A detection system based on multi-sensor information fusion technology

Abstract

The application discloses a detection system based on a multi-sensor information fusion technology, which is composed of a computer host module, a communication module, an equipment monitoring module, a picture recognition module, a hook stabilizing module, a fixed-point parking module, a pole winding module and a practical operation simulation test module, and is a crane operator actual operation intelligent training system based on the multi-sensor information fusion technology. The detection technology of the crane operator practical training system based on the multi-sensor information fusion technology can effectively reduce the training institution cost (personnel and management), establish a standardized practical training mode, efficiently and conveniently find the deficiencies in the operation process of the operator and propose the improvement direction, effectively improve the training effect, shorten the training time and reduce the training cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of crane system training, in particular to a detection system based on multi-sensor information fusion technology. BACKGROUND

[0002] The technical problem to be solved by the present application is that the crane hoisting cargo is an important link in industrial production, and the operation level of the operator is related to production safety. In today's practical operation training, there are different levels of practical operation trainers, different training effects, low fees for practical operation training, poor training effects, pure manual non-standardization, and other problems. Practical operation training still remains at a low level, low efficiency, manual, and non-standard stage. The practical operation intelligent training system for crane operators researched by the present application is based on the detection technology of the crane operator training practical operation training system based on multi-sensor information fusion technology, which can effectively reduce the training institution cost (personnel and management), establish a standardized practical operation training mode, efficiently and conveniently find out the deficiencies in the operation process of the operator and propose improvement directions, effectively improve the training effect, shorten the training time, and reduce the training cost. SUMMARY

[0003] To solve the above problems, the present application designs a detection system based on multi-sensor information fusion technology, which comprises: 1. A data collection and processing platform is built based on multiple types of sensors such as gyroscopes, acceleration sensors, laser sensors, and big data collection and analysis software, which records the training running track and the signals of each sensor in real time, analyzes the collected data, and establishes a standard database based on the collected data, analyzes and interacts, gives the training feature points and weak operation points, and generates a training improvement plan;

[0004] 2. The core training project of the practical operation intelligent training system for crane operators consists of three intelligent training courses of hook stabilization, pole winding, and fixed-point parking, and can be expanded to other training courses. By erecting a heterogeneous multi-sensor data fusion module and setting up a multi-sensor dynamic network, the operation of the bridge and gantry crane under the conditions of no load or load is collected in real time, the position information measured by each sensor is correlated with the predicted value of the target track, and the difference is used as the correlation under the premise of ensuring safety. The system judges and automatically guides and corrects the operation process of the student.

[0005] 3. Training system structure: the system is composed of a computer host module, a communication module, an equipment monitoring module, a picture recognition module, a hook stabilizing module, a fixed parking module, a pole winding module, an actual operation simulation test module, etc. Through the installation of sensors on the obstacle pole, the fixed point, the trolley and the car, the basic functions of the equipment monitoring module, the hook stabilizing module, the fixed parking module and the pole winding module are realized. Finally, the data is collected to the computer terminal. The specific training site includes an operation area main body. To ensure the safety of the training process, a safety and operation area is divided on the upper side of the operation area main body by a warning line. A fixed parking module and a pole winding test area are arranged in the operation area on the operation area main body divided by the warning line. A crane is arranged on the operation area main body. The crane is used to drive the bucket to move and test. The bucket is hung on the hook of the crane by a metal rope;

[0006] 4. Communication technology and architecture: a large number of sensors need to be arranged on the site and the equipment, which are distributed in various modules. In order to facilitate the installation of the equipment, the data needs to be accurately transmitted to the system in a timely manner. A wireless transmission mode is adopted, and the same communication protocol is used. A low-cost and low-power protocol is selected as the terminal sensor node and the coordinator node. LoRa wireless communication network is used as the intelligent data concentrator scheme to provide stable data information source for the upper computer. While ensuring stability and wireless, it can be compatible with multiple protocols and different types of equipment;

[0007] 5. Equipment monitoring module: laser sensors are arranged on the trolley, the car and the bucket respectively, and an acceleration sensor is arranged on the bucket. A three-dimensional rectangular coordinate system is set up in the training site to monitor the position of the trolley, the car and the hook and the running speed of the equipment in real time. The running state of the equipment is monitored in real time at the data level. The safe operation area of the training site is divided. The possible dangerous misoperation or illegal operation can be fed back in time to realize voice alarm;

[0008] 6. The hook stabilizing module is a 9-axis gyroscope and an accelerometer sensor fixedly arranged on the bucket. It is mainly used to train the hook stabilizing ability of the students. When the bucket hoisted by the hook swings or shakes at a large angle during operation, the sensor transmits the obtained data to the computer host system software through the wireless transmission module. Thus, the hook stabilizing ability of the students is monitored in real time. The operation process of excellent students is collected during the training process. Different people's hook stabilizing methods are collected. After referring to the hook stabilizing efficiency, the standard operation database is expanded. Big data is used to guide the students' operation to form an efficient hook stabilizing training method;

[0009] 7. The spot module comprises a spot parking point arranged in the front side end surface area of the operation zone body divided by the warning line, sensors are arranged around the spot parking point, two sensors emit laser beams parallel to the ground, mainly used for training students' position accuracy control ability when unloading, and also verifying students' ability to operate the car, the trolley and the hook stabilizer. According to the need, set the spot parking point, install 2 laser ranging sensors around each spot detection base, the two laser sensors are parallel to the ground in the direction of laser emission, intersected vertically through the center of the base, and arranged in a 90-degree angle between the two laser beams, so as to determine the center position of the bucket through software, the sensor transmits the obtained data to the computer host system software through the wireless transmission module, calculates the distance between the bucket center and the base center through software, and detects the students' spot parking ability through the bucket offset;

