A method and system for generating an electronic fence for a crane, and a crane

Abstract

The application discloses a crane electronic fence generation method and system and a crane in the technical field of crane safety, and aims to solve the technical problem that the warning range of the electronic fence cannot be dynamically adjusted according to the actual operation condition of the crane due to site restrictions. It comprises: collecting the actual total length value L of the boom of the crane under the current boom combination, and the maximum distance K between the boom luffing hinge point and the possible rollover support point of the bottom of the crane; calculating the profile radius of the electronic fence according to the actual total length value L of the boom and the maximum distance K; taking the rotation center of the crane as the spherical center and the profile radius as the spherical radius, establishing a spherical profile for the target protection area; determining the closed interval formed by the spherical profile and the ground as the detection interval of the electronic fence, and generating the electronic fence. The application can dynamically adjust the warning range of the electronic fence according to the actual operation condition of the crane.

Description

Technical Field

[0001] This invention relates to the field of crane safety technology, specifically to a method, system, and crane for generating an electronic fence for a crane. Background Technology

[0002] Crane lifting is inherently dangerous, and unauthorized personnel are strictly prohibited from entering the site during the lifting process. Before lifting, a safety warning zone is established around the site to prevent unauthorized personnel from entering. However, cranes have a large operating range; the largest cranes currently available have a fully extended boom length of over 100 meters, operating only using the main boom. When the boom is fully retracted, the total boom length is approximately 20 meters. Depending on the operational requirements, cranes may employ various boom combinations at a single location, each with different safety zone requirements. Currently, with electronic fence systems, once the coverage area is set, adjustments require the re-laying of electronic fence components and the re-generating of a closed electronic fence outline based on the covered area. However, due to site limitations, a fixed area cannot be designated as a safety warning zone for an extended period. Therefore, the electronic fence area should be able to dynamically adjust its warning range based on the crane's operational status. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, system and crane for generating electronic fences for cranes, which solves the technical problem that the warning range of electronic fence areas cannot be dynamically adjusted according to the actual operation of the crane.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a method for generating an electronic fence for a crane, comprising:

[0006] Collect the actual total boom length L of the crane under the current boom configuration, and the maximum distance K between the boom luffing hinge point and the possible side-tipping support point at the bottom of the crane;

[0007] The outline radius of the electronic fence is calculated based on the actual total length L of the boom and the maximum distance K.

[0008] A spherical profile is established for the target protection area, with the rotation center of the crane as the center of the sphere and the contour radius as the spherical radius.

[0009] The closed area enclosed by the spherical contour and the ground is defined as the detection area of ​​the electronic fence, and the electronic fence is generated.

[0010] Furthermore, before calculating the outline radius of the electronic fence, the following steps are performed:

[0011] Collect the current boom assembly of the crane and the boom length of each individual boom section participating in the current boom assembly;

[0012] Calculate the theoretical value L0 of the total boom length based on the current boom assembly and the length of each individual boom section.

[0013] The operation step of calculating the outline radius of the electronic fence is performed only when the difference between the actual value L of the total boom length and the theoretical value L0 of the total boom length does not exceed a set threshold.

[0014] Furthermore, calculating the outline radius of the electronic fence includes:

[0015] The actual total length L of the boom and the maximum distance K are summed. The summation result is multiplied by a preset safety correction coefficient, and the product result is used as the outline radius of the electronic fence.

[0016] Furthermore, the safety correction factor is greater than 1.

[0017] In a second aspect, the present invention provides a crane electronic fence system, including an electronic fence host;

[0018] The electronic fence host includes:

[0019] First acquisition module: used to acquire the actual value L of the total boom length of the crane under the current boom combination, and the maximum distance K between the boom luffing hinge point and the possible side-tipping support point at the bottom of the crane;

[0020] First calculation module: used to calculate the outline radius of the electronic fence based on the actual value L of the total length of the boom and the maximum distance K;

[0021] Contour creation module: used to create a spherical contour for the target protection area with the rotation center of the crane as the center of the sphere and the contour radius as the spherical radius;

[0022] Generation module: used to determine the closed area enclosed by the spherical contour and the ground as the detection area of ​​the electronic fence, and generate the electronic fence.

[0023] Furthermore, the system also includes:

[0024] The second acquisition module is used to acquire the current boom assembly of the crane and the boom length of each individual boom section participating in the current boom assembly.

[0025] The second calculation module is used to calculate the theoretical value L0 of the total boom length based on the current boom assembly and the length of each individual boom section.

