A safety warning method and system for construction machinery based on cloud-based RTK technology

Abstract

A construction machinery safety early warning method based on cloud-based RTK technology includes: establishing a cloud-based RTK server; setting up an RTK base station to obtain the base station's accurate coordinate position; generating and recording geodetic coordinate points of the construction area boundary and the hazardous area boundary; providing the recorded construction area boundary coordinate point data and hazardous area boundary coordinate point data to a visualization system within a safety monitoring room; calculating the real-time coordinate points of all construction machinery within the construction area at time t; providing the real-time coordinate point data of all construction machinery within the construction area to the visualization system within the safety monitoring room and displaying it on its large screen; performing real-time coordinate point distance measurement in the cloud-based RTK server; and sending a command from the cloud-based RTK server to an alarm on construction machinery r to sound an alarm, and simultaneously sending a command to the visualization system. Also included is a system for implementing the construction machinery safety early warning method based on cloud-based RTK technology.

Description

Technical Field

[0001] The present invention relates to a safety early warning method and system for engineering machinery based on cloud-based RTK technology, belonging to the technical field of safe production. Background Art

[0002] In recent years, with the development of information technology and the need for safe operations, new equipment and technologies have been continuously introduced into the field of safe production. During the construction process, it is necessary to determine the boundaries of the construction area and the boundaries of the danger zone, and to locate the construction machinery in real time to prevent it from straying from the construction area or approaching the danger zone, ensuring a safe and efficient construction process.

[0003] Typically, prominent road signs are set up at the boundaries of construction areas and hazardous areas, allowing construction machinery drivers or on-site safety supervisors to visually determine whether machinery has crossed the construction area or is approaching a hazardous area. However, this method has drawbacks such as blind spots and inaccurate human judgment.

[0004] RTK (Real-time kinematic) technology is a highly accurate differential GNSS positioning method currently used in surveying, mapping, navigation, and other fields. RTK positioning can achieve centimeter-level accuracy, effectively meeting the safety and early warning needs of construction machinery. However, currently available RTK rover positioning modules (consisting of a GNSS chip, RTK solution module, and communication module) generally cost thousands of yuan. A significant portion of this cost comes from RTK solution module and algorithm surcharges. Equipping each piece of construction machinery within a construction area with an RTK rover positioning module with independent solution capabilities is prohibitively expensive.

[0005] Using the traditional RTK positioning method, the position information output by the RTK mobile station positioning module on each construction machinery is independent of each other, which is not conducive to the overall monitoring of the construction machinery in the construction area. Summary of the Invention

[0006] The present invention aims to overcome the above-mentioned shortcomings of the prior art and provide a construction machinery safety warning method based on cloud-based RTK technology. It adopts a low-cost RTK mobile station without a solution module and combines it with cloud-based RTK technology to improve the reliability of construction machinery safety warnings in construction areas.

[0007] The present invention also provides a system for implementing the above-mentioned engineering machinery safety method based on cloud-based RTK technology.

[0008] The engineering machinery safety early warning method based on cloud-based RTK technology proposed in the present invention includes the following steps:

[0009] Step S1, deploying RTK algorithm and coordinate point ranging algorithm to the cloud server to form a cloud solution server;

[0010] Step S2: Select a location with good satellite signal within the construction area to set up an RTK base station. Obtain the accurate coordinates of the base station through long-term static precise point positioning (PPP). Start the base station, obtain the RTCM observation data required for RTK solution in real time, and upload it to the cloud solution server.

[0011] Step S3: Before the construction machinery starts working, the drone equipped with the RTK mobile station is controlled to fly over the construction area boundary and the dangerous area boundary, record the observation data of the construction area boundary and the dangerous area boundary and upload them to the cloud solution server. The cloud solution server performs RTK differential analysis to generate and record the geodetic coordinate points of the construction area boundary. Geodetic coordinate points of the boundary of the danger zone

[0012] Step S4: The cloud solution server provides the recorded construction area boundary coordinate point data and the dangerous area boundary coordinate point data to the visualization system in the safety monitoring room and displays it on its large screen;

[0013] Step S5: Deploy RTK mobile stations to all construction machinery in the construction area. After the construction machinery starts working, the mobile stations acquire observation data in real time and upload it to the cloud solution server. The cloud solution server performs continuous RTK differential analysis based on the base station observation data obtained in step S2 and the mobile station observation data obtained in this step, and calculates the real-time coordinates of all construction machinery in the construction area at time t.