[0010] 8. The around rod module is realized by the obstacle rod assembly B fixedly arranged on the front side end surface of the operation zone body and located above the spot parking point. An induction assembly is installed on each obstacle rod assembly. The induction assembly detects the distance between the bucket and the obstacle rod assembly, triggers and issues an alarm within a certain distance, and transmits the data to the computer host system software through the wireless transmission module. At the same time, combined with the equipment monitoring module, it identifies whether the student operates according to the specified route, verifies the student's ability to finely control the crane;

[0011] 9. The practical simulation test module: evaluates the comprehensive ability of students, integrates the above modules, tests in the hook stabilizing, around rod and spot modules one by one in a continuous "challenging" mode, finally generates an evaluation report by summarizing the error points and correction suggestions training, and adjusts the arrangement of the obstacle rod assembly through the adjustment assembly in the module. The movement control and positioning of the obstacle rod assembly can adjust the difficulty of the around rod module examination, record the operation trajectory of the students, and realize the effect of automatic training.

[0012] Preferably, the obstacle rod assembly can be moved by the adjustment assembly to adjust the test difficulty of the around rod module. The obstacle rod assembly comprises an obstacle rod fixedly arranged on the upper end surface of the movable supporting plate. In order to prevent the bucket from colliding with the obstacle rod during movement and causing hard contact, a spring structure is fixedly arranged at the connection between the lower end of the obstacle rod and the movable supporting plate. The upper end of the spring structure is fixedly provided with a height measuring sensor. An identification area is fixedly arranged on the side of the bucket. The identification area is used to increase the visual sense and scan the identification area by emitting laser beams parallel to the ground through the height measuring sensor, and issue an alarm when the laser irradiation range exceeds the set height of the identification area, indicating that the height of the bucket lifted by the crane is too high or too low;

[0013] The extension body is provided with a cavity, and a hanging rope is fixedly connected to the upper side of the cavity. The lower end of the hanging rope is provided with a hanging electromagnet that can swing in the cavity. The hanging electromagnet is made of electromagnet material and presents different magnetic force by passing through different current. The hanging bucket is provided with a metal layer and a magnet layer. When the hanging bucket passes through the extension body, the hanging electromagnet and the hanging bucket can generate mutual attraction. The required distance between the hanging electromagnet and the hanging bucket can be controlled by adjusting the current, and the trigger distance is generated. A swing contact body is fixedly arranged at the lower end of the hanging electromagnet. A contact sheet that can cooperate with the swing contact body is fixedly arranged on the inner wall of the cavity. When the contact sheet and the swing contact body are in contact, the current is conducted, and the alarm arranged in the barrier rod sends an alarm to remind the distance.

[0014] Locking assemblies are arranged in the inner walls of the upper side and the lower side of the cavity. The locking assemblies can lock the position of the hanging electromagnet, thereby preventing the alarm from being triggered by mistake during transportation.

[0015] The barrier rod assembly can be used for training and examination of students. The lifting height and the route during the movement of the hanging bucket can be limited. Whether the students operate according to the specified route during the movement can be monitored, and the ability of the students to finely control the crane can be verified.

[0016] Preferably, the locking assembly includes a jump groove arranged in the upper inner wall of the cavity. A jump block is slidably arranged in the jump groove. The upper end of the hanging rope is fixedly connected to the lower end of the jump block. A spring is fixedly arranged between the upper end face of the jump block and the inner wall of the jump groove.

[0017] A limiting sliding groove is arranged in the lower inner wall of the cavity. A limiting sliding block is slidably arranged in the limiting sliding groove. The upper end of the limiting sliding block is connected to the lower end of the swing contact body through a traction rope. A guide sliding groove is arranged in the arc-shaped inner wall of the limiting sliding groove. A sleeve block is arranged outside the barrier rod. The sleeve block and the limiting sliding block are connected through a connecting block that can slide in the guide sliding groove. When the sleeve block is moved to the maximum, the traction rope is in a relaxed state. At this time, the hanging electromagnet is in a swingable state. When the sleeve block is moved to the maximum, the limiting sliding block pulls the hanging electromagnet downward and is connected with the upper end of the limiting sliding groove, thereby limiting the position of the hanging electromagnet and avoiding tilting and triggering by mistake.

[0018] Preferably, a clamping seat is arranged at the joint between the limiting sliding groove and the cavity, which can limit the position of the lower end of the suspension electromagnet, and the suspension electromagnet can be clamped in the clamping seat after being lowered, thereby limiting the position of the suspension electromagnet.

[0019] Preferably, elastic clamping grooves are arranged at the lower end and the upper end of the guide sliding groove, which can be locked when the connecting block is lowered to the maximum and is moved to the maximum.

[0020] Preferably, the adjusting assembly comprises a chute which is arranged in the main body of the operation area and has an opening facing upward, drive grooves which are arranged in the left and right ends of the chute and are connected to each other, wire holes which are arranged in the lower inner wall of the chute and are connected to the drive grooves on the left and right sides respectively, a wire guide wheel and a drive wheel which are arranged in the drive grooves, and a transmission motor which is connected to the rear end of the drive wheel in a power manner.