[0026] Verification module: Used to drive the first calculation module to perform the operation step of calculating the outline radius of the electronic fence only when the difference between the actual value L of the total length of the boom and the theoretical value L0 of the total length of the boom does not exceed a set threshold.

[0027] Furthermore, the system also includes:

[0028] Distance detection equipment: used to detect the distance to objects surrounding the crane;

[0029] Alarm device: used to determine whether the surrounding objects have entered the detection range of the electronic fence based on the distance of the surrounding objects to the crane. If so, an alarm is output; otherwise, no alarm is output.

[0030] Furthermore, it also includes:

[0031] The legitimacy verification module is used to verify the legitimacy of the identities of the surrounding objects.

[0032] Operating terminal: Used to authorize the alarm device to cancel the alarm when the surrounding object passes the identity verification.

[0033] Furthermore, the distance detection device includes any one of an infrared detector and an ultrasonic sensor.

[0034] Thirdly, the present invention provides a crane including the crane electronic fence system described in any of the preceding claims.

[0035] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0036] Based on the calculated outline radius of the electronic fence, and using the crane's rotation center as the sphere's center and the outline radius as the spherical radius, a spherical outline is established for the target protection area. The closed area enclosed by the spherical outline and the ground is then defined as the detection area of ​​the electronic fence, generating the electronic fence. As the boom assembly changes, the total boom length changes, the outline radius changes accordingly, the electronic fence detection area changes, and the warning range is further adjusted. This achieves dynamic adjustment of the electronic fence's warning range based on the crane's actual operating conditions. The entire process can be remotely operated, reducing manpower requirements at the construction site, minimizing safety risks, and improving construction efficiency and quality. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of a crane provided in an embodiment of the present invention;

[0038] Figure 2 This is a circuit block diagram of a crane electronic fence host provided in an embodiment of the present invention;

[0039] Figure 3 This is a flowchart of a crane electronic fence generation method provided in an embodiment of the present invention;

[0040] Among them, 1. luffing hinge point; 2. boom assembly; 3. outrigger foot plate. Detailed Implementation

[0041] For ease of understanding, the following is an explanation of some of the terms used in this application:

[0042] Boom: The telescopic arm on a crane used for lifting, typically consisting of 3 to 7 sections.

[0043] Main boom: The outermost boom of a crane.

[0044] Boom Combination 2: The crane consists of multiple boom sections. During lifting, each boom section can be fully extended, partially extended, or not extended, forming various boom combination 2 methods.

[0045] Luffing: The crane's boom moves vertically, changing the crane's operating range.

[0046] Electronic fence: Perimeter anti-theft alarm system, which mainly consists of electronic fence host, distance detection equipment and alarm device.

[0047] Crane main unit: The main control unit of the crane, which collects vehicle status information and controls the vehicle's action output.

[0048] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0049] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0050] Example 1:

[0051] The crane electronic fence generation method provided in this embodiment of the invention can be applied to... Figure 1 The crane shown is shown in the image. Figure 1 The crane includes: a luffing hinge point 1, a boom assembly 2, and outrigger foot plates 3.

[0052] Figure 3This is a flowchart illustrating a method for generating an electronic fence for a crane according to Embodiment 1 of the present invention. This flowchart merely shows the logical sequence of the method described in this embodiment. Without conflict, in other possible embodiments of the present invention, different methods may be used. Figure 2 Complete the steps shown or described in the order indicated.

[0053] This invention provides a method for generating an electronic fence for cranes, which can be executed by an electronic fence host, and specifically includes the following steps:

[0054] Step 1: Collect the actual value L of the total boom length of the crane under the current boom assembly 2, and the maximum distance K between the boom luffing hinge point 1 and the possible side-tipping support point at the bottom of the crane;

[0055] As the main control unit of the crane, the crane host typically provides relevant operating parameters of the crane, including but not limited to the boom assembly and the actual value L of the total boom length described in this application. Therefore, the electronic fence host can communicate and interconnect with the crane host to collect the required data.

