Intelligent Mobile Remote Control Management System for Industrial Remote Controllers

Abstract

The present invention discloses an intelligent mobile remote control management system for industrial remote controllers, belonging to the technical field of equipment control. The system includes a data acquisition module, a data analysis module, a data processing module and an operation management module; the data acquisition module is used to collect the hoisting information of the crane, the command information of the industrial remote controller and the image information of the operation site; the data analysis module is used to perform shaking analysis on the hoisted goods and calculate the shaking index, divide the dangerous area according to the shaking index, and predict whether there is an unsafe situation for personnel; the data processing module adjusts the speed and acceleration according to the shaking index during hoisting of the goods to ensure that the goods will not shake violently during the hoisting and translation process; the operation management module controls the moving direction and moving duration of the goods according to the command information. The present invention performs shaking analysis according to different goods so as to adjust the speed or acceleration, ensuring the safety of the goods and personnel during the transportation process while improving the transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and specifically to an intelligent mobile remote control management system for industrial remote controllers. Background Art

[0002] With the continuous advancement of industrial automation, the degree of automation of cranes has also become higher and higher. Industrial remote control technology can achieve remote control of cranes, improving the safety, efficiency, and flexibility of operations, and providing a more intelligent and convenient solution for modern industrial production.

[0003] At present, industrial remote controllers for controlling cranes are usually designed for simplicity and practicality, and basically use a few simple direction buttons to control the lifting hook of the crane to move uniformly in a specified direction to achieve cargo transportation. This design can well ensure construction safety, but there are still some drawbacks. For example: 1. Different transported goods may have different center-of-gravity distributions or weights, and under the same transportation speed conditions, some goods may shake violently and be damaged. 2. Different weights of goods use the same acceleration during transportation, and due to misoperations by staff, goods with a greater weight may generate higher inertia, resulting in damage to the goods. 3. During transportation, due to the negligence of staff, the personnel below the transported goods may not be discovered in time, threatening the lives and safety of relevant personnel. Therefore, at present, a technical solution that can ensure the safety of goods and personnel during transportation while improving transportation efficiency is needed to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent mobile remote control management system for industrial remote controllers to solve the problems raised in the above background art.

[0005] To solve the above technical problems, the present invention provides the following technical solution: An intelligent mobile remote control management system for industrial remote controllers, which includes a data acquisition module, a data analysis module, a data processing module, and an operation management module.

[0006] The data acquisition module is used to collect the hoisting information of the crane, the command information of the industrial remote controller, and the image information of the operation site. The data analysis module is used to analyze the shaking of the hoisted goods and calculate the shaking index, divide the dangerous area according to the shaking index, and predict whether there is an unsafe situation for personnel. The data processing module adjusts the speed and acceleration according to the shaking index when the hoisted goods are translated. The operation management module controls the moving direction and moving duration of the goods according to the command information.

[0007] The data acquisition module includes a hoisting information acquisition unit, a remote control information acquisition unit, and a camera information acquisition unit.

[0008] The hoisting information acquisition unit is used to collect the position of the lifting hook of the crane and the sensed weight. The position of the lifting hook refers to the real-time position of the lifting hook of the crane in the operation area, and the position will change due to the translation of the lifting hook. The sensed weight refers to the real-time weight sensed by the lifting hook of the crane, which is collected by the weight sensor connected to the lifting hook, and the weight will change during the hoisting movement due to the different center-of-gravity positions of the lifted goods or the inertia generated during translation. The position of the lifting hook and the sensed weight are sequentially stored as hoisting records according to the time sequence.

[0009] The operation area refers to the working range of the crane, usually the warehouse site where the crane is required to work, and the lifting hook of the crane moves within the operation area.