[0021] A sliding rail is fixedly arranged in the chute, and the lower end of the moving supporting plate is provided with a sliding groove which has an opening facing downward and can be matched with the sliding rail, so that the moving supporting plate can slide on the sliding rail, and the left and right movements of the moving supporting plate can drive the left and right movements of the barrier rod assembly.

[0022] A locking sliding groove is arranged in the moving supporting plate, and two locking clamping blocks which are symmetrical to each other and can slide are arranged in the locking sliding groove, the top pushing springs are fixedly arranged between the locking clamping blocks on the left and right sides and the inner walls of the locking sliding groove respectively, the clamping groove which has an opening facing right is arranged in the locking clamping block on the left side, the protruding clamping block which can be clamped with the clamping groove is fixedly arranged on the left end face of the locking clamping block on the left side, the wire passing holes which are arranged in the two locking clamping blocks respectively and are transversal to each other are arranged in the locking clamping blocks respectively, and the wire passing holes on the two locking clamping blocks are staggered in the up and down positions and transversal to the clamping groove and the protruding clamping block respectively.

[0023] A driving winding rope is arranged in the wire passing hole, the driving winding rope winds through the drive wheel and the wire guide wheel and extends through the wire passing hole, and the driving winding rope is a continuous annular rope sleeve.

[0024] The repulsion electromagnets are arranged on the end faces of the opposite sides of the locking clamping blocks respectively, and the repulsion electromagnets generate magnetic forces which repel each other under the condition of being electrified.

[0025] The fixed contact blocks are arranged on the front and back end faces of the sliding rail respectively, and the sliding contact bodies are arranged on the inner walls of the sliding groove on the front and back sides, the corresponding repulsion electromagnets are electrified to generate magnetic forces which repel each other when the corresponding sliding contact bodies contact with the fixed contact blocks.

[0026] In the initial state, the locking blocks are driven to approach each other by the elastic force of the pushing spring, the protruding clamping blocks are clamped into the clamping grooves, and the part of the driving rope located in the wire passing hole is clamped, thereby limiting the relative sliding between the driving rope and the locking blocks. At this time, the driving rope is driven to rotate by the driving wheel, the moving support plate is driven to move, and when the sliding contact body moves to the corresponding position and contacts the fixed contact block energized by the program, the repulsion-proof electromagnet is energized to move away from each other. At this time, the locking blocks do not move with the rotation of the driving rope.

[0027] Preferably, in order to increase the friction force generated by the locking blocks when clamping the driving rope, a friction pad is arranged on the inner wall of the left side of the clamping groove and the left end face of the protruding clamping block.

[0028] Preferably, the number of groups of the fixed contact blocks arranged on the same position is the same as the number of the barrier rod assemblies in the same column. The parking positions of different barrier rod assemblies are adjusted according to different contact points, and the positions of the sliding contact bodies in each group of barrier rod assemblies are staggered to correspond to the fixed contact blocks with different position heights.

[0029] Preferably, in order to ensure the contact between the sliding contact body and the fixed contact block, a sliding groove with an opening outward is arranged in the sliding contact body, a contact point is slidably arranged in the sliding groove, a position retreat spring is fixedly arranged between the contact point and the inner wall of the sliding groove, and the contact point is electrically connected with the repulsion-proof electromagnet.

[0030] Preferably, in order to facilitate the observation of the operator, the fixed parking points are composed of three concentric circles with different radii, and are marked with three groups of different colors a, b and c.

[0031] Preferably, in order to reduce the friction between the driving rope and each hole, a wire wheel is arranged in the wire passing hole.

[0032] Beneficial effects:

[0033] 1. The training system can effectively improve the training efficiency and reduce the cost (personnel and management) of the training institution. The established standardized practical training mode can efficiently and automatically collect the deficiencies in the operation process of the operation personnel and propose improvement directions, thereby effectively improving the training effect.

[0034] 2. The system has the characteristics of high precision, high sensitivity, easy installation, wireless transmission and long endurance, and can be applied to different sites and lifting equipment, and takes into account the working conditions of enterprises and training institutions.

[0035] 3. With the help of information, automation and intelligent technology, it has strong applicability and customer customization functions, can automatically adapt to needs according to different working conditions, and has good scalability and promotion practicality.

[0036] 4. Different training formations can be automatically formed by the obstacle bar assembly and the adjustment assembly, and different training scenes can be changed during pole-circling training through feedback from the obstacle bar assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0038] Figure 1 Schematic diagram of the overall structure of the obstacle rod assembly of the present invention;

[0039] Figure 2 This is a structural diagram of the training ground;

[0040] Figure 3 for Figure 1 Schematic diagram of some structures in ;

[0041] Figure 4 for Figure 1 Schematic diagram of some structures in ;

[0042] Figure 5 It is a structural diagram of the movable support plate and the slide rail when viewed from the left;

[0043] Figure 6 for Figure 5 An enlarged schematic diagram of "A" in FIG.

[0044] Figure 7 It is a structural diagram of a fixed parking point;

[0045] Figure 8 Schematic diagram of the structure of the bucket. DETAILED DESCRIPTION

[0046] The following combination Figures 1 to 8 The present invention is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front and back directions mentioned below are the same as Figure 1 The up, down, left, right, front and back directions of the projection relationship itself are consistent.