[0014] Step S6: The cloud computing server provides the real-time coordinate data of all construction machinery in the construction area to the visualization system in the security monitoring room and displays it on its large screen. When the construction machinery is in a safe position, it is displayed as a green dot;

[0015] Step S7: performing real-time coordinate point ranging in the cloud solution server based on the construction area boundary coordinate points and the dangerous area boundary coordinate points obtained in step S3 and the real-time coordinate point coordinate data of the construction machinery obtained in step S5;

[0016] Step S8: When the coordinate point of a certain construction machine r at time t All coordinate points that border the construction area When the minimum value A of the spacing is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing orange dot, reminding the driver and the safety officer in the safety monitoring room that the construction machine r is at risk of crossing the construction area. All coordinate points on the border of the danger zone When the minimum distance B is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing red dot, reminding the driver and the safety officer in the safety monitoring room that there is a risk that the construction machine r is approaching the dangerous area.

[0017] The cloud solution server described in step S1 is characterized in that it can run multiple sets of RTK algorithms and coordinate point ranging algorithms at the same time to meet the needs of all engineering machinery on the construction site.

[0018] The RTK rover described in steps S3 and S4 is characterized in that it only includes a GNSS chip and a communication module, and does not include an RTK solution module, which significantly reduces the cost.

[0019] Preferably, in step S3, when using a drone carrying an RTK mobile station to collect coordinate points of the construction area boundary and the danger zone boundary, the sampling frequency is 10 Hz, and the drone speed is controlled below 0.1 m / s to ensure that the sampling point spacing is within 1 cm.

[0020] As an example, the coordinate point of the engineering machine r in step S8 is All coordinate points on the construction area boundary When the minimum spacing is less than 1.5 times the maximum distance from the phase center of the RTK mobile station satellite antenna to the construction machinery, the cloud server sends an alarm command to the alarm on the construction machinery and the visualization system in the security monitoring room.

[0021] As an example, the coordinate point of the engineering machine r in step S8 is All coordinate points on the border of the danger zone When the minimum distance is less than twice the maximum distance from the phase center of the RTK mobile station satellite antenna to the construction machinery, the cloud server sends an alarm command to the alarm on the construction machinery and the visualization system in the security monitoring room.

[0022] In step S8, the cloud solution server gives higher priority to the boundary of the dangerous area than the construction boundary when making a danger judgment. That is, if the distance between the construction machine r and the boundary of the construction area and the boundary of the dangerous area is lower than the minimum allowable value at the same time, the cloud solution server sends an alarm instruction of approaching the dangerous area to the alarm on the construction machine r and the visualization system in the safety monitoring room.

[0023] The calculation formulas for the minimum value A of the distance between the coordinate point of the engineering machine r and all coordinate points of the construction area boundary and the minimum value B of the distance between the coordinate point of the engineering machine r and all coordinate points of the danger area boundary described in step S8 are as follows:

[0024]

[0025]

[0026] The system of the present invention, which utilizes the engineering machinery safety early warning method based on cloud-based RTK technology, includes a cloud-based server, an RTK base station, several RTK rovers, an unmanned aerial vehicle (UAV), a visualization system, several alarms, and communication links between the cloud-based server, the RTK base station, the RTK rovers, the alarms, and the visualization system. The cloud-based server is used for RTK solution, coordinate point distance calculation, and hazard assessment. The RTK base station provides the cloud-based server with base station satellite observation data required for RTK solution. The RTK rovers are used to acquire satellite observation data of the UAV and engineering machinery and provide it to the cloud-based server for its own position coordinate solution. The UAV is equipped with the RTK rovers to collect coordinate point data of the construction area boundary and the hazard area boundary. The visualization system is installed in a safety monitoring room and is used to display the real-time position of the construction area boundary, the hazard area boundary, and all operating engineering machinery, facilitating global real-time monitoring of the operating engineering machinery by safety administrators. The alarms are used to receive instructions from the cloud-based server and issue an alarm to the driver when the engineering machinery is less than the safe distance from the construction area boundary or the hazard area boundary.