[0010] The remote control information acquisition unit is used to collect operation instructions. The staff operates the industrial remote control to send operation instructions to the receiving device, and the receiver controls the movement of the lifting hook of the crane according to the operation instructions; the operation instructions include the moving direction and the pressing duration. The moving direction refers to the moving direction of the lifting hook hoisting the goods, and the pressing duration refers to the continuous duration when the staff presses the moving button on the industrial remote control. The lifting hook moves continuously during the pressing time.

[0011] The crane is a bridge crane, and the buttons of the industrial remote control are momentary-action buttons.

[0012] The moving directions of the lifting hook include upward, downward, eastward, southward, westward, and northward. When the lifting hook moves upward or downward, the position does not change. Eastward, southward, westward, and northward are translations, and the position changes.

[0013] The camera information acquisition unit is used to collect the camera position and the real-time video. The camera position refers to the installation position of the camera in the operation area, and the real-time video refers to the monitoring video of the operation area, which is collected by the camera installed in the operation area.

[0014] The data analysis module includes a sway analysis unit, a region division unit, and a risk prediction unit.

[0015] The sway analysis unit is used to analyze the sway degree of the goods and calculate the sway index. The sensed weight when the lifting hook hooks the goods off the ground is obtained as the weight of the goods. A sampling duration is set. When the lifting hook hooks the goods and moves, the sensed weight is obtained in real time, and all the sensed weights collected within the sampling duration are substituted into the formula to calculate the sway index. Each sampling duration corresponds to a sway index, and the formula is as follows:

[0016]

[0017] In the formula, is the number of times of induced weight collected within the sampling duration, is the induced weight collected at the

[0018] The sampling duration is set according to the moving speed of the lifting hook. The faster the moving speed, the shorter the sampling duration; the slower the moving speed, the longer the sampling duration.

[0019] The area division unit is used to divide a dangerous area for the lifting hook. When the lifting hook hooks the goods and moves horizontally, the sway index and the position of the lifting hook are obtained in real time. A section of influence distance is set, and the sway index is multiplied by the influence distance to obtain the dangerous distance. Taking the position of the lifting hook as the center and the dangerous distance as the radius, a circular area is divided as the dangerous area.

[0020] The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the goods and moves horizontally. When the lifting hook hooks the goods and moves horizontally, the warning area is divided according to the dangerous area, and it is judged whether there are staff in the warning area. If the result is yes, it is regarded as an unsafe situation for personnel.

[0021] The position of the dangerous area changes according to the change of the position of the lifting hook, and the range of the dangerous area changes according to the change of the sway index. Since the lifting hook hooks the goods and moves horizontally in the air, the dangerous area includes the air and the ground.

[0022] The specific steps for obtaining the weight of the goods are as follows:

[0023] S1. When the staff operates the lifting hook of the crane to descend, obtain the position of the descending lifting hook and the positions of all cameras in the working area.

[0024] S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the descending lifting hook respectively, and select the camera with the shortest distance to take a real-time video of the position where the descending lifting hook is located.

[0025] S3. When the lifting hook hooks the goods and is about to rise, perform target detection on the goods in the captured video image to detect whether the goods leave the ground, and obtain the time t when the goods leave the ground in the image 离 , and retrieve the induced weight at time t 离 in the lifting record as the weight of the goods.

[0026] The judgment steps for the unsafe situation of personnel are as follows:

[0027] S1. When the lifting hook hooks the goods and moves horizontally, analyze the change of the position of the lifting hook over time, and calculate the horizontal speed in real time; set a minimum acceleration with a negative value , and the horizontal speed are substituted into the formula to calculate the braking distance .

[0028] The translation speed refers to the current speed when the lifting hook hooks the cargo and translates it. The braking distance is calculated as the translation distance from the current speed starting to decelerate uniformly to zero. The translation speed changes in real time.

[0029] The minimum acceleration is set in advance by the staff, referring to the deceleration of the lifting hook when it slides naturally after power failure.