[0047] The present invention relates to a detection system based on multi-sensor information fusion technology, which will be further described below with reference to the accompanying drawings:

[0048] The present invention relates to a detection system based on multi-sensor information fusion technology, as shown in the attached Figure 1 -Attached Figure 8The detection system shown comprises: 1. A data collection and processing platform is built based on multiple types of sensors such as gyroscopes, acceleration sensors, laser sensors, and big data collection and analysis software, which records the training trajectory and sensor signals in real time, analyzes the collected data, and establishes a standard database based on the collected data for analysis, interaction, and the generation of training improvement plans;

[0049] 2. The core training project of the intelligent training system for crane operators consists of three intelligent training courses: hook stabilizing, pole winding, and fixed-point parking, and can be expanded to other training courses. By setting up a heterogeneous multi-sensor data fusion module and a multi-sensor dynamic network, the operation of the bridge and gantry crane under no-load or load conditions is collected in real time, and the difference between the position information measured by each sensor and the predicted value of the target track is used as the correlation. Under the premise of ensuring safety, the system automatically guides and corrects the operation process of the students;

[0050] 3. The training system consists of a computer host module, a communication module, a device monitoring module, a picture recognition module, a hook stabilizing module, a fixed-point parking module, a pole winding module, and a practical operation simulation test module. By installing sensors on the obstacle pole, fixed point, trolley, and other devices, the basic functions of the device monitoring module, hook stabilizing module, fixed-point parking module, and pole winding module are realized. Finally, the data is collected to the computer terminal. The specific training site includes an operation area main body 101. To ensure safety during training, a safety and operation area is divided by a warning line 162 on the upper side of the operation area main body 101. The fixed-point parking module and the pole winding module test area are located in the operation area divided by the warning line 162 on the operation area main body 101. A crane 163 is provided on the operation area main body 101, which is used to move and test the bucket 167. The bucket 167 is suspended on the hook of the crane 163 by a metal rope 168;

[0051] The communication technology and architecture include sensors arranged in the field and each module. To ensure the transmission efficiency of data, the sensors and the system use wireless transmission mode and the same communication protocol;

[0052] 4. Communication technology and architecture: the communication technology and architecture includes sensors arranged in the field and various modules. In order to ensure the transmission efficiency of data, the sensor and the system use wireless transmission mode and the same communication protocol. A large number of sensors need to be arranged on the field and equipment, and dispersed in various modules. In order to facilitate the erection and installation of equipment, the data needs to be accurately transmitted to the system in time. Wireless transmission mode and the same communication protocol are used. A low-cost and low-power protocol is selected as the terminal sensor node and coordinator node. LoRa wireless communication network is used as the intelligent data concentrator scheme to provide stable data information source for the host computer. While ensuring stability and wireless, it can be compatible with multiple protocols and different types of equipment;

[0053] 5. Equipment monitoring module: the equipment module includes a laser sensor for detecting the running speed of the bucket 167. Laser sensors are respectively arranged on the trolley, the bucket and the hook. An acceleration sensor is arranged on the bucket. A three-dimensional rectangular coordinate system is set up in the training field. The positions of the trolley, the bucket and the hook and the running speed of the equipment are monitored in real time. The running state of the equipment is monitored in real time at the data level. The safe operation area of the training field is divided. The possible dangerous misoperation or illegal operation can be fed back in time to realize voice alarm;

[0054] 6. The stable hook module is a 9-axis gyroscope and an accelerometer sensor fixedly arranged on the bucket 167. The stable hook module is mainly used for training the stable hook ability of students. When the bucket hoisted by the hook swings or shakes at a large angle during operation, the sensor transmits the obtained data to the computer host system software through the wireless transmission module. The stable hook ability of students is monitored in real time. The operation process of excellent students is collected during training. Different people's stable hook methods are collected. After referring to the stable hook efficiency, the standard operation database is expanded. Big data is used to guide students' operation to form an efficient stable hook training method;

[0055] 7. The spot module includes a spot parking point 166 arranged in the front side end surface area of the operation area main body 101 divided by the warning line 162, and sensors 165 are arranged around the spot parking point 166. Two sensors 165 emit laser light parallel to the ground, which is mainly used to train the position accuracy control ability of the trainee when unloading, and also verifies the trainee's ability to coordinate the operation of the car, the trolley and the hook. The spot parking point is arranged as needed, and two laser ranging sensors are installed around each spot detection base. The two laser sensors are arranged in a way that the laser emission direction is parallel to the ground, and the vertical direction of the base center intersects, and the two laser beams form a 90-degree angle. Thus, the software determines the position of the bucket center, the sensor transmits the obtained data to the computer host system software through the wireless transmission module, the software calculates the distance between the bucket center and the base center, and the trainee's spot parking ability is detected through the bucket offset.

[0056] 8. The around rod module is implemented by the obstacle rod assembly B fixedly arranged on the front side end surface of the operation area main body 101 and located above the spot parking point 166. An induction assembly is installed on each obstacle rod assembly. The induction assembly detects the distance between the bucket 167 and the obstacle rod assembly, triggers and issues an alarm within a certain distance, and transmits the data to the computer host system software through the wireless transmission module. At the same time, combined with the device monitoring module, it identifies whether the trainee operates according to the specified route, verifies the trainee's ability to finely control the crane.

[0057] 9. The practical simulation test module: evaluates the comprehensive ability of the trainee. The above modules are integrated through a continuous "challenging" mode, and the trainee is tested one by one in the hook stabilizing, rod winding and spot modules. Finally, the error points and correction suggestions are summarized to generate an evaluation report, and the adjustment assembly in the module can adjust the arrangement of the obstacle rod assembly. The movement control and positioning of the obstacle rod assembly can adjust the difficulty of the rod winding module examination, record the operation trajectory of the trainee, and realize the effect of automatic training.

