CN107720553B - Tower crane and its assembly control method, control device and storage medium - Google Patents
Tower crane and its assembly control method, control device and storage medium Download PDFInfo
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- CN107720553B CN107720553B CN201711113193.1A CN201711113193A CN107720553B CN 107720553 B CN107720553 B CN 107720553B CN 201711113193 A CN201711113193 A CN 201711113193A CN 107720553 B CN107720553 B CN 107720553B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of tower crane and its assembly control methods, control device and storage medium, it is monitored online for the assembling process to tower crane, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of tower crane of the present invention, control method of the present invention includes: to receive tower crane to be fixed to the multiple location parameters for turning round corresponding position detecting device generation under the original state in installation foundation face；Judge whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold, the first prompt information for prompting the base water Pingdu for stating tower crane whether exceeded is generated according to judging result.The on-line monitoring of the base water Pingdu of tower crane is realized, conducive to the quality monitoring in tower crane assembly work progress, finds the problem early, and be conducive to online monitoring and management, promotes the safety in operation and reliability of subsequent tower crane.
Description
Technical field
The present invention relates to lifting equipment fields, particularly, be related to a kind of tower crane and its assembly control method, control device and
Storage medium.
Background technique
Derrick crane (hereinafter referred to as tower crane) is heavy duty work equipment, and main function is used in industrial or agricultural construction
Vertical material conveying, with the continuous development of modernization construction level, the application demand of tower crane is more and more, but along with peace
Full accident also happens occasionally, and has a lot of tower crane severe and great casualties with personal injury every year.It is former from all accidents
From the point of view of analysis result, tower crane structure is an assignable cause safely.
In the implementation of the present invention, discovery tower crane is related to two more important sides to inventor in assembling process
The factor in face: first, whether the base water Pingdu of tower crane installation meets the requirements, if at the beginning of tower crane installation, base water Pingdu
It does not meet the requirements, then increasing with tower body, the subsequent assembly construction of tower crane certainly will be will lead to and be unable to satisfy the requirement of its verticality,
Significant wastage construction time and cost, and it is easy to cause safety accident；Second, whether the design of tower crane clump weight meets specification,
Existing tower crane clump weight is typically all what building-site poured, due to being limited to the level of execution conditions and construction personnel,
The accuracy of weight is difficult to control, and clump weight kicks the beam or overweight can all use safely to tower crane brings hidden danger.In the prior art,
Inspection to base water Pingdu generally carries out hand test using total station or level meter, and precision is unable to control and unfavorable
In supervision control, for clump weight check also without reliable technological means, therefore design one kind can be realized tower crane building construction
The monitoring scheme checked in the process to the inspection of its base water Pingdu and clump weight, is tower crane industry technical problem urgently to be resolved.
Summary of the invention
It is existing to solve the present invention provides a kind of tower crane and its assembly control method, control device and storage medium
Timely and effective the technology that supervision control is carried out to its base water Pingdu and/or clump weight can not be realized in tower crane assembly work progress
Problem.
The technical solution adopted by the invention is as follows:
According to an aspect of the present invention, a kind of tower crane assembly control method is provided, for the assembling process to tower crane into
Row is monitored online, and the position detecting device for positioning real-time geographical locations information, this hair are equipped on the revolving platform of tower crane
Bright control method includes:
Reception tower crane, which is fixed to, turns round the multiple of corresponding position detecting device generation under the original state in installation foundation face
Location parameter；
Judge whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold, is generated and used according to judging result
In the first whether exceeded prompt information of the base water Pingdu that tower crane is stated in prompt.
Further, control method of the present invention further include:
By receiving multiple location parameters that position detecting device generates in tower crane judge whether the clump weight of tower crane is qualified.
Further, the clump weight of tower crane is judged by receiving multiple location parameters that position detecting device generates in tower crane
Whether qualification includes:
Building using the equipment centre of gyration of tower crane as the theoretical level in the center of circle, position detecting device and the equipment centre of gyration away from
From the horizontal reference circle for radius；
The corresponding first level locus circle of tower crane light condition is constructed, first level locus circle is based under tower crane light condition
The location parameter that position detecting device acquires when revolving one-turn generates；
The corresponding second horizontal trajectory circle of tower crane rated load state is constructed, the second horizontal trajectory physa is in the specified load of tower crane
The location parameter that position detecting device acquires when revolving one-turn under lotus state generates；
Compare the round semidiameter between first level locus circle of horizontal reference and the second horizontal trajectory circle and horizontal reference
Semidiameter between circle generates the second prompt information for prompting the clump weight check result of tower crane according to comparison result.