[0056] like Figure 1 As shown, the possible tipping point at the bottom of the crane can be any of the outriggers 3. The variation in the maximum distance K between the boom luffing hinge point 1 and the possible tipping point at the bottom of the crane is negligible compared to the variation in the total boom length. Within the allowable error range, the maximum distance K can be considered a fixed value. The boom assembly 2 is understood as the crane consisting of multiple boom sections. During lifting, each boom section can be fully extended, partially extended, or not extended, forming various boom assembly 2 methods. Luffing is defined as the vertical movement of the crane's boom, which changes the crane's working range. It should be understood that if the crane uses other support mechanisms instead of outriggers 3, these other support mechanisms can be considered as possible tipping points. The maximum distance K between these other possible tipping points and the boom luffing hinge point 1 can still be considered a fixed value within the allowable error range.

[0057] Step Two:

[0058] The outline radius of the electronic fence is calculated based on the actual total length L of the boom and the maximum distance K.

[0059] To ensure the reliability and security of the data used in subsequent calculations, the total length of the boom needs to be verified before calculating the outline radius of the electronic fence. Specifically:

[0060] Collect the current boom assembly 2 of the crane and the boom length of each individual boom section participating in the current boom assembly 2;

[0061] Then, based on the current boom assembly 2 and the boom length of each individual boom section, calculate the corresponding theoretical value of the total boom length L0, where the theoretical value of the total boom length L0 can be obtained by summing the lengths of each individual boom section.

[0062] The operation step of calculating the outline radius of the electronic fence is performed only if the difference between the actual value L of the total boom length and the theoretical value L0 of the total boom length does not exceed a set threshold, wherein the threshold value is adjusted according to the actual situation within the allowable error range.

[0063] The method for calculating the outline radius of the electronic fence includes: summing the actual total length L of the boom and the maximum distance K; multiplying the summation result by a preset safety correction coefficient; and using the product result as the outline radius of the electronic fence. The calculation formula can be expressed as: R = a * (L + K); where a represents the safety correction coefficient, a constant determined by the actual situation. The value of the safety correction coefficient a is related to the object being lifted by the crane; the larger the volume or length of the object being lifted, the larger the value of a. Obviously, the larger the safety correction coefficient, the larger the outline radius, and the larger the warning range of the electronic fence. As an embodiment of the present invention, the safety correction coefficient is greater than 1.

[0064] Safety is the primary goal of electronic fences. This embodiment of the invention incorporates the maximum distance K between the boom luffing hinge point 1 and the possible tipping point at the bottom of the crane into the contour radius calculation to obtain a larger contour radius. However, in actual operation, in addition to safety accidents caused by crane tipping, there may also be safety accidents caused by the boom or the lifted load falling. For safety accidents caused by other factors, the contour radius may be larger or smaller than that described in this embodiment. Users can adjust the safety correction coefficient to correct for this and determine a more reasonable and safer warning range.

[0065] When the load lifted by the crane falls from the highest point of the boom, or when the crane tilts over with the center of the outrigger plate 3 as the tilt fulcrum, the radius of damage is the largest when the direction of the total boom length L is parallel to the direction of the maximum distance K between the boom luffing hinge point 1 and the center of the outrigger plate 3. The largest radius of damage is the maximum warning range, i.e., the outline radius. When the boom assembly 2 changes, the radius of the maximum warning range changes accordingly.

[0066] Alternatively, the outline radius of the electronic fence can be calculated by adding factors such as the amplitude angle and the length of the outriggers.

[0067] Step 3: Using the rotation center of the crane as the center of the sphere and the contour radius as the spherical radius, establish a spherical contour for the target protection area.

[0068] It should be noted that when the crane needs to perform a 360-degree rotation operation, and the target protection area can be determined as the area surrounding the crane, the spherical profile described in this embodiment of the invention can be a hemispherical spherical profile. When the crane only performs rotation operations within a specific angle range in front, the area behind the crane can be considered a safe area and not included in the target protection area. In this case, the spherical profile should be understood as a local profile within a sphere. For example, when the crane's rotation angle is 180°, only a quarter-spherical profile needs to be established. Users can determine the target protection area based on the actual operating conditions of the crane, thereby determining the range of the spherical profile.

[0069] Step 4: Determine the closed area enclosed by the spherical contour and the ground as the detection area of ​​the electronic fence, and generate the electronic fence; as the boom assembly 2 changes, the total length of the boom changes, the contour radius changes accordingly, and the detection area of ​​the electronic fence also changes; of course, optionally, a fan-shaped surface, a polyhedron, or similar safety warning area can be created according to actual needs.