[0058] Beneficially, as attached Figure 1 and attached Figure 3 to attached Figure 6The obstacle bar assembly can be offset by the driving of the adjusting assembly, thereby adjusting the test difficulty of the around-bar module. The obstacle bar 111 is fixedly arranged on the upper end face of the moving supporting plate 103. To prevent the bucket 167 from colliding with the obstacle bar 111 during movement and causing hard contact, a spring structure 112 is fixedly arranged at the connection between the lower end of the obstacle bar 111 and the moving supporting plate 103. The upper end of the spring structure 112 is fixedly arranged with a height measuring sensor 121. An identification area 169 is fixedly arranged on the circumferential side of the bucket 167. The identification area 169 is used to increase the visual sense and is scanned by the height measuring sensor 121 to emit a laser parallel to the ground. When the laser irradiation range exceeds the set height of the identification area 169, an alarm is given to report that the height of the bucket 167 hoisted by the crane 163 is too high or too low.

[0059] An extension body 122 is fixedly arranged on the obstacle bar 111. The extension body 122 is provided with a cavity 123. A lifting rope 124 is fixedly connected to the upper side of the cavity 123. A suspension electromagnet 126 that can swing in the cavity 123 is hung at the lower end of the lifting rope 124. The suspension electromagnet 126 is made of an electromagnet material and exhibits different magnetic force sizes by passing through different current sizes. The bucket 167 is provided with a metal layer and a magnet layer. When the bucket 167 is hoisted to pass through the extension body 122, the suspension electromagnet 126 can generate mutual attraction with the bucket 167. By adjusting the current size, the suspension electromagnet 126 can be controlled to generate a required distance size sufficient to drive the suspension electromagnet 126 to offset, that is, a trigger distance. A swing contact body 127 is fixedly arranged at the lower end of the suspension electromagnet 126. A contact sheet 125 that can cooperate with the swing contact body 127 is fixedly arranged on the inner wall of the cavity 123. When the contact sheet 125 contacts the swing contact body 127, the current is conducted, and an alarm in the obstacle bar 111 gives an alarm to remind the distance.

[0060] Locking assemblies are arranged in the inner walls of the upper side and the lower side of the cavity 123. The locking assemblies can lock the position of the suspension electromagnet 126, thereby preventing the alarm from being triggered by mistake during transportation.

[0061] The obstacle bar assembly can be used to train and examine students. The hoisting height and the route during the movement of the bucket 167 are limited. During the movement, whether the students operate according to the specified route can be monitored to verify the students' ability to finely control the crane.

[0062] Beneficially, like the attachedFigure 1 and the accompanying drawings Figure 3 The locking assembly shown includes a jump groove 132 opened in the upper inner wall of the cavity 123, a jump block 129 is slidably arranged in the jump groove 132, the upper end of the hanging rope 124 is fixedly connected to the lower end of the jump block 129, and a spring 131 is fixedly arranged between the upper side end face of the jump block 129 and the inner wall of the jump groove 132;

[0063] A limiting sliding groove 113 is arranged in the lower inner wall of the cavity 123 in communication, a limiting sliding block 115 is slidably arranged in the limiting sliding groove 113, the upper end of the limiting sliding block 115 is connected with the lower end of the oscillating contact body 127 through a traction rope, a guide sliding groove 116 is opened on the annular array of the curved inner wall of the limiting sliding groove 113, a sleeve block 114 is arranged outside the obstacle rod 111, the sleeve block 114 and the limiting sliding block 115 are connected through a connecting block 117 which can slide in the guide sliding groove 116, when the sleeve block 114 is moved to the maximum, the traction rope is in a relaxed state, at this time, the suspension electromagnet 126 is in an oscillatable state, when the sleeve block 114 is moved to the maximum, the limiting sliding block 115 pulls the suspension electromagnet 126 to move downward and is clamped with the upper end of the limiting sliding groove 113, thereby limiting the position of the suspension electromagnet 126 to avoid tilting and accidental touch.

[0064] According to specific use, a clamping seat can be arranged at the connection between the limiting sliding groove 113 and the cavity 123, which can limit the position of the lower end of the suspension electromagnet 126, and the suspension electromagnet 126 can be clamped in the clamping seat after descending to limit the position of the suspension electromagnet 126.

[0065] According to specific use, elastic clamping grooves can be arranged at the lower end and the upper end of the guide sliding groove 116, and the connecting block 117 can be locked by the elastic clamping grooves when it is moved to the maximum downward and the maximum upward.

