值,Step3.在吊钩上安装距离传感器。利用塔吊支撑柱的几何中心为原点,避免驾驶室在测量的过程中产生误差,增加预警的准确性,利用磁偏角与距离传感器,可以实现在环境变化的过程中可以满足对障碍物的修正,增加预警的精确性,设置的气压计、角速度、角加速度传感器与加速度传感器,避免被吊装的物品出现较大幅度的摆动,同时对物品的位置,以及运动状态可以进行实时的监测。
Obstacle avoidance early warning method for tower crane
塔吊起重机的避障预警方法
2022-06-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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