[0030] S2. Obtain the position of the lifting hook, the translation direction and the danger distance. Take the position of the lifting hook as the starting point, find a position along the translation direction whose distance from the starting point is equal to the braking distance and record it as the warning position. Take the warning position as the center of the circle and the danger distance as the radius, and divide a circular area as area A.

[0031] S3. With the braking distance as the length of the rectangle, twice the danger distance as the width of the rectangle, the lifting hook position and the warning position as the midpoint of the width of the rectangle, a rectangular area is divided as area B.

[0032] S4. Area A, area B and the danger zone are collectively regarded as early warning areas.

[0033] The position of the warning area changes according to the position of the lifting hook, the translation direction and the braking distance, and the range of the warning area changes according to the braking distance and the danger distance.

[0034] S5. Use the YOLO algorithm to detect human bodies in the real-time video footage captured by the camera, mark the position of each staff member, and determine whether there are any staff members in the warning area. If there are any staff members, it indicates an unsafe situation.

[0035] The data processing module is used to adjust the speed and acceleration of the lifting hook when it is hooked onto the cargo and moves horizontally, and includes a speed adjustment unit and an acceleration adjustment unit.

[0036] The speed adjustment unit sets an initial speed according to the shaking index when the lifting hook hooks the cargo and rises, and determines whether the shaking index when the lifting hook hooks the cargo and moves horizontally is within the index area based on the initial speed, thereby adjusting the speed.

[0037] The acceleration adjustment unit also sets the initial acceleration according to the shaking index when the lifting hook hooks the cargo and rises, and determines whether the shaking index when the lifting hook hooks the cargo and moves horizontally is within the index area based on the initial acceleration, thereby adjusting the acceleration.

[0038] The acceleration value is a positive or negative number, which is a positive number when acceleration is required and a negative number when deceleration is required. The specific acceleration or deceleration is selected based on the adjusted speed calculated by the speed adjustment unit and whether the staff is pressing the movement button.

[0039] The setting steps of the initial speed and the initial acceleration are as follows:

[0040] S1. Obtain all the sway indexes from the start time to the end time of the lifting hook hooking the goods and rising, and calculate the average value as the basic sway index , and divide the basic sway index by the middle value of the index threshold range to obtain the index ratio.

[0041] S2. Set a standard speed , and multiply the standard speed by the index ratio to obtain the initial speed .

[0042] S3. Set a standard acceleration , and multiply the standard acceleration by the index ratio to obtain the initial acceleration .

[0043] The speed adjustment and acceleration adjustment steps are as follows:

[0044] S1. After the lifting hook finishes rising and remains stationary waiting for the operation instruction of the staff, when the staff controls the industrial remote control to select the translation direction and long-presses the button, according to the translation direction, increase the translation speed from 0 to the initial speed according to the initial acceleration . .

[0045] S2. Calculate the average value of the sway indexes during the period of increasing the translation speed from 0 to the initial speed to obtain the acceleration sway index , and judge whether the acceleration sway index is within the index threshold range. If it is, no adjustment is made; if not, substitute the acceleration sway index into the formula to calculate the adjusted acceleration; the formula is as follows:

[0046]

[0047] In the formula, is the adjusted acceleration, is the acceleration influence coefficient, is the middle value of the index threshold range, is the standard sway index

[0048] The standard sway index is set according to the actual situation, and the value is greater than the maximum value of the index threshold range. When the sway index is less than or equal to the standard sway index and not within the index threshold range, up and down adjustments are required. When the sway index is greater than the standard sway index, directly control the moving speed to decelerate uniformly to zero.

[0049] The exponential threshold interval is a closed interval. When the swaying index is within this interval, it indicates that the normal amplitude of the goods sways and no adjustment is required. When the swaying index is greater than the maximum value of this interval, it means that the swaying amplitude of the goods is too large and there is a certain safety risk for the goods, and adjustment is needed. When the swaying index is less than the minimum value of this interval, it means that the swaying amplitude of the goods is small, and the translation speed can be increased to improve the transportation efficiency, and adjustment is required.