Further, the second prompt information packet for prompting the clump weight check result of tower crane is generated according to comparison result
It includes:
If the semidiameter between horizontal reference circle and first level locus circle is greater than the second horizontal trajectory circle and horizontal reference
Semidiameter between circle then determines that clump weight is overweight；
If the semidiameter between horizontal reference circle and first level locus circle is less than the second horizontal trajectory circle and horizontal reference
Semidiameter between circle then determines that clump weight kicks the beam.
Further, control method of the present invention further include:
It will be prompted to information and be sent to locally or remotely monitor terminal.
According to another aspect of the present invention, a kind of tower crane assembly control device is also provided, for the assembling process to tower crane
It is monitored online, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of tower crane, this
Invention control device includes:
Receiving unit is fixed under the original state in installation foundation face for receiving tower crane and turns round corresponding position detection dress
Set multiple location parameters of generation；
First judging unit, for judging whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold,
The first prompt information for prompting the base water Pingdu for stating tower crane whether exceeded is generated according to judging result.
Further, control device of the present invention further include:
Second judgment unit, for judging tower crane by receiving multiple location parameters that position detecting device generates in tower crane
Clump weight it is whether qualified.
Further, control device of the present invention further include:
Transmission unit is sent to locally or remotely monitor terminal for will be prompted to information.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein
In program operation, equipment where control storage medium executes control method of the invention.
According to another aspect of the present invention, a kind of tower crane is also provided, is used for including being set on the revolving platform of tower crane
The position detecting device for positioning real-time geographical locations information further includes the processor with position detecting device communication connection, processing
Device executes control method of the invention when running for running program, program.
The invention has the following advantages:
The embodiment of the present invention is fixed under the original state in installation foundation face by reception tower crane and turns round corresponding position inspection
Multiple location parameters that device generates are surveyed, judge whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold,
And then realize the on-line monitoring of the base water Pingdu of tower crane, conducive to the quality monitoring in tower crane assembly work progress, find early
Problem, and it is conducive to online monitoring and management, promote the safety in operation and reliability of subsequent tower crane.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to accompanying drawings, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow diagram of preferred embodiment of the present invention tower crane assembly control method；
Fig. 2 is the schematic illustration that foundation for tower crane levelness detects in the preferred embodiment of the present invention；
Fig. 3 is the flow diagram of preferred embodiment of the present invention tower crane clump weight calibration method；
Fig. 4 is the schematic illustration that tower crane clump weight is calibrated in the preferred embodiment of the present invention；
Fig. 5 is the principle block diagram of preferred embodiment of the present invention tower crane assembly control device；
Fig. 6 is the principle block diagram of second judgment unit in the preferred embodiment of the present invention.
Description of symbols:
100, receiving unit；
200, the first judging unit；
300, second judgment unit；
310, horizontal reference circle building module；
320, first level locus circle constructs module；
330, the second horizontal trajectory circle building module；
340, clump weight calibration module；
400, transmission unit.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Tower crane of the present invention assembles control method, solves traditional cannot achieve in building tower crane assembling process to its basis
The problem that levelness carries out online auto monitoring and can not supervise online.
One embodiment of the present of invention provides a kind of tower crane assembly control method, carries out for the assembling process to tower crane
Position detecting device is arranged on the revolving platform of tower crane in line monitoring, the present embodiment.Preferably, the boom of the present embodiment tower crane
Distal end or Working cart are equipped with the position detecting device for positioning real-time geographical locations information, referring to Fig.1, the present embodiment
Control method includes:
Step S101, reception tower crane, which is fixed under the original state in installation foundation face, turns round corresponding position detecting device life
At multiple location parameters；
Step S102, judges whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold, according to judgement
As a result the first prompt information for prompting the base water Pingdu for stating tower crane whether exceeded is generated.
