A virtual electronic fence-based crane operation monitoring system and method

Abstract

The application provides a virtual electronic fence-based crane operation monitoring system, which comprises a fixed station, a mobile station and a console; the fixed station is arranged close to a designated operation site and has a certain distance, receives Beidou satellite positioning information to form positioning correction information; the mobile station is installed on a crane hook, under operation conditions, receives real-time positioning information of the position reached by the hook movement of the Beidou satellite, and corrects the information in combination with the positioning correction information to obtain corrected position information of the hook; the console is arranged away from the designated operation site, determines real-time movement information of the hook according to the corrected position information of the hook, constructs a movement track of the hook, and further performs out-of-limit judgment on the virtual electronic fence to realize warning or alarm. The application also provides a virtual electronic fence-based crane operation monitoring method. By implementing the application, the problems of high cost and great safety hazards caused by existing manpower monitoring means can be overcome, time and labor are saved, and safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting operation, in particular to a crane operation monitoring system and method based on virtual electronic fence. BACKGROUND

[0002] With the increasing popularity of cranes, the safety problem of cranes has become increasingly prominent. Due to the characteristics of cranes (such as long boom, large activity space), it is easy to cause safety accidents such as scratching, especially in the application scene of substation, which leads to serious safety accidents.

[0003] However, the current mainly relies on manual monitoring means such as arranging human guards and setting warning lines. However, this monitoring means not only has high cost, but also has great safety hazards due to different personnel quality and fatigue caused by long time work. Therefore, there is an urgent need for new technical means to achieve effective protection. SUMMARY

[0004] The technical problem to be solved by the embodiments of the present application is to provide a crane operation monitoring system and method based on virtual electronic fence, which can overcome the problems of high cost and great safety hazards caused by existing manual monitoring means, save time and effort, and improve safety.

[0005] In order to solve the above technical problems, the embodiments of the present application provide a crane operation monitoring system based on virtual electronic fence, comprising a fixed station, a mobile station and a control console; wherein,

[0006] The fixed station is arranged near the designated operation site and located at a certain ground fixed position within a certain distance of the designated operation site, and it communicates with at least four Beidou satellites in the sky and the mobile station. The fixed station is used to receive the positioning information of all Beidou satellites in communication with it, and to perform position correction calculation based on all positioning information to form positioning correction information, and send the positioning correction information to the mobile station.

[0007] The mobile station is installed on the hook of the crane in the designated operation site, and it communicates with all Beidou satellites in communication with the fixed station and the control console. The mobile station is used to receive the positioning information of all Beidou satellites in communication with it to the position reached by the hook movement in real time under the working condition, and to correct the positioning correction information sent by the fixed station to obtain the position information of the position reached by the hook movement in real time after correction, and further send it to the control console.

[0008] The control console is arranged away from the designated work site; the control console is used to determine real-time movement information of the hook according to position information after correction of a position to which the hook moves in real time, and to construct a movement track of the hook based on the real-time movement information of the hook, further to perform out-of-limit judgment on a virtual electronic fence predefined based on an actual environment of the designated work site, and to perform warning or alarm according to a judgment result.

[0009] In the control console, the real-time movement information of the hook includes longitude and latitude information, height information and movement speed.

[0010] In the control console, the movement track of the hook includes an occurred movement track and a future estimated movement track.

[0011] If the control console judges that the occurred movement track intersects with the virtual electronic fence, the control console alarms through high-decibel sound and light; or,

[0012] If the control console judges that the future estimated movement track intersects with the virtual electronic fence, the control console warns by highlighting the virtual electronic fence.

[0013] The fixed station is located at a distance of 0-500 meters from the designated work site.

[0014] The fixed station establishes communication with the corresponding Beidou satellite through a satellite receiving antenna, and establishes communication with the mobile station through a fixed station transmitter of the fixed station interconnecting a mobile station receiver of the mobile station; the mobile station establishes communication with the control console through a mobile station transmitter of the mobile station interconnecting a control console receiver of the control console.

[0015] The embodiment of the application further provides a crane operation monitoring method based on a virtual electronic fence, which is implemented on the crane operation monitoring system based on the virtual electronic fence.

[0016] The fixed station receives positioning information of all Beidou satellites in communication with the fixed station, and performs position correction calculation based on all the positioning information to form positioning correction information, and sends the positioning correction information to the mobile station.

[0017] The mobile station receives positioning information of all Beidou satellites in communication with the mobile station on a position to which a hook on a crane moves in real time under a work condition, and corrects the positioning information in combination with the positioning correction information sent by the fixed station to obtain position information after correction of the position to which the hook moves in real time, and further sends the position information to the control console.