[0070] The crane electronic fence generation method provided in this embodiment of the invention collects the actual value L of the total boom length and the maximum distance K between the boom luffing hinge point 1 and the center of the crane's outrigger plate 3; then, based on the actual value L of the total boom length and the maximum distance K, the outline radius of the electronic fence is calculated; next, a spherical outline is established with the crane's rotation center as the center of the sphere and the outline radius as the spherical radius; then, the closed area enclosed by the spherical outline and the ground is determined as the detection area of ​​the electronic fence, thus generating the electronic fence; as the boom assembly 2 changes, the total boom length changes, the outline radius changes accordingly, and the detection area of ​​the electronic fence also changes, realizing the dynamic adjustment of the warning range of the electronic fence according to the actual operation of the crane.

[0071] Example 2:

[0072] like Figure 2 The diagram illustrates a crane electronic fence system provided by an embodiment of the present invention. This system can be used to implement the method described in Embodiment 1. The electronic fence system includes an electronic fence host, which comprises:

[0073] First acquisition module: used to acquire the actual value L of the total boom length of the crane under the current boom combination 2, and the maximum distance K between the boom luffing hinge point 1 and the center of the outrigger plate 3 of the crane;

[0074] First calculation module: used to calculate the outline radius of the electronic fence based on the actual value L of the total length of the boom and the maximum distance K;

[0075] Contour creation module: used to create a spherical contour for the target protection area with the rotation center of the crane as the center of the sphere and the contour radius as the spherical radius;

[0076] Generation module: used to determine the closed area enclosed by the spherical contour and the ground as the detection area of ​​the electronic fence, and generate the electronic fence.

[0077] As one embodiment of the present invention, the electronic fence system further includes:

[0078] The second acquisition module is used to acquire the current boom assembly 2 of the crane and the boom length of each individual boom section participating in the current boom assembly 2.

[0079] The second calculation module is used to calculate the theoretical value L0 of the total boom length based on the current boom assembly 2 and the boom length of each individual boom section.

[0080] Verification module: Used to drive the first calculation module to perform the operation step of calculating the outline radius of the electronic fence only when the difference between the actual value L of the total length of the boom and the theoretical value L0 of the total length of the boom does not exceed a set threshold.

[0081] As one embodiment of the present invention, the electronic fence system further includes:

[0082] Distance detection equipment: used to detect the distance to objects surrounding the crane; specifically, distance refers to the distance between the objects surrounding the crane and the distance detection equipment, which is installed on the crane.

[0083] Alarm device: used to determine whether the surrounding objects have entered the detection range of the electronic fence based on the distance of the surrounding objects of the crane. If so, an alarm is output. As an embodiment of the present invention, the alarm output can be completed by a voice alarm, or by a pop-up alarm or a combination of sound and light alarm; otherwise, no alarm is output.

[0084] As one embodiment of the present invention, the electronic fence system further includes:

[0085] Legality verification module: used to verify the legality of the identity of the surrounding objects; as an embodiment of the present invention, it includes an information matching unit, multiple cameras and a display. When an authorized person enters the warning range, the cameras transmit the information around the electronic fence to the display, and the display transmits the authorized person's vital signs information to the information matching unit.

[0086] Operating terminal: Used to authorize the alarm device to cancel the alarm when the surrounding object passes the identity legality verification, that is, when the vital signs information of the authorized person is successfully matched with the database in the information matching unit.

[0087] In one embodiment of the present invention, the distance detection device includes an infrared detector, which comprises an infrared transmitter, a receiver, and a signal processor. The signal output terminal of the signal processor is connected to the infrared transmitter via an infrared transmitting circuit; the signal input terminal is connected to the infrared receiver via an infrared receiving circuit; its feedback signal output terminal is connected to a peripheral control circuit; and the feedback signal output terminal of the infrared detector is connected to an alarm device. As an equivalent replacement for the infrared detector, the distance detection device can also be an ultrasonic sensor. The ultrasonic sensor detects distance by emitting ultrasonic waves and then detecting the emitted ultrasonic waves, and simultaneously calculating the distance of the object based on the sound velocity meter. It can select various output methods, and the measured distance is generally farther than that of the infrared detector.

[0088] By combining distance detection equipment, alarm devices, legal verification modules, and operating terminals, the system enables the screening and alarm functions for intruders, further avoiding potential hidden dangers such as accidental entry and inadequate supervision, thus making the electronic fence system more complete.

[0089] Example 3:

[0090] This invention also provides a crane equipped with the crane electronic fence system described in Embodiment 2.