[0050] Sum the maximum value and the minimum value of the exponential threshold interval and divide the sum by 2 to obtain the middle value of the exponential threshold interval.

[0051] S3. Obtain the swaying index at the initial speed V0 in real time, calculate the average value, and obtain the speed swaying index , determine whether the speed swaying index is within the exponential threshold interval. If it is, no adjustment is made; if not, substitute the speed swaying index into the formula to calculate the adjusted speed. The formula is as follows:

[0052]

[0053] In the formula, is the adjusted speed, is the speed influence coefficient.

[0054] The adjustment includes the following situations:

[0055] Neither the acceleration nor the speed is adjusted: Both the speed and the acceleration remain unchanged.

[0056] The acceleration is not adjusted and the speed is adjusted: The speed is uniformly decelerated or uniformly accelerated according to the original acceleration to the adjusted speed.

[0057] Both the acceleration and the speed are adjusted: The speed is uniformly decelerated or uniformly accelerated according to the adjusted acceleration to the adjusted speed.

[0058] The acceleration is adjusted and the speed is not adjusted: When the staff stops pressing the button for a long time, the speed is uniformly decelerated to zero according to the adjusted acceleration; when the staff starts pressing the button for a long time again, the speed is uniformly accelerated to the original speed according to the adjusted acceleration.

[0059] The operation management module controls the moving direction and moving duration of the goods according to the instruction information, and performs emergency stop management for abnormal situations.

[0060] When the staff presses the button in the up or down direction of the industrial remote control, the sending device of the industrial remote control continuously transmits the operation instruction to the receiving device. After the receiving device analyzes the operation instruction, it controls the lifting hook of the crane to rise or fall. When the staff stops pressing the button in the translation direction of the industrial remote control, the sending device of the industrial remote control no longer transmits the operation instruction to the receiving device, and the receiving device controls the lifting hook of the crane to stop rising or falling, and the moving duration is equal to the pressing duration.

[0061] When the staff presses the button in the translation direction on the industrial remote control, the transmitting device of the industrial remote control continuously transmits operation instructions to the receiving device. After the receiving device analyzes the operation instructions, it controls the lifting hook of the crane to translate in the instruction direction, and the translation speed and acceleration are calculated in real time by the data processing module. When the staff stops pressing the button in the translation direction on the industrial remote control, the transmitting device of the industrial remote control no longer transmits operation instructions to the receiving device, and the receiving device controls the lifting hook of the crane to decelerate uniformly to zero according to the acceleration adjusted for the last time calculated by the data processing module. The translation duration is equal to the pressing duration plus the duration required for the speed at the moment of stopping pressing to decelerate to zero.

[0062] An abnormal situation refers to an unsafe situation of the goods or an unsafe situation of the personnel. When any of these situations occurs, the control speed will be decelerated uniformly to zero according to the acceleration adjusted for the last time calculated by the data processing module. Among them, the unsafe situation of the goods means that the sway index when the lifting hook hooks the goods and moves is greater than the standard sway index.

[0063] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0064] 1. Precise sway analysis: In this application, the sway index is calculated by analyzing the change range of the weight sensed by the lifting hook during movement, accurately measuring the sway amplitude of the lifted goods caused by factors such as the center of gravity or speed. Compared with the traditional method of relying on the naked eye of the staff, it is more accurate and efficient.

[0065] 2. Dynamic speed adjustment: In this application, the speed and acceleration are adjusted by analyzing the sway index. The transportation efficiency is improved by increasing the speed and acceleration of stabilizing the goods, and the transportation safety is improved by reducing the speed and acceleration of unstable goods. At the same time, it also avoids the damage of goods caused by inertia due to the short-term pressing of the movement button by the staff.