[0027] The operating principle of this invention (analyzing the reasons for its advantages): Utilizing an RTK algorithm deployed on a cloud server, it obtains real-time coordinate data for construction area boundaries, hazardous area boundaries, and construction machinery on the site. This coordinate data is used to determine hazards on the cloud server, and if a hazard occurs, an alarm alerts the driver. Furthermore, integrating the cloud server with a visualization system enables global visual monitoring and safety warnings for all construction machinery on the construction site.

[0028] The advantages of the present invention are: First, the present invention utilizes the real-time centimeter-level positioning characteristics of RTK technology to ensure the accuracy and timeliness of safety warnings for construction machinery on the construction site, and solves the problem of inaccurate judgment of whether the construction machinery is safe by the traditional method of relying solely on the naked eye and experience. Secondly, the present invention utilizes cloud solution technology and only requires a set of RTK algorithms deployed in the cloud. It is not necessary to equip all the construction machinery on the construction site with RTK modules with local solution functions, which greatly reduces the system cost. In addition, the present invention integrates the cloud solution server and the visualization system to achieve global visual monitoring and safety warnings for all construction machinery on the construction site, greatly improving the work efficiency of safety officers. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0030] Figure 1This is a schematic diagram of the present invention using a drone to collect coordinate points of the construction area boundary and the danger area boundary.

[0031] Figure 2 Schematic diagram of the safety early warning method for construction machinery at the construction site.

[0032] Figure 3 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] like Figure 1 and Figure 2 The figure shows the working diagram of the engineering machinery safety warning system based on cloud-based RTK technology of the present invention: the system of the engineering machinery safety warning method based on cloud-based RTK technology provided by the present invention includes a cloud-based RTK server, an RTK base station, several RTK mobile stations, an unmanned aerial vehicle, a visualization system, several alarms, and communication links between the cloud-based RTK server and the RTK base station, the RTK mobile station and the alarm, and the visualization system; the cloud-based RTK server is used for RTK solution, coordinate point distance calculation and hazard judgment; the RTK base station provides the cloud-based RTK server with the base station satellite observation required for RTK solution. data; the RTK mobile station is used to obtain satellite observation data of the UAV and construction machinery and provide it to the cloud solution server for its own position coordinate solution; the UAV is equipped with an RTK mobile station to collect coordinate point data of the construction area boundary and the danger area boundary; the visualization system is installed in the safety monitoring room to display the real-time position of the construction area boundary, the danger area boundary and all the construction machinery in operation, so as to facilitate the safety administrator to monitor the construction machinery in operation in real time; the alarm is used to receive instructions from the cloud solution server when the construction machinery is less than the safety distance from the construction area boundary and the danger area boundary, and to issue an alarm reminder to the driver.

[0035] like Figure 3 The flowchart of the engineering machinery safety early warning method based on cloud RTK technology of the present invention is shown as follows:

[0036] Step S1, deploying RTK algorithm and coordinate point ranging algorithm to the cloud server to form a cloud solution server;

[0037] Step S2: Select a location with good satellite signals within the construction area to set up an RTK base station. Obtain the accurate coordinates of the base station through long-term static precise point positioning (PPP). Start the base station, obtain the base station observation data required for RTK solution in real time, and upload it to the cloud solution server.

[0038] Step S3: Before the construction machinery starts working, the drone equipped with the RTK mobile station is controlled to fly over the construction area boundary and the dangerous area boundary, record the observation data of the construction area boundary and the dangerous area boundary and upload them to the cloud solution server. The cloud solution server performs RTK differential analysis to generate and record the geodetic coordinate points of the construction area boundary. Geodetic coordinate points of the boundary of the danger zone

[0039] Step S4: The cloud solution server provides the recorded construction area boundary coordinate point data and the dangerous area boundary coordinate point data to the visualization system in the safety monitoring room and displays it on its large screen;

[0040] Step S5: Deploy RTK mobile stations to all construction machinery in the construction area. After the construction machinery starts working, the mobile stations acquire observation data in real time and upload it to the cloud server. The cloud solver performs continuous RTK differential analysis based on the base station observation data obtained in step S2 and the mobile station observation data obtained in this step to calculate the real-time coordinates of all construction machinery in the construction area at time t.