[0066] Beneficially, as shown in the accompanying drawings Figure 1 , the accompanying drawings Figure 3 , the accompanying drawings Figure 5 and the accompanying drawings Figure 6 The adjustment assembly shown includes a slide 152 opened in the operation area body 101 and opening upward, drive grooves 105 are arranged in communication with the left and right ends of the slide 152, wire holes 102 are arranged in the lower inner wall of the slide 152 and are in communication with the drive grooves 105 on both sides, respectively, a wire guide wheel 107 and a drive wheel 106 are arranged in the drive grooves 105, and a transmission motor is power-connected to the rear end of the drive wheel 106;

[0067] A slide rail 151 is fixedly arranged in the slide 152, and the lower end of the moving plate 103 is provided with a slide groove 149 which is downwardly open and can cooperate with the slide rail 151, so that the moving plate 103 can slide on the slide rail 151, and the moving plate 103 can be pulled to move leftward or rightward, so as to drive the barrier rod assembly to move leftward or rightward;

[0068] A locking slide groove 135 is arranged in the moving plate 103, and two locking clamping blocks 138 which are symmetrical and slidable are arranged in the locking slide groove 135, and the locking clamping blocks 138 on the left and right sides are respectively fixedly provided with a push spring 137 between the inner wall of the locking slide groove 135 and the locking clamping block 138, the locking clamping block 138 on the left side is provided with a clamping groove 142 which is open to the right, and the locking clamping block 138 on the left side is fixedly provided with a protruding clamping block 145 on the left end surface which can be clamped with the clamping groove 142, and a wire through hole 141 is arranged in the two locking clamping blocks 138 and penetrates the two locking clamping blocks 138 from left to right, and the wire through hole 141 on the two locking clamping blocks 138 is staggered in the up and down positions and respectively transversely arranged in the clamping groove 142 and the protruding clamping block 145;

[0069] A driving winding rope 144 is arranged in the wire hole 102, the driving winding rope 144 winds around the driving wheel 106 and the wire guide wheel 107 and extends through the wire through hole 141, and the driving winding rope 144 is a continuous annular rope sleeve;

[0070] Anti-repulsion electromagnets 147 are respectively arranged on the end surfaces opposite to the locking clamping blocks 138, and the anti-repulsion electromagnets 147 generate repulsive magnetic force when energized;

[0071] Fixed contact blocks 104 are respectively arranged on the front and rear end surfaces of the slide rail 151, and sliding contact bodies 154 are arranged on the inner walls of the front and rear sides of the slide groove 149, and when the corresponding sliding contact bodies 154 and the fixed contact blocks 104 are in contact, the corresponding anti-repulsion electromagnets 147 are energized to generate magnetic force which repel each other;

[0072] In the initial state, the locking blocks 138 are driven to approach each other by the elastic force of the pushing spring 137, the protruding clamping block 145 is clamped into the clamping groove 142, the part of the driving winding rope 144 in the wire hole 141 is clamped, and the relative sliding between the driving winding rope 144 and the locking blocks 138 is limited. At this time, the driving winding rope 144 is driven to rotate by the driving wheel 106, and the moving plate 103 is driven to move. When the sliding contact body 154 moves to the corresponding position and contacts the fixed contact block 104 which is powered by the program, the repulsion electromagnetic iron 147 is powered to move away from each other. At this time, the locking blocks 138 do not move with the rotation of the driving winding rope 144.

[0073] Beneficially, in order to increase the friction force generated by the locking blocks 138 when clamping the driving winding rope 144, the left inner wall of the clamping groove 142 and the left end face of the protruding clamping block 145 are provided with friction pads 140.

[0074] Beneficially, the number of groups of the fixed contact block 104 arranged on the same position is the same as the number of the barrier rod assemblies in the same column. Different parking positions of different barrier rod assemblies are adjusted according to different contact points. The positions of the sliding contact bodies 154 in each group of barrier rod assemblies are staggered up and down, respectively corresponding to the fixed contact blocks 104 with different position heights.

[0075] Beneficially, in order to ensure the contact between the sliding contact body 154 and the fixed contact block 104, a sliding groove 155 with an opening outward is arranged in the sliding contact body 154. A contact point 157 is slidably arranged in the sliding groove 155. A retreat spring 156 is fixedly arranged between the contact point 157 and the inner wall of the sliding groove 155. The contact point 157 is electrically connected with the repulsion electromagnetic iron 147.

[0076] Beneficially, it is convenient for the operator to observe. The fixed parking point 166 is composed of three concentric circles with different radii, and is marked with three groups of different colors a, b and c, respectively.

[0077] Beneficially, in order to reduce the friction between the driving winding rope 144 and each hole, a wire wheel 148 is arranged in the wire hole 141.

[0078] In the initial state of the barrier rod assembly, the jumper 129 is maximally lowered in the jump groove 132, and the limiting sliding block 115 is maximally moved up in the limiting sliding groove 113. At this time, the suspension electromagnetic iron 126 is in a swingable state.

[0079] At this time, the trainee can complete the training work by controlling the crane 163 to drive the bucket 167 to move, and when passing through the obstacle rod assembly, the laser emitted by the height measuring sensor 121 can scan the range of the identification area 169 of the bucket 167, so as to monitor and feed back the lifting height of the bucket 167, and when the around rod process is carried out, by passing different intensity currents through the suspension electromagnet 126, whether the bucket 167 passes through the different ranges around the suspension electromagnet 126 can be determined, and when the suspension electromagnet 126 is within a certain range of the extension body 122, the suspension electromagnet 126 is deflected by the mutual attraction of magnetic force, and the swinging contact body 127 is in contact with the contact sheet 125, so that the circuit is turned on and an alarm is issued.

[0080] When it is necessary to carry, the sleeve block 114 is pulled down to pull down the suspension electromagnet 126 and the swinging contact body 127, and the swinging contact body 127 is clamped with the lower clamping seat, so as to limit the swinging of the suspension electromagnet 126.

[0081] In the initial state, the locking clamping blocks 138 on both sides are close to each other under the elastic action of the push spring 137, and the protruding clamping block 145 is clamped into the clamping groove 142, at this time, the driving winding rope 144 is clamped by the locking clamping block 138, at this time, the driving wheel 106 rotates to drive the driving winding rope 144 to rotate, so as to drive the moving supporting plate 103 to move.