Referring to fig. 2, under the initial mounting state of tower crane (corresponding tower crane minimum altitude state), i.e., in tower crane installation foundation
Desirable criterion section is installed on face and all parts all connect it is errorless after, can carry out tower crane the equipment centre of gyration and installation water
Plane monitoring-network.If position detecting device is installed on Working cart, Working cart is moved to distalmost end.For moving boom,
In order to guarantee measurement accuracy, dynamic boom is kept to be in initial elevation state, i.e. the angle of boom and horizontal direction is minimum.Start tower
Machine swing mechanism allows tower crane boom to rotate around tower body center, and in rotary course, position detecting device constantly receives current
The geographical location information of longitude and latitude and height connects all positions through data processing equipment after boom is completely rotated by 360 °
The longitude and latitude and height value detected value that detection device receives are set, a closed three-dimensional track G, the three-dimensional track can be formed
G projects to horizontal direction, forms test circle, by simply calculating, can calculate the center of circle O three dimensional space coordinate of the circle, should
The horizontal coordinate of central coordinate of circle is the geographical position coordinates of the equipment centre of gyration of tower crane.Preferably, the height above sea level of center of circle O
It subtracts and just fills foundation for tower crane to the actual height of position detecting device, the as basic height above sea level of tower crane.On three-dimensional track G
The size of the difference of each point height represents the base water Pingdu state of tower crane, difference is bigger, then represents the foundation level of tower crane
It is poorer to spend.Preferably, data processing equipment by comparing each point height on the three-dimensional track difference, and with preset threshold ratio
Compared with, that is, it can determine that whether the base water Pingdu of tower crane overproof problem occurs, once detect that the base water Pingdu of tower crane is discontented
Foot requires, then produces warning information and installed with timely prompting or administrative staff.Data processing equipment in the present embodiment can
Think the processing unit being integrated on the processor of tower crane driver's cabin side, can also be the processing dress being separately set in tower crane
Set, can also be set at remote server with tower crane on position detecting device it is wired or wireless communication connection processing
Device.In the present embodiment, data processing equipment records the equipment centre of gyration of tower crane under the original state of generation, and according to position
The real standard distance for setting the equipment centre of gyration of geographical position coordinates and tower crane that detection device detects, can construct
Horizontal reference justifies R1.At this point, tower body is rigidly big since tower crane height is low, the basic phase of radius of horizontal reference circle R1 and test circle
Together.
Preferably, the present embodiment control method further include:
Step S200 judges the clump weight of tower crane by receiving multiple location parameters that position detecting device generates in tower crane
It is whether qualified.
According to the rule that tower body designs, when light condition, the moment of flexure that the weight of clump weight generates tower body is basic
It is the 50% of nominal operation moment of flexure, is at this time retroverted state, when tower crane lifts by crane nominal operation bending load, tower body should at this time
Hypsokinesis of the tower crane in zero load and lifting nominal operation are determined due to the symmetry of tower crane standard knot in forward-lean state
The elastic deformation amount that the tower body that leans forward when torque generates is essentially identical, that is, under both states, L pairs of tower body axial line
The laterally horizontal degree deviation of bearing surface is consistent.The present embodiment utilizes the design principle, and dexterously acquires and receive position detection
The location parameter that device generates realizes the online check to clump weight.
Referring to Fig. 3, in the present embodiment, tower is judged by receiving multiple location parameters that position detecting device generates in tower crane
Whether qualification includes: the clump weight of machine
Step S201 is constructed using the equipment centre of gyration of tower crane as the center of circle, position detecting device and the equipment centre of gyration
Theoretical level distance is the horizontal reference circle of radius；
In the present embodiment, the building of horizontal reference circle is specifically included:
It receives and generates multiple location parameters when being turned round under tower crane initial mounting state through position detecting device and generate tower crane
The corresponding initial position parameters of the equipment centre of gyration；In the present embodiment, is turned round and surpassed in boom by the driving of tower crane swing mechanism
180 degree is crossed, circumferential locus of points line is formed, the geographical position coordinates longitude and latitude degree of the equipment centre of gyration can be precisely calculated
According to.