[0066] 3. Personnel safety prediction: In this application, according to the moving speed, moving direction and dangerous area range of the goods, the warning area is dynamically divided to ensure the safety of personnel. When a person is in the warning area, the goods are braked in time to ensure that the goods do not pose a threat to the life safety of the staff.

[0067] In summary, compared with the traditional technology, the present invention has the advantages of precise sway analysis, dynamic speed adjustment and personnel safety prediction, and can improve the transportation efficiency and safety of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0069] Figure 1 It is a schematic structural diagram of the intelligent mobile remote control management system of the industrial remote control of the present invention. Specific embodiments

[0070] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0071] Please refer to Figure 1 , the present invention provides an intelligent mobile remote control management system for industrial remote controls. The system includes a data acquisition module, a data analysis module, a data processing module, and an operation management module.

[0072] The data acquisition module is used to collect the hoisting information of the crane, the command information of the industrial remote control, and the image information of the operation site. The data analysis module is used to analyze the sway of the hoisted goods and calculate the sway index, divide the dangerous area according to the sway index, and predict whether there is an unsafe situation for personnel. The data processing module adjusts the speed and acceleration according to the sway index when the hoisted goods are translated. The operation management module controls the moving direction and moving duration of the goods according to the command information.

[0073] The data acquisition module includes a hoisting information acquisition unit, a remote control information acquisition unit, and a camera information acquisition unit.

[0074] The hoisting information acquisition unit is used to collect the position of the lifting hook of the crane and the sensed weight. The position of the lifting hook refers to the real-time position of the lifting hook of the crane in the operation area, and the position will change due to the translation of the lifting hook. The sensed weight refers to the real-time weight sensed by the lifting hook of the crane, which is collected by a weight sensor connected to the lifting hook, and the weight will change during the hoisting movement due to the different center-of-gravity positions of the hoisted goods or the inertia generated during translation. The position of the lifting hook and the sensed weight are stored as hoisting records in chronological order.

[0075] The operation area refers to the working range of the crane, usually the warehouse where the crane needs to work, and the lifting hook of the crane moves within the operation area.

[0076] The remote control information acquisition unit is used to collect operation commands. The staff operates the industrial remote control to send operation commands to the receiving device, and the receiver controls the movement of the lifting hook of the crane according to the operation commands; the operation commands include the moving direction and the pressing duration. The moving direction refers to the moving direction of the lifting hook hoisting the goods, and the pressing duration refers to the continuous duration of the staff pressing the moving button on the industrial remote control. The lifting hook moves continuously during the pressing time.

[0077] The crane is an overhead crane, and the buttons of the industrial remote control are momentary buttons.

[0078] The moving directions of the lifting hook include upward, downward, eastward, southward, westward, and northward. When the lifting hook moves upward or downward, its position does not change. Eastward, southward, westward, and northward are translations, and the position changes.

[0079] The camera information acquisition unit is used to acquire the camera position and real-time video. The camera position refers to the installation position of the camera in the operation area, and the real-time video refers to the monitoring video of the operation area, which is acquired by the camera installed in the operation area.

[0080] The data analysis module includes a sway analysis unit, a region division unit, and a risk prediction unit.

[0081] The sway analysis unit is used to analyze the sway degree of the goods and calculate the sway index. The sensed weight when the lifting hook hooks the goods off the ground is obtained as the weight of the goods. A sampling duration is set. When the lifting hook hooks the goods and moves, the sensed weight is obtained in real time, and all the sensed weights collected within the sampling duration are substituted into the formula to calculate the sway index. Each sampling duration corresponds to a sway index. The formula is as follows:

[0082]

[0083] In the formula, is the number of times of the sensed weight collected within the sampling duration, is the th sensed weight collected.

[0084] The sampling duration is set according to the moving speed of the lifting hook. The faster the moving speed, the shorter the sampling duration; the slower the moving speed, the longer the sampling duration.