[0041] Step S6: The cloud computing server provides the real-time coordinate data of all construction machinery in the construction area to the visualization system in the security monitoring room and displays it on its large screen. When the construction machinery is in a safe position, it is displayed as a green dot;

[0042] Step S7: Based on the construction area boundary coordinate points and the dangerous area boundary coordinate points obtained in step S3 and the real-time coordinate point coordinate data of the construction machinery obtained in step S5, real-time coordinate point distance measurement is performed in the cloud solution server.

[0043] Step S8: When the coordinate point of a certain construction machine r at time t All coordinate points that border the construction area When the minimum value A of the spacing is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing orange dot, reminding the driver and the safety officer in the safety monitoring room that the construction machine r is at risk of crossing the construction area. All coordinate points on the border of the danger zone When the minimum distance B is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing red dot, reminding the driver and the safety officer in the safety monitoring room that there is a risk that the construction machine r is approaching the dangerous area.

[0044] The cloud solution server described in step S1 is characterized in that it can run multiple sets of RTK algorithms and coordinate point ranging algorithms at the same time to meet the needs of all engineering machinery on the construction site.

[0045] The RTK rover described in steps S3 and S4 is characterized in that it only includes a GNSS chip and a communication module, and does not include an RTK solution module, which significantly reduces the cost.

[0046] In step S3, when using a drone carrying an RTK mobile station to collect coordinate points of the construction area boundary and the danger zone boundary, the sampling frequency is 10 Hz, and the drone speed is controlled below 0.1 m / s to ensure that the sampling point spacing is within 1 cm.

[0047] The coordinate point of the construction machine r in step S8 All coordinate points on the construction area boundary When the minimum distance is less than 1.5 times the maximum distance from the phase center of the satellite antenna to the construction machinery, the cloud server sends an alarm command to the alarm on the construction machinery and the visualization system in the security monitoring room.

[0048] The coordinate point of the construction machine r in step S8 All coordinate points on the border of the danger zone When the minimum distance is less than twice the maximum distance from the phase center of the satellite antenna to the construction machinery, the cloud server sends an alarm command to the alarm on the construction machinery and the visualization system in the security monitoring room.

[0049] In step S8, the cloud solution server gives higher priority to the boundary of the dangerous area than the construction boundary when making a danger judgment. That is, if the distance between the construction machine r and the boundary of the construction area and the boundary of the dangerous area is lower than the minimum allowable value at the same time, the cloud solution server sends an alarm instruction of approaching the dangerous area to the alarm on the construction machine r and the visualization system in the safety monitoring room.

[0050] The calculation formulas for the minimum value A of the distance between the coordinate point of the engineering machine r and all coordinate points of the construction area boundary and the minimum value B of the distance between the coordinate point of the engineering machine r and all coordinate points of the danger area boundary described in step S8 are as follows:

[0051]

[0052]

Claims

1. The construction machinery safety early warning method based on cloud-based RTK technology includes the following steps: Step S1, deploying RTK algorithm and coordinate point ranging algorithm to the cloud server to form a cloud solution server; Step S2: Select a location with good satellite signals within the construction area to set up an RTK base station. Use long-term static precise point positioning (PPP) to obtain the accurate coordinate position of the base station. Start the base station, obtain the RTCM observation data required for RTK solution in real time, and upload it to the cloud solution server. Step S3: Before the construction machinery starts working, the drone equipped with the RTK mobile station is controlled to fly over the construction area boundary and the dangerous area boundary, record the observation data of the construction area boundary and the dangerous area boundary and upload them to the cloud solution server. The cloud solution server performs RTK differential analysis to generate and record the geodetic coordinate points of the construction area boundary. Geodetic coordinate points of the boundary of the danger zone Step S4: The cloud solution server provides the recorded construction area boundary coordinate point data and the dangerous area boundary coordinate point data to the visualization system in the safety monitoring room and displays it on its large screen; Step S5: deploy RTK mobile stations to all construction machinery in the construction area. After the construction machinery starts working, the mobile stations acquire observation data in real time and upload it to the cloud solution server. The cloud solution server performs continuous RTK differential analysis based on the base station observation data obtained in step S2 and the rover observation data obtained in this step to calculate the real-time coordinate points of all construction machinery in the construction area at time t. Step S6: The cloud computing server provides the real-time coordinate point data of all construction machinery in the construction area to the visualization system in the security monitoring room and displays it on its large screen; when the construction machinery is in a safe position, it is displayed as a green dot; Step S7: performing real-time coordinate point ranging in the cloud solution server based on the construction area boundary coordinate points and the dangerous area boundary coordinate points obtained in step S3 and the real-time coordinate point coordinate data of the construction machinery obtained in step S5; Step S8: When the coordinate point of a certain construction machine r at time t All coordinate points that border the construction area When the minimum value A of the spacing is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing orange dot, reminding the driver and the safety officer in the safety monitoring room that there is a risk that the construction machine r has crossed the construction area; when the coordinate point of a certain construction machine r at time t is All coordinate points on the border of the danger zone When the minimum distance B is lower than the minimum allowable value, the cloud solution server sends a command to the alarm on the construction machine r to make it sound an alarm, and at the same time sends a command to the visualization system in the safety monitoring room to make the construction machine r appear as a flashing red dot, reminding the driver and the safety officer in the safety monitoring room that there is a risk that the construction machine r is approaching the dangerous area.