Using the horizontal coordinate of initial position parameters as the center of circle, the theoretical level of position detecting device and the equipment centre of gyration away from
Horizontal reference circle is constructed from for radius.Theoretical level distance herein refers to the undeformed corresponding position detection dress of the tower body of tower crane
Set the horizontal distance between the equipment centre of gyration.Specifically it may refer to foregoing description part, this will not be repeated here.
Step S202, the corresponding first level locus circle of building tower crane light condition, first level locus circle are based on tower crane
The location parameter that position detecting device acquires when revolving one-turn under light condition generates；
Step S203, building tower crane rated load state corresponding second horizontal trajectory circle, the second horizontal trajectory physa in
The location parameter that position detecting device acquires when revolving one-turn under tower crane rated load state generates；
Step S204, compare horizontal reference circle first level locus circle between semidiameter and the second horizontal trajectory circle with
Semidiameter between horizontal reference circle generates the second prompt for prompting the clump weight check result of tower crane according to comparison result
Information.
Referring to fig. 4, Fig. 4 respectively illustrates the circle of the horizontal reference in the present embodiment R1, first level locus circle R2, the second water
Flat locus circle R3.Wherein, the construction method of horizontal reference circle R1 is recorded in preceding sections.First level locus circle R2 is tower crane
The idle position track K generated in the unloaded state through position detecting device projection in the horizontal direction generates.Second horizontal rail
Mark circle R3 is the location track projection in the horizontal direction that tower crane generates under rated load state through position detecting device.
Preferably, the second prompt information packet for prompting the clump weight check result of tower crane is generated according to comparison result
It includes:
If the semidiameter between horizontal reference circle R1 and first level locus circle R2 is greater than the second horizontal trajectory circle R3 and water
Semidiameter between flat circle of reference R2 then determines that clump weight is overweight；
If the semidiameter between horizontal reference circle R1 and first level locus circle R2 is less than the second horizontal trajectory circle R3 and water
Semidiameter between flat circle of reference R1 then determines that clump weight kicks the beam.
It will be understood by those skilled in the art that in the ideal situation, first level locus circle R2 and the second horizontal trajectory circle
Semidiameter between R3 and horizontal reference circle R1 is equal, and the variation curvature of circumference is consistent.
In other embodiments, position detecting device can also be arranged on the counter-jib with tower crane, and detection scheme can join
According to previous embodiment, this will not be repeated here.
Preferably, the present embodiment tower crane assembles control method further include:
It will be prompted to information and be sent to locally or remotely monitor terminal.For example, the judgement tower crane base generated through processing unit
The first whether overproof prompt information of plinth levelness and/or judge that whether satisfactory second prompt information of clump weight is sent to
On the display terminal of tower crane driver's cabin side or be sent in the handheld monitor terminal of manager or be sent to scheduling it is indoor
At remotely administered server etc., so as to realize the online and remote monitoring and administration of assembling quality.
In the present embodiment, position detecting device is positioned in real time using GPS receiver device.Preferably, whole in order to improve
The precision of a system monitoring, GPS receiver device are positioned based on real time dynamic differential RTK (Real-time kinematic), can be with
Positioning accuracy is promoted to Centimeter Level.Specifically, in the present embodiment, GPS receiver device includes being set to boom distal end or moving
The benchmark GPS receiver unit for moving the mobile GPS receiving unit on trolley and being fixedly arranged on ground.
In the present embodiment, satellite navigation and location system is made of three parts: Aerospace Satellite constellation, ground monitoring and use
Family equipment, satellite successively send navigator fix signal, by that can generate certain error, ground when atmosphere and ionosphere
Face monitoring system calculates establishment satellite ephemeris according to satellite data, and injects through injection station to each satellite, and satellite ephemeris includes
Two kinds, one is broadcast ephemeris, real-time reception satellite data is only used for reality in this way since error causes precision relatively low
When navigator fix.Another kind is precise ephemeris, and satellite data is calculated through subsequent accurate processing, which only supplies subsequent high-precision
Degree positioning is used, and not can be carried out real-time positioning.In the present embodiment, the principle of RTK technology is two stations of setting, base station (i.e. benchmark
GPS receiver unit), position coordinates with determination fixed on ground are set, then a mobile GPS end is set and (is moved
GPS receiver unit), mobile GPS end can be at stationary state, can also be in motion state；It can first be carried out on fixed point initial
Dynamic job is entered back into after change, can also be directly switched in a dynamic condition, and completes the search of all fuzzinesses in a dynamic environment
It solves.Base station sends its observation and survey station coordinate information to mobile GPS end by data-link together, and mobile GPS end is not
The data from base station are only received by data-link, also to acquire observation data, the accurate and non-accurate number that will be received
According to real-time resolving is carried out, difference observation is formed in system and is handled in real time, data are compared, the reality of position is calculated
Shi Jingdu can achieve the high accuracy positioning of Centimeter Level as a result, lasting less than one second, to realize high-precision fixed in real time
Position, to meet the required precision of tower crane boom distal end or the Working cart positioning for being moved to boom distal end.