[0082] At this time, the user controls the fixed contact block 104 at different positions to pass through the current, at this time, when the driving wheel 106 drags the moving supporting plate 103 to move, the sliding contact body 154 in a certain adjustment assembly contacts the electrified fixed contact block 104, the circuit of the repulsion-proof electromagnet 147 is turned on, and the locking clamping blocks 138 are away from each other, at this time, the moving supporting plate 103 stops moving, in this way, adjusting the positions of different moving supporting plates 103 can make the obstacle rod assembly combine different arrays for training.

[0083] The beneficial effects of the present application are:

[0084] 1. The training system can effectively improve the training efficiency and reduce the cost (personnel and management) of the training institution. The established standardized practical training mode can efficiently and automatically collect the deficiencies in the operation process of the operation personnel and propose improvement direction, and effectively improve the training effect.

[0085] 2. The system has the characteristics of high precision, high sensitivity, easy installation, wireless transmission and long endurance, and can be applied to different sites, lifting equipment, and work conditions of enterprises and training institutions.

[0086] 3. With the help of informationization, automation and intelligent technology, it has strong applicability and customer customization function, can automatically adapt to the demand according to different working conditions, and has good expansibility and practicality.

[0087] 4. Different training formations can be automatically combined through the obstacle pole assembly and the adjusting assembly, and different training scenes can be changed during the pole training through the feedback of the obstacle pole assembly.

[0088] Through the above mode, those skilled in the art can make various changes according to the working mode within the scope of the present application.

Claims

1. A detection system based on multi-sensor information fusion technology, the detection system comprising: (1) Build a data collection and processing platform based on multiple sensors such as gyroscopes, accelerometers, and laser sensors and big data collection and analysis software to record the training operation trajectory and the signals of each sensor in real time, analyze the data collected from the training, and establish a standard database based on the collected data to analyze and interact with it, provide training feature points and operational weaknesses, and generate a training improvement plan; (2) The core training program of the practical operation intelligent training system for crane operators consists of three intelligent training courses: hook stabilization, pole winding, and fixed-point parking. Other training courses can be expanded; (3) Composition of the training system: The system consists of a computer host module, a communication module, an equipment monitoring module, a map recognition module, a hook stabilization module, a fixed-point parking module, a pole winding module, and a practical simulation test module. By installing sensors on the obstacle pole, fixed point, large vehicle, and small vehicle, the basic functions of the equipment monitoring module, hook stabilization module, fixed-point parking module, and pole winding module are realized, and the data are finally collected to the computer terminal. The specific training venue includes an operation area body, on the upper side of the operation area body, a safety area and an operation area are divided by a warning line. The operation area on the operation area body divided by the warning line is provided with a fixed-point parking module and a pole winding module test area. A crane is provided on the operation area body, and the crane is used to move and test the bucket. The bucket is hung on the hook of the crane by a metal hanging rope; (4) Communication technology and architecture include sensors deployed in the field and in each module. To ensure data transmission efficiency, the sensors and the system adopt wireless transmission mode and use the same communication protocol; (5) The equipment monitoring module includes a laser sensor for detecting the running speed of the bucket; (6) The hook stabilization module is a 9-axis gyroscope and accelerometer sensor fixed on the bucket, which is mainly used to train trainees' hook stabilization ability; (7) The fixed-point parking module includes a fixed-point parking point set in the front end area of ​​the main body of the operating area divided by the warning line. Sensors are set around the fixed-point parking point. Two of the sensors emit lasers parallel to the ground. They are mainly used to train trainees' ability to control the position accuracy during unloading, and also verify the trainees' level of collaborative operation of large vehicles, small vehicles and stable hooks; (8) The bar-winding module is realized by an obstacle bar assembly B fixedly arranged on the front end surface of the main body of the operating area and located above the fixed parking point. Each obstacle bar assembly is equipped with a sensing assembly, which detects the distance between the bucket and the obstacle bar assembly through the sensing assembly, triggers and issues an alarm within a certain distance, and transmits the data to the computer host system software through the wireless transmission module; (9) Practical simulation test module: evaluates the comprehensive ability of trainees, integrates the above modules, and tests them one by one in the stable hook, pole winding, and fixed point modules through a continuous "breakthrough" mode. Finally, the error points and correction suggestions are summarized and an evaluation report is generated. The obstacle pole assembly arrangement can be adjusted through the adjustment components in the module.