[0018] The control console determines real-time motion information of the hook according to position information of a position reached by real-time motion of the hook, and constructs a moving track of the hook based on the real-time motion information of the hook, and further performs out-of-limit judgment on a virtual electronic fence defined in advance based on an actual environment of the designated work site, and performs warning or alarming according to a judgment result.

[0019] The real-time motion information of the hook includes longitude and latitude information, height information and moving speed.

[0020] The moving track of the hook includes an occurred moving track and a future estimated moving track.

[0021] The step of performing out-of-limit judgment on the virtual electronic fence defined in advance based on the actual environment of the designated work site, and performing warning or alarming according to a judgment result specifically includes:

[0022] if the occurred moving track has intersection with the virtual electronic fence, alarming is performed through high-decibel sound and light; or,

[0023] if the future estimated moving track has intersection with the virtual electronic fence, warning is performed through high-brightness display of the virtual electronic fence.

[0024] The embodiment of the present application has the following beneficial effects:

[0025] 1. In the present application, the fixed station receives positioning information of a Beidou satellite to form positioning correction information, and the positioning information of a position reached by motion of a hook under a work condition is corrected on a mobile station, so that the control console can determine real-time motion information of the hook according to the corrected position information of the hook, construct a moving track of the hook, further perform out-of-limit judgment on a virtual electronic fence, and realize warning or alarming, thereby realizing real-time monitoring of a safety work condition of a crane online and intelligently, overcoming problems of high cost and great safety hidden danger caused by a conventional manual monitoring method, saving time and effort, and improving safety.

[0026] 2. Compared with a conventional satellite positioning technology, the positioning accuracy is more than 5 to 10 meters, and the positioning accuracy of the position information of the mobile station is about 2 cm, and the calculation speed is more than 1 time / s. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required by the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings obtained according to these drawings without creative labor are still within the scope of the present application.

[0028] Fig. 1 is a topological structure diagram of a virtual electronic fence-based crane operation monitoring system provided by an embodiment of the present application;

[0029] Fig. 2 is a flowchart of a virtual electronic fence-based crane operation monitoring method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application more clear, the following will further describe the present application in detail with reference to the drawings.

[0031] As shown in Fig. 1, a virtual electronic fence-based crane operation monitoring system is proposed in an embodiment of the present application, which comprises a fixed station 1, a mobile station 3 and a control console 7; wherein,

[0032] The fixed station 1 is arranged near a designated operation site (such as the range in the virtual frame shown in Fig. 1) and located at a certain ground fixed position within a certain distance (such as 0-500 meters) from the designated operation site. It establishes communication with at least four Beidou satellites in the sky (such as the four satellites in the uppermost area shown in Fig. 1) through a satellite receiving antenna, and establishes communication with the mobile station 3 after interconnecting the mobile station receiving antenna 4 on the mobile station 3 side through the fixed station transmitting antenna 2 on the same side. At this time, the fixed station 1 is used to receive the positioning information of all Beidou satellites in communication therewith, and to perform position correction calculation based on all the positioning information to form positioning correction information, and to send the positioning correction information to the mobile station 3;

[0033] The mobile station 3 is installed on the hook of the crane in the designated operation site (such as the middle solid arrow shown in Fig. 1), which establishes communication with all Beidou satellites communicated by the fixed station 1 through a corresponding satellite receiving antenna, and establishes communication with the control console 6 after interconnecting the control console receiving antenna 6 on the control console 7 side through the mobile station transmitting antenna 5 on the same side. At this time, the mobile station 3 is used to receive the positioning information of all Beidou satellites in communication therewith in real time under the operation condition, and to correct the positioning information in combination with the positioning correction information sent by the fixed station 1 to obtain the position information of the position reached by the real-time movement of the hook after correction, and to further send the position information to the control console 7; it should be noted that the mobile station 3 adopts RTK carrier phase difference technology, which is a real-time processing method of the difference between two measurement station carrier phase observations to correct the position information;

[0034] The console 7 is set away from the designated work site. At this time, the console 7 is used to determine the real-time motion information of the hook according to the position information after correction of the position to which the hook moves in real time, and construct the moving track of the hook based on the real-time motion information of the hook, further perform the out-of-limit judgment on the virtual electronic fence defined in advance based on the actual environment of the designated work site, and perform the warning or alarm according to the judgment result.

[0035] It should be noted that the virtual electronic fence is a 3D work site model established in advance by inputting the relevant information of the actual environment of the designated work site, and a safety operation area corresponding to the 3D work site model is formed, that is, a 3D electronic fence, in combination with the safety operation distance regulations of the crane to each primary equipment and secondary equipment.

[0036] Meanwhile, since the real-time motion information of the hook includes but is not limited to the latitude and longitude information, the height information and the moving speed, the moving direction and distance of the hook are periodically calculated, so that the moving track of the hook can be constructed. The moving track of the hook includes the occurred moving track and the future estimated moving track.