[0091] The crane includes a luffing hinge point 1, a boom assembly 2, and outrigger foot plates 3. The outrigger foot plates 3 are vertically fixed to the bottom of the crane body. The luffing hinge point 1 is fixed at the position of the crane body. The boom assembly 2 is rotatably connected to the crane body through the luffing hinge point 1. The electronic fence host and the crane host are both located in the crane cab. The two can communicate with each other via wired or wireless means. Optionally, the electronic fence host can read vehicle information and calculate the vehicle status through third-party devices, including but not limited to GPS.

[0092] The crane provided in this embodiment of the invention can execute the electronic fence generation method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0093] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0094] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0097] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for generating an electronic fence for a crane, characterized in that, The method comprises the following steps: collecting an actual total length L of the boom of the crane under a current boom combination and a maximum distance K between a luffing hinge point and a possible rollover support point of the bottom of the crane; calculating a profile radius of the electronic fence according to the actual total length L of the boom and the maximum distance K; establishing a spherical profile for a target protection area with the center of rotation of the crane as the center of the sphere and the profile radius as the radius of the sphere; determining a closed interval between the spherical profile and the ground as a detection interval of the electronic fence, and generating the electronic fence; wherein the boom combination refers to a combination of different telescopic degrees of the telescopic boom of the crane; luffing refers to vertical movement of the boom of the crane; and the rollover support point refers to any one of the leg footplates of the crane.

2. The method of generating a crane electronic fence according to claim 1, characterized in that, Before the step of calculating the profile radius of the electronic fence, the following steps are performed: collecting the current boom combination of the crane and the arm length of each single-joint arm participating in the current boom combination; calculating a corresponding theoretical total length L0 of the boom according to the current boom combination and the arm length of each single-joint arm; only when the difference between the actual total length L of the boom and the theoretical total length L0 of the boom does not exceed a set threshold, the operation step of calculating the profile radius of the electronic fence is performed.

3. A method of generating a crane electronic fence according to claim 1 or 2, characterized in that, The step of calculating the profile radius of the electronic fence comprises the following steps: performing summation operation on the actual total length L of the boom and the maximum distance K, performing product operation on the summation operation result and a preset safety correction coefficient, and taking the product operation result as the profile radius of the electronic fence.

4. The method of generating a crane electronic fence according to claim 3, characterized in that, The safety correction coefficient is greater than 1.

5. Crane electronic fence system, characterized in that The electronic fence comprises an electronic fence host. The electronic fence host comprises: a first collection module for collecting an actual total length L of the boom of the crane under a current boom combination and a maximum distance K between a luffing hinge point and a possible rollover support point of the bottom of the crane; a first calculation module for calculating a profile radius of the electronic fence according to the actual total length L of the boom and the maximum distance K; a profile establishment module for establishing a spherical profile for a target protection area with the center of rotation of the crane as the center of the sphere and the profile radius as the radius of the sphere; a generation module for determining a closed interval between the spherical profile and the ground as a detection interval of the electronic fence, and generating the electronic fence; wherein the boom combination refers to a combination of different telescopic degrees of the telescopic boom of the crane; luffing refers to vertical movement of the boom of the crane; and the rollover support point refers to any one of the leg footplates of the crane.

6. Crane electronic fence system according to claim 5, characterized in that, Further comprising: a second collection module for collecting the current boom combination of the crane and the arm length of each single-joint arm participating in the current boom combination; a second calculation module for calculating a corresponding theoretical total length L0 of the boom according to the current boom combination and the arm length of each single-joint arm; a verification module for driving the first calculation module to perform the operation step of calculating the profile radius of the electronic fence only when the difference between the actual total length L of the boom and the theoretical total length L0 of the boom does not exceed a set threshold.

7. Crane electronic fence system according to claim 5, characterized in that, Further comprising: a distance detection device for detecting the distance of the surrounding object of the crane; The alarm device is used to determine whether the surrounding object enters the detection range of the electronic fence according to the distance of the surrounding object of the crane, and if yes, an alarm is output; otherwise, no alarm is output.

8. Crane electronic fence system according to claim 7, characterized in that, Further comprising: A legal verification module is used to verify the legality of the identity of the surrounding object; An operation terminal is used to authorize the alarm device to cancel the alarm when the surrounding object passes the identity legality verification.

9. Crane electronic fence system according to claim 7, characterized in that, The distance detection device includes any one of an infrared detector and an ultrasonic sensor.

10. A crane, characterized in that The crane electronic fence system includes any one of claims 5-9.

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