2. The detection system based on multi-sensor information fusion technology according to claim 1, characterized in that: The obstacle rod assembly can be driven by the adjustment assembly to achieve position offset, thereby adjusting the test difficulty of the rod-winding module. The obstacle rod assembly includes an obstacle rod fixedly arranged on the upper end surface of the movable support plate, a spring structure is fixedly arranged at the connection between the lower end of the obstacle rod and the movable support plate, a height measuring sensor is fixedly arranged on the upper end of the spring structure, and an identification area is fixedly arranged on the peripheral side of the bucket. The identification area is used to increase visual perception and the height measuring sensor emits a laser parallel to the ground to scan the identification area, and when the laser irradiation range exceeds the setting range of the identification area, an alarm is issued to inform that the height of the bucket hoisted by the crane is too high or too low; An extension body is fixedly provided on the obstacle rod, a cavity is provided in the extension body, a hanging rope is fixedly connected to the upper side of the cavity, and a hanging electromagnet is suspended at the lower end of the hanging rope and can be swung in the cavity, the hanging electromagnet is made of electromagnet material, and the hanging electromagnet exhibits magnetic forces of different intensities by passing currents of different intensities, a metal layer and a magnetic layer are provided on the outside of the bucket, and when the bucket is hoisted through the extension body, a mutual attraction is generated between the hanging electromagnet and the bucket, and the current can be controlled to generate a distance sufficient to drive the hanging electromagnet to deflect by a required distance, i.e., a trigger distance, a swinging contact body is fixedly provided at the lower end of the hanging electromagnet, and a contact electric sheet that can cooperate with the swinging contact body is fixedly provided on the inner wall of the cavity. When the contact electric sheet contacts the swinging contact body, current is conducted, and an alarm provided in the obstacle rod sounds an alarm to remind the distance; Locking components are provided on the inner walls of the upper and lower sides of the cavity, and the locking components can lock the position of the suspension electromagnet to prevent the alarm from being triggered by mistake during transportation; The obstacle bar assembly can be used to train and assess trainees, and the lifting height and travel route can be limited during the lifting and moving of the bucket. During the movement, it can be monitored whether the trainees operate according to the specified route to verify the trainees' ability to finely control the crane.

3. The detection system based on multi-sensor information fusion technology according to claim 2, characterized in that: The locking assembly includes a jump groove provided in the upper inner wall of the cavity, a jump block slidably provided in the jump groove, the upper end of the suspension rope is fixedly connected to the lower end of the jump block, and a spring is fixedly provided between the upper end surface of the jump block and the inner wall of the jump groove; A limiting slide groove is provided in the lower inner wall of the cavity, and a limiting slider is slidably provided in the limiting slide groove. The upper end of the limiting slider is connected to the lower end of the swinging contact body by a traction rope. A guide slide groove is provided in an annular array on the arc-shaped inner wall of the circumference of the limiting slide groove, and a sleeve block is provided on the outer side of the obstacle rod. The sleeve block and the limiting slider are connected by a connecting block that can slide in the guide slide groove.

4. The detection system based on multi-sensor information fusion technology according to claim 3, characterized in that: The adjustment assembly includes a slideway opened in the main body of the operating area and facing upward, a drive groove is provided at the left and right ends of the slideway, a wire hole is provided on the lower inner wall of the slideway, and the two ends are respectively connected to the drive grooves on both sides, a wire pulley and a drive wheel are provided in the drive groove, and the rear end of the drive wheel is connected to a transmission motor; A slide rail is fixedly provided in the slideway, and a slide groove with a downward opening and capable of cooperating with the slide rail is provided at the lower end of the movable support plate. The movable support plate can slide on the slide rail, and the barrier rod assembly can be driven to move left and right by pulling the movable support plate to move left and right; A locking slot is provided in the movable support plate, and two locking clamping blocks are symmetrically and slidably provided in the locking slot, and the locking clamping blocks on the left and right sides are respectively fixed with pushing springs between the inner walls of the locking slot, and a card slot opening facing right is provided in the locking clamping block on the left side, and a protruding card block that can be engaged with the card slot is fixed on the left end surface of the locking clamping block on the left side, and wire holes are respectively provided in the two locking clamping blocks, and the wire holes on the two locking clamping blocks are staggered in upper and lower positions and respectively cross the card slot and the protruding card block; A driving rope is provided in the wire hole, the driving rope passes through the driving wheel and the guide wheel and extends through the wire hole, and the driving rope is a continuous annular rope loop; Anti-repulsion electromagnets are respectively provided on the end faces on opposite sides of the locking clamps, and the anti-repulsion electromagnets generate mutually repelling magnetic forces when energized; Fixed contact blocks are respectively provided on the front and rear end faces of the slide rail, and sliding contact bodies are provided on the front and rear inner walls of the slide groove. When the corresponding sliding contact bodies contact the fixed contact blocks, the corresponding anti-repulsion electromagnets are energized to generate magnetism and move away from each other.

5. The detection system based on multi-sensor information fusion technology according to claim 4, characterized in that: In order to increase the friction force generated by the locking clamp on the driving rope when clamping, friction pads are provided on the left inner wall of the clamping slot and the left end surface of the protruding clamping block.

6. The detection system based on multi-sensor information fusion technology according to claim 4, characterized in that: The number of groups of the fixed contact blocks arranged up and down at the same position is the same as the number of the barrier rod assemblies in the same column. The parking positions of different barrier rod assemblies are adjusted according to the different contact points. The positions of the sliding contact bodies in each group of barrier rod assemblies are staggered up and down, corresponding to the fixed contact blocks at different position heights.

7. The detection system based on multi-sensor information fusion technology according to claim 6, characterized in that: In order to ensure that the sliding contact body is in contact with the fixed contact block, a sliding groove with an outward opening is provided in the sliding contact body, a contact point is slidably provided in the sliding groove, a retreat spring is fixedly provided between the contact point and the inner wall of the sliding groove, and the contact point is electrically connected to the anti-repulsion electromagnet.

8. The detection system based on multi-sensor information fusion technology according to claim 6, characterized in that: To facilitate observation by operators, the fixed parking point is composed of three concentric circles of different radii, and is marked with three groups of different colors a, b and c respectively.

9. The detection system based on multi-sensor information fusion technology according to claim 4, characterized in that: In order to reduce the friction between the driving rope and each hole, a wire wheel is provided in the wire hole.

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