[0085] The region division unit is used to divide a dangerous area for the lifting hook. When the lifting hook hooks the goods and moves horizontally, the sway index and the position of the lifting hook are obtained in real time. An influence distance is set, and the sway index is multiplied by the influence distance to obtain the dangerous distance. A circular area is divided with the position of the lifting hook as the center and the dangerous distance as the radius as the dangerous area.

[0086] The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the goods and moves horizontally. When the lifting hook hooks the goods and moves horizontally, a warning area is divided according to the dangerous area, and it is judged whether there are staff in the warning area. If the result is yes, it is regarded as an unsafe situation for personnel.

[0087] The position of the danger zone changes according to the position of the lifting hook, and the range of the danger zone changes according to the sway index. Since the lifting hook hooks the goods and moves horizontally in the air, the danger zone includes both the air and the ground.

[0088] The specific steps to obtain the weight of the goods are as follows:

[0089] S1. When the staff operates the lifting hook of the crane to lower, obtain the position of the descending lifting hook and the positions of all cameras within the operation area.

[0090] S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the descending lifting hook respectively, and select the camera with the shortest distance to take a real-time video of the position where the descending lifting hook is located.

[0091] S3. When the lifting hook hooks the goods and is about to rise, perform object detection on the goods in the captured video image to detect whether the goods are off the ground, and obtain the time t when the goods are off the ground in the image. 离 , retrieve the induced weight at time t in the lifting record 离 as the weight of the goods.

[0092] The steps to judge the unsafe situation of personnel are as follows:

[0093] S1. When the lifting hook hooks the goods and moves horizontally, analyze the change of the lifting hook position over time, and calculate the horizontal movement speed in real time; set a minimum acceleration with a negative value , and the horizontal movement speed Substitute into the formula to calculate the braking distance .

[0094] The horizontal movement speed refers to the current speed when the lifting hook hooks the goods and moves horizontally. The calculation of the braking distance is the distance traveled during the uniform deceleration from the current speed to zero, and the horizontal movement speed changes in real time.

[0095] The minimum acceleration is set in advance by the staff, referring to the deceleration when the lifting hook slides naturally after power failure.

[0096] S2. Obtain the position of the lifting hook, the horizontal movement direction, and the danger distance. Starting from the position of the lifting hook, find a position along the horizontal movement direction that is equal to the braking distance from the starting point and record it as the warning position. Taking the warning position as the center and the danger distance as the radius, divide a circular area as Area A.

[0097] S3. Taking the braking distance as the length of the rectangle and twice the danger distance as the width of the rectangle, and using the position of the lifting hook and the warning position as the positions of the midpoints of the width of the rectangle respectively, divide a rectangular area as Area B.

[0098] S4. Take area A, area B, and the danger area together as the warning area.

[0099] The position of the warning area changes according to the position of the lifting hook, the translation direction, and the braking distance, and the range of the warning area changes according to the braking distance and the danger distance.

[0100] S5. Use the YOLO algorithm to perform human detection on the targets in the real-time video frame captured by the camera, mark the positions of each staff member, and determine whether there are staff members in the warning area. If there are, it is an unsafe situation for personnel.

[0101] The data processing module is used to adjust the speed and acceleration when the lifting hook hooks the goods and moves them, including a speed adjustment unit and an acceleration adjustment unit.

[0102] The speed adjustment unit sets the initial speed according to the swaying index when the lifting hook hooks the goods and rises. Based on the initial speed, it determines whether the swaying index when the lifting hook hooks the goods and moves horizontally is within the index range interval, so as to adjust the speed.

[0103] The acceleration adjustment unit also sets the initial acceleration according to the swaying index when the lifting hook hooks the goods and rises. Based on the initial acceleration, it determines whether the swaying index when the lifting hook hooks the goods and moves horizontally is within the index range interval, so as to adjust the acceleration.

[0104] The acceleration value is positive or negative. It is positive when acceleration is required and negative when deceleration is required. Whether to accelerate or decelerate specifically is selected according to the adjusted speed calculated by the speed adjustment unit and whether the staff member is pressing the movement button.