According to another aspect of the present invention, a kind of tower crane assembly control device is also provided, for the assembling process to tower crane
It is monitored online, the position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of tower crane.This
Embodiment control device can run the control method of the embodiment of the present invention, and referring to Fig. 5, the present embodiment control device includes:
Receiving unit 100 is fixed under the original state in installation foundation face for receiving tower crane and turns round corresponding position inspection
Survey multiple location parameters that device generates；
First judging unit 200, for judging whether the corresponding height above sea level difference of multiple location parameters exceeds setting threshold
Value generates the first prompt information for prompting the base water Pingdu for stating tower crane whether exceeded according to judging result.
Preferably, the present embodiment control device further include:
Second judgment unit 300, for by receiving multiple location parameters judgement that position detecting device generates in tower crane
Whether the clump weight of tower crane is qualified.
Specifically, in the present embodiment, referring to Fig. 6, the present embodiment second judgment unit 300 includes:
Horizontal reference circle building module 310, for constructing using the equipment centre of gyration of tower crane as the center of circle, position detecting device
Horizontal distance with the equipment centre of gyration is the horizontal reference circle of radius；
First level locus circle constructs module 320, for constructing the corresponding first level locus circle of tower crane light condition, the
The location parameter that position detecting device acquires when one horizontal trajectory physa revolves one-turn under tower crane light condition generates；
Second horizontal trajectory circle building module 330, for constructing corresponding second horizontal trajectory of tower crane rated load state
Circle, the location parameter that position detecting device acquires when the second horizontal trajectory physa revolves one-turn under tower crane rated load state are raw
At；
Clump weight calibration module 340, for comparing the semidiameter and the between horizontal reference circle and first level locus circle
Semidiameter between two horizontal trajectories circle and horizontal reference circle, generates according to comparison result for prompting the clump weight of tower crane to check
As a result the second prompt information.
In the present embodiment, the specific implementation procedure of each unit is referred to above method embodiment, and this will not be repeated here.
Preferably, referring to Fig. 5, the present embodiment control device further include:
Transmission unit 400 is sent to locally or remotely monitor terminal for will be prompted to information.
According to another aspect of the present invention, a kind of storage medium is also provided, storage medium includes the program of storage, wherein
In program operation, equipment where control storage medium executes the control method of the embodiment of the present invention.
According to another aspect of the present invention, a kind of tower crane is also provided, is used for including being set on the revolving platform of tower crane
The position detecting device for positioning real-time geographical locations information further includes the processor with position detecting device communication connection, processing
Device executes the control method of the embodiment of the present invention for running program when program is run.
The embodiment of the present invention is fixed under the original state in installation foundation face by reception tower crane and turns round corresponding position inspection
Multiple location parameters that device generates are surveyed, judge whether the corresponding height above sea level difference of multiple location parameters exceeds given threshold,
And then realize the on-line monitoring of the base water Pingdu of tower crane, conducive to the quality monitoring in tower crane assembly work progress, find early
Problem, and it is conducive to online monitoring and management, promote the safety in operation and reliability of subsequent tower crane.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
If function described in the present embodiment method is realized in the form of SFU software functional unit and as independent product pin
It sells or in use, can store in one or more compute device readable storage medium.Based on this understanding, this hair
The part of bright embodiment the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a storage medium, including some instructions are used so that a calculating equipment (can be a
People's computer, server, mobile computing device or network equipment etc.) execute the whole of each embodiment the method for the present invention
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. is various to can store journey
The medium of sequence code.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of tower crane assembles control method, it is monitored online for the assembling process to tower crane, which is characterized in that the tower
The position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of machine, the control method includes:
It receives the tower crane and is fixed to and turn round what the corresponding position detecting device generated under the original state in installation foundation face
Multiple location parameters；
Judge whether the corresponding height above sea level difference of the multiple location parameter exceeds given threshold, is generated and used according to judging result
In the first whether exceeded prompt information of the base water Pingdu that tower crane is stated in prompt.