[0037] Once the console 7 judges that the occurred moving track intersects with the virtual electronic fence (i.e. touches or crosses the virtual electronic fence), the alarm is performed through high-decibel sound and light; or, once the console 7 judges that the future estimated moving track intersects with the virtual electronic fence (i.e. may touch the virtual electronic fence), the warning is performed through high-brightness display of the virtual electronic fence.

[0038] In the embodiment of the present application, the fixed station 1 and the fixed station transmitting radio station 2 are installed within 500 meters of the work site, the sky is required to be as much as possible without obstruction within 180°, and the satellite receiving antenna can be installed at a high place and fixed stably. The mobile station 3, the mobile station receiving radio station 4 and the mobile station transmitting radio station 5 are installed on the hook of the crane, fixed through strong magnetism, and the position is selected to be not easy to scratch and touch, and the satellite receiving antenna is upward. The console receiving radio station 6 and the console 7 are installed in the office, the field office table or the cab away from the work site, and attention is paid to avoid screen reflection and rainwater, etc.

[0039] The fixed station 1 simultaneously receives the positioning information of more than 4 Beidou satellites, is set to work in the ground station mode, and outputs the positioning correction information stably after being turned on for 10 minutes, and transmits the positioning correction information to the outside through the fixed station transmitting radio station 2.

[0040] The mobile station 3 receives the positioning information of more than 4 Beidou satellites on one hand, and receives the positioning correction information transmitted from the fixed station 1 through the mobile station receiving radio station 4 on the other hand. After data fusion processing, the high-precision latitude and longitude information is obtained, including horizontal precision of 1 cm and height precision of better than 2 cm, and is transmitted to the outside through the mobile station transmitting radio station 5.

[0041] The console 7 receives the high-precision longitude and latitude information of the hook from the mobile station 3 in real time through the console receiving station 6, calculates the real-time movement information of the hook, constructs the movement trajectory of the hook and displays it. For example, the real-time movement position of the hook, the movement trajectory that has occurred recently, the movement trajectory that is estimated in the future, etc. are displayed on the terminal.

[0042] Meanwhile, the console 7 displays the 3D fence boundary of the virtual electronic fence, and when the movement trajectory that is estimated in the future of the hook is likely to touch the 3D fence boundary, a warning is given and the pre-trigger 3D fence is highlighted. Or, when the movement trajectory that has occurred recently of the hook touches or crosses the 3D fence boundary, a serious warning message is given and a high-decibel sound and light alarm is given.

[0043] As shown in FIG. 2, a kind of crane operation monitoring method based on virtual electronic fence provided in the embodiment of the present application is implemented on the crane operation monitoring system based on virtual electronic fence in the embodiment of the present application, and the method comprises the following steps:

[0044] Step S1, the positioning information of all Beidou satellites communicated with the fixed station is received, and position correction calculation is carried out based on all positioning information to form positioning correction information, and the positioning correction information is sent to the mobile station;

[0045] Step S2, the mobile station receives the positioning information of all Beidou satellites communicated with it in real time under the working condition of operation, and the position reached by the movement of the hook is corrected by combining the positioning correction information sent by the fixed station, to obtain the position information of the position reached by the movement of the hook after correction, which is further sent to the console;

[0046] Step S3, the real-time movement information of the hook is determined according to the position information of the position reached by the movement of the hook after correction, and the movement trajectory of the hook is constructed based on the real-time movement information of the hook, and further limit judgment is carried out on the virtual electronic fence predefined based on the actual environment of the specified operation site, and warning or alarm is carried out according to the judgment result.

[0047] Among them, the real-time movement information of the hook includes longitude and latitude information, height information and movement speed.

[0048] Among them, the movement trajectory of the hook includes the movement trajectory that has occurred and the movement trajectory that is estimated in the future.

[0049] Among them, the step of limit judgment on the virtual electronic fence predefined based on the actual environment of the specified operation site, and warning or alarm according to the judgment result specifically comprises:

[0050] If it is judged that the mobile track has intersection with the virtual electronic fence, an alarm is given through high-decibel sound and light; or

[0051] If it is judged that the future estimated mobile track has intersection with the virtual electronic fence, a warning is given through high-brightness display of the virtual electronic fence.

[0052] The embodiment of the present application has the following beneficial effects:

[0053] 1. In the present application, the fixed station receives the positioning information of Beidou satellite to form the positioning correction information, and then corrects the positioning information of the position reached by the hook movement under the working condition on the mobile station, so that the control console can determine the real-time movement information of the hook according to the corrected position information of the hook, construct the movement track of the hook, further make the overrun judgment on the virtual electronic fence, realize the warning or alarm, so as to realize the real-time monitoring of the safety operation of the crane on line, so as to overcome the problems of high cost and great safety hidden danger caused by the existing manual monitoring means, save time and effort, and improve the safety.