[0105] The steps for setting the initial speed and initial acceleration are as follows:

[0106] S1. Obtain all the swaying indices from the start time to the end time when the lifting hook hooks the goods and rises, and calculate the average value as the basic swaying index , and divide the basic swaying index by the middle value of the index threshold interval to obtain the index ratio.

[0107] S2. Set a standard speed , and multiply the standard speed by the index ratio to obtain the initial speed .

[0108] S3. Set a standard acceleration , and multiply the standard acceleration by the index ratio to obtain the initial acceleration .

[0109] The steps for speed adjustment and acceleration adjustment are as follows:

[0110] S1. After the lifting hook stops rising and remains stationary waiting for the operator's command, when the operator controls the industrial remote control to select the translation direction and long-presses the button, according to the translation direction, at the initial acceleration increase the translation speed from 0 to the initial speed .

[0111] S2. Increase the translation speed from 0 to the initial speed Calculate the average value of the swaying index during this period to obtain the acceleration swaying index , and determine whether the acceleration swaying index is within the index threshold range. If it is, no adjustment is made; if not, substitute the acceleration swaying index into the formula to calculate the adjusted acceleration. The formula is as follows:

[0112]

[0113] In the formula, is the adjusted acceleration, is the acceleration influence coefficient, is the middle value of the index threshold range, is the standard swaying index.

[0114] The standard swaying index is set according to the actual situation, and the value is greater than the maximum value of the index threshold range. When the swaying index is less than or equal to the standard swaying index and not within the index threshold range, up and down adjustments are required. When the swaying index is greater than the standard swaying index, directly control the moving speed to decelerate uniformly to zero.

[0115] The index threshold range is a closed interval. When the swaying index is within this interval, it means that the normal amplitude swaying of the goods does not require adjustment. When the swaying index is greater than the maximum value of this interval, it means that the swaying amplitude of the goods is too large and there is a certain safety risk for the goods, and adjustment is required. When the swaying index is less than the minimum value of this interval, it means that the swaying amplitude of the goods is small, and the translation speed can be increased to improve the transportation efficiency, and adjustment is required.

[0116] Sum the maximum value and the minimum value of the index threshold range and divide by 2 to obtain the middle value of the index threshold range.

[0117] S3. Obtain the swaying index at the initial speed V0 in real time, calculate the average value to obtain the speed swaying index , and determine whether the speed swaying index is within the index threshold range. If it is, no adjustment is made; if not, substitute the speed swaying index into the formula to calculate the adjusted speed. The formula is as follows:

[0118]

[0119] In the formula, is the adjusted speed, is the speed influence coefficient.

[0120] Adjustments include the following:

[0121] Neither acceleration nor speed is adjusted: both speed and acceleration remain the same.

[0122] Acceleration is not adjusted Speed adjustment: The speed is uniformly decelerated or accelerated according to the original acceleration to the adjusted speed.

[0123] Both acceleration and speed are adjusted: the speed is uniformly decelerated or accelerated according to the adjusted acceleration to the adjusted speed.

[0124] Acceleration adjustment speed is not adjusted: when the staff stops pressing the button, the speed is uniformly decelerated to zero according to the adjusted acceleration; when the staff starts to press the button again, the speed is uniformly accelerated to the original speed according to the adjusted acceleration.

[0125] The operation management module controls the movement direction and duration of the goods according to the instruction information, and performs emergency stop management for abnormal situations.

[0126] When the worker presses the button for the rise or fall direction of the industrial remote control, the industrial remote control sending device continuously transmits the operation instruction to the receiving device, and the receiving device interprets the operation instruction and controls the crane's lifting hook to rise or fall. When the worker stops pressing the button for the translation direction on the industrial remote control, the industrial remote control sending device no longer transmits the operation instruction to the receiving device, and the receiving device controls the crane's lifting hook to stop rising or falling, and the moving time is equal to the pressing time.