2. The engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: The cloud solution server described in step S1 can run multiple sets of RTK algorithms and coordinate point ranging algorithms at the same time to meet the needs of all engineering machinery on the construction site.

3. The engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: The RTK rover described in steps S3 and S5 is characterized in that it only includes a GNSS chip and a communication module, but does not include an RTK solution module.

4. The engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: In step S3, when using a drone carrying an RTK mobile station to collect coordinate points of the construction area boundary and the danger zone boundary, the sampling frequency is 10 Hz, and the drone speed is controlled below 0.1 m / s to ensure that the sampling point spacing is within 1 cm.

5. The engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: The coordinate point of the construction machine r in step S8 All coordinate points on the construction area boundary When the minimum spacing is less than 1.5 times the maximum distance from the phase center of the RTK mobile station satellite antenna to the construction machinery, the cloud server sends an alarm command to the alarm on the construction machinery and the visualization system in the security monitoring room.

6. The engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: The coordinate point of the construction machine r in step S8 All coordinate points on the border of the danger zone When the minimum distance between the two devices is less than twice the maximum distance between the phase center of the RTK mobile station satellite antenna and the construction machinery, the cloud server sends an alarm command to the alarm device on the construction machinery and the visualization system in the security monitoring room; In step S8, the cloud computing server prioritizes the boundary of the dangerous area over the construction area boundary when making a hazard assessment. That is, if the distance between the construction machine r and both the construction area boundary and the dangerous area boundary is less than the minimum allowable value, the cloud computing server issues an alarm instruction indicating that the construction machine r is approaching the dangerous area to the alarm on the construction machine r and the visualization system in the security monitoring room. The calculation formulas for the minimum value A of the distance between the coordinate point of the engineering machine r and all coordinate points of the construction area boundary and the minimum value B of the distance between the coordinate point of the engineering machine r and all coordinate points of the danger area boundary described in step S8 are as follows:

7. A system for implementing the engineering machinery safety early warning method based on cloud-based RTK technology according to claim 1, characterized in that: The system includes a cloud solution server, an RTK base station, several RTK mobile stations, an unmanned aerial vehicle (UAV), a visualization system, several alarms, and communication links between the cloud solution server and the RTK base station, the RTK mobile station, the alarms, and the visualization system. The cloud solution server is used for RTK solution, coordinate point distance calculation, and hazard assessment. The RTK base station provides the cloud solution server with the base station satellite observation data required for RTK solution. The RTK mobile station is used to obtain satellite observation data of the UAV and construction machinery and provide it to the cloud solution server for its own position coordinate solution. The UAV is equipped with the RTK mobile station to collect coordinate point data of the construction area boundary and the danger area boundary. The visualization system is installed in the safety monitoring room to display the real-time position of the construction area boundary, the danger area boundary, and all operating construction machinery, so as to facilitate the safety administrator to monitor the operating construction machinery in real time. The alarm is used to receive instructions from the cloud solution server when the construction machinery is less than the safe distance from the construction area boundary or the danger area boundary, and to issue an alarm reminder to the driver.

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