[0054] 2. Compared with the conventional satellite positioning technology, the positioning accuracy is more than 5 to 10 meters, and the positioning accuracy of the position information of the mobile station in the present application is about 2 cm, and the calculation speed is better than 1 time / s.

[0055] The above only discloses the preferred embodiments of the present application, and of course cannot limit the scope of the rights of the present application, so the equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. A virtual electronic fence based crane operation monitoring system, characterized in that, Comprise a fixed station, a mobile station and a console; wherein, The fixed station is set near a designated work site and is located at a certain ground fixed position within a certain distance of the designated work site, and is in communication with at least four Beidou satellites in the sky and the mobile station; the fixed station is used to receive positioning information of all Beidou satellites in communication therewith, and to perform position correction calculation based on all positioning information to form positioning correction information, and to send the positioning correction information to the mobile station; The mobile station is installed on a hook of a crane in the designated work site, and is in communication with all Beidou satellites in communication with the fixed station and the console; the mobile station is used to receive, in a work condition, positioning information of all Beidou satellites in communication therewith on a position reached by movement of the hook in real time, and to correct the positioning information in combination with the positioning correction information sent by the fixed station to obtain position information of the position reached by movement of the hook in real time after correction, and to further send the position information to the console; The console is set away from the designated work site; the console is used to determine real-time movement information of the hook based on the position information of the position reached by movement of the hook in real time after correction, and to construct a movement track of the hook based on the real-time movement information of the hook, and to further perform out-of-limit judgment on a virtual electronic fence predefined based on an actual environment of the designated work site, and to perform warning or alarm according to a judgment result. In the console, the real-time movement information of the hook includes longitude and latitude information, height information and movement speed.

2. The virtual electronic fence based crane operation monitoring system as claimed in claim 1, wherein, In the console, the movement track of the hook includes an already-occurred movement track and a future-estimated movement track.

3. The virtual electronic fence based crane operation monitoring system as claimed in claim 2, wherein, If the console judges that the already-occurred movement track intersects with the virtual electronic fence, the console alarms through high-decibel sound and light; or, If the console judges that the future-estimated movement track intersects with the virtual electronic fence, the console warns by highlighting the virtual electronic fence.

4. The virtual electronic fence based crane operation monitoring system as claimed in claim 3, wherein, The certain distance between the fixed station and the designated work site is between 0 and 500 meters.

5. The virtual electronic fence based crane operation monitoring system as claimed in claim 1, wherein, The fixed station establishes communication with corresponding Beidou satellites through a satellite receiving antenna, and establishes communication with the mobile station after interconnecting a mobile station receiving radio station of the mobile station side through a fixed station transmitting radio station of the fixed station side; the mobile station establishes communication with the console after interconnecting a console receiving radio station of the console side through a mobile station transmitting radio station of the mobile station side.

6. A virtual electronic fence-based crane operation monitoring method, characterized by, The method is implemented on the virtual electronic fence-based crane operation monitoring system according to any one of claims 1-5, and the method comprises the following steps: The fixed station receives positioning information of all Beidou satellites in communication therewith, and performs position correction based on all positioning information to form positioning correction information, and sends the positioning correction information to the mobile station; The mobile station receives in real time positioning information of a position reached by movement of a hook on a crane from all Beidou satellites in communication with the mobile station in a working condition, and corrects the positioning information in combination with correction information sent by the fixed station to obtain corrected position information of the position reached by real-time movement of the hook, and further sends the corrected position information to a control console; The control console determines real-time movement information of the hook according to the corrected position information of the position reached by real-time movement of the hook, and constructs a moving track of the hook based on the real-time movement information of the hook, further performs out-of-limit judgment on a virtual electronic fence predefined based on an actual environment of the specified work site, and performs warning or alarm according to a judgment result. The real-time movement information of the hook includes longitude and latitude information, height information and movement speed.

7. The virtual electronic fence based crane operation monitoring method as claimed in claim 6, wherein, The moving track of the hook includes a moving track that has occurred and a moving track that is estimated in the future.

8. The virtual electronic fence based crane operation monitoring method as claimed in claim 7, wherein, The step of performing out-of-limit judgment on the virtual electronic fence predefined based on the actual environment of the specified work site, and performing warning or alarm according to a judgment result specifically includes: If it is judged that the moving track that has occurred intersects with the virtual electronic fence, alarm is performed through high-decibel sound and light; or If it is judged that the moving track that is estimated in the future intersects with the virtual electronic fence, warning is performed through high-luminance display of the virtual electronic fence.

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