2. tower crane according to claim 1 assembles control method, which is characterized in that the control method further include:
The clump weight of the tower crane is judged by receiving multiple location parameters that the position detecting device generates in the tower crane
It is whether qualified.
3. tower crane according to claim 2 assembles control method, which is characterized in that described by receiving institute in the tower crane
The multiple location parameters for stating position detecting device generation judge whether qualification includes: for the clump weight of the tower crane
Building is using the equipment centre of gyration of the tower crane as the center of circle, the reason of the position detecting device and the equipment centre of gyration
By the horizontal reference circle that horizontal distance is radius；
The corresponding first level locus circle of the tower crane light condition is constructed, it is empty that the first level locus circle is based on the tower crane
The location parameter of the position detecting device acquisition generates when revolving one-turn under load state；
The corresponding second horizontal trajectory circle of the tower crane rated load state is constructed, the second horizontal trajectory physa is in the tower
The location parameter of the position detecting device acquisition generates when revolving one-turn under machine rated load state；
Compare semidiameter between horizontal reference circle and the first level locus circle and second horizontal trajectory circle with
Semidiameter between the horizontal reference circle, generates second for prompting the clump weight check result of tower crane according to comparison result
Prompt information.
4. tower crane according to claim 3 assembles control method, which is characterized in that described to be used for according to comparison result generation
The second prompt information of clump weight check result for prompting tower crane includes:
If the semidiameter between horizontal reference circle and the first level locus circle be greater than second horizontal trajectory circle with
Semidiameter between the horizontal reference circle, then determine that the clump weight is overweight；
If the semidiameter between horizontal reference circle and the first level locus circle be less than second horizontal trajectory circle with
Semidiameter between the horizontal reference circle, then determine that the clump weight kicks the beam.
5. tower crane according to any one of claims 1 to 4 assembles control method, which is characterized in that further include:
It will be prompted to information and be sent to locally or remotely monitor terminal.
6. a kind of tower crane assembles control device, it is monitored online for the assembling process to tower crane, which is characterized in that the tower
The position detecting device for positioning real-time geographical locations information is equipped on the revolving platform of machine, the control device includes:
Receiving unit is fixed under the original state in installation foundation face for receiving the tower crane and turns round the corresponding position inspection
Survey multiple location parameters that device generates；
First judging unit, for judging whether the corresponding height above sea level difference of the multiple location parameter exceeds given threshold,
The first prompt information for prompting the base water Pingdu for stating tower crane whether exceeded is generated according to judging result.
7. tower crane according to claim 6 assembles control device, which is characterized in that the control device further include:
Second judgment unit, for by receiving multiple location parameters judgement that the position detecting device generates in the tower crane
Whether the clump weight of the tower crane is qualified.
8. tower crane according to claim 6 assembles control device, which is characterized in that the control device further include:
Transmission unit is sent to locally or remotely monitor terminal for will be prompted to information.
9. a kind of storage medium, the storage medium includes the program of storage, wherein is deposited described in control in described program operation
Equipment perform claim where storage media requires 1 to 5 any control method.
10. a kind of tower crane, which is characterized in that for positioning real-time geographic position on the revolving platform including being set to the tower crane
The position detecting device of confidence breath, further includes the processor with position detecting device communication connection, and the processor is used for
Program is run, described program executes control method as claimed in claim 1 to 5 when running.
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| CN201711113193.1A CN107720553B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its assembly control method, control device and storage medium |
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| CN201711113193.1A CN107720553B (en) | 2017-11-13 | 2017-11-13 | Tower crane and its assembly control method, control device and storage medium |
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| CN110980526A (en) * | 2019-12-09 | 2020-04-10 | 宜昌市创星电子技术发展有限公司 | Intelligent alignment navigation system for tower crane installation |
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