The invention provides a tower group tower arm collision early warning method and system. The method comprises the following steps: acquiring a first tower crane position coordinate and a tower arm length; when the first tower crane controls to rotate a tower arm, receiving a rotation angle sent by a rotation sensor, calculating a line segment coordinate corresponding to the current tower arm of the first tower crane based on the position coordinate of the first tower crane, the length of the tower arm and the rotation angle, and broadcasting the line segment coordinate of the tower arm of the first tower crane to surrounding tower cranes; a second tower crane around the first tower crane calculates line segment coordinates corresponding to the tower arm at different rotation angles, and whether the first tower crane and the second tower crane collide or not is judged by calling a collision detection algorithm based on the line segments of the first tower crane and the second tower crane; wherein the collision detection algorithm comprises a rapid rejection experiment and a straddling experiment; and when it is judged that the second tower crane collides with the first tower crane and the rotation angle of the second tower arm reaches the early warning angle, early warning is conducted on the second tower crane. According to the scheme, tower crane collision early warning can be achieved, and the early warning cost is low.
本发明提供一种塔群塔臂碰撞预警方法及系统,该方法包括:获取第一塔机位置坐标和塔臂长度;当第一塔机控制转动塔臂时,接收回转传感器发送的回转角度,基于第一塔机位置坐标、塔臂长度和回转角度计算当前第一塔机塔臂对应的线段坐标,并将第一塔机塔臂的线段坐标广播至周围塔机;第一塔机周围的第二塔机在不同回转角度下计算塔臂对应的线段坐标,基于第一塔机和第二塔机的线段,通过调用碰撞检测算法判断第一塔机与第二塔机是否会发生碰撞;其中,所述碰撞检测算法中包括快速排斥实验和跨立实验;当判定第二塔机与第一塔机会发生碰撞且第二塔臂的回转角度达到预警角度,则对第二塔机进行预警。通过该方案可以实现塔机碰撞预警,且预警成本低。
Tower group tower arm collision early warning method and system
一种塔群塔臂碰撞预警方法及系统
2024-06-14
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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