[0127] When the staff member presses the button for the translation direction on the industrial remote control, the industrial remote control transmitter continuously transmits the operation instruction to the receiving device. After the receiving device interprets the operation instruction, it controls the crane's lifting hook to translate in the instruction direction. The translation speed and translation acceleration are calculated in real time by the data processing module. When the staff member stops pressing the button for the translation direction on the industrial remote control, the industrial remote control transmitter no longer transmits the operation instruction to the receiving device. The receiving device controls the crane's lifting hook to decelerate uniformly to zero according to the most recently adjusted acceleration calculated by the data processing module. The translation duration is equal to the pressing duration plus the time required for the speed to decelerate to zero when the pressing stops.

[0128] Abnormal conditions refer to the occurrence of unsafe conditions for cargo or personnel. When any of these conditions occur, the control speed is uniformly decelerated to zero according to the most recently adjusted acceleration calculated by the data processing module. Among them, the unsafe condition for cargo refers to the shaking index when the lifting hook hooks the cargo and moves it is greater than the standard shaking index.

[0129] Embodiment 1:

[0130] Assume that the initial acceleration of the lifting hook is 20 cm / s 2 , the initial velocity is 60 cm / s, and the weight of the goods is 60 kg; when the lifting hook hooks the goods, the translation speed increases from 0 to the initial speed of 60 cm / s within 3 s. When the sampling duration is 1 s, the induced weight within each sampling duration is as follows:

[0131] Induced weight: [60 kg, 80 kg], [80 kg, 60 kg], [60 kg, 80 kg];

[0132] Substitute into the formula to calculate the sway index:

[0133] Sway index for the first sampling duration: ;

[0134] Sway index for the second sampling duration: ;

[0135] Sway index for the third sampling duration: ;

[0136] Acceleration sway index ;

[0137] Assume that the index threshold interval is [0.05, 0.15], the acceleration influence coefficient is 0.9, and the standard sway index is 0.3. Then substitute the acceleration sway index into the formula to calculate the adjusted acceleration:

[0138] Adjusted acceleration: ;

[0139] When the speed sway index of the lifting hook holding the goods and translating at the initial speed is within the index threshold interval, no adjustment is made; when the staff stops long-pressing the button, the speed decelerates uniformly to zero according to the adjusted acceleration - ; when the staff starts long-pressing the button again, the speed accelerates uniformly to 60 cm / s according to the adjusted acceleration .

[0140] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such process, method, article or device.

[0141] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent mobile remote control management system for industrial remote controllers, characterized in that: The system includes a data acquisition module, a data analysis module, a data processing module, and an operation management module; The data acquisition module is used to acquire the hoisting information of the crane, the command information of the industrial remote control, and the image information of the operation site; the data analysis module is used to analyze the sway of the hoisted goods and calculate the sway index, divide the dangerous area according to the sway index, and predict whether there is an unsafe situation for personnel; the data processing module adjusts the speed and acceleration according to the sway index when the hoisted goods are translated; the operation management module controls the moving direction and moving duration of the goods according to the command information; The data acquisition module includes a hoisting information acquisition unit, a remote control information acquisition unit, and a camera information acquisition unit; The hoisting information acquisition unit is used to acquire the position of the lifting hook of the crane and the sensed weight. The position of the lifting hook refers to the real-time position of the lifting hook of the crane in the operation area, and the position will change due to the translation of the lifting hook; the sensed weight refers to the real-time weight sensed by the lifting hook of the crane, which is collected by a weight sensor connected to the lifting hook, and the weight will change during the hoisting movement due to the different center-of-gravity positions of the hoisted goods or the inertia generated during translation; the position of the lifting hook and the sensed weight are stored as hoisting records in chronological order; The remote control information acquisition unit is used to acquire operation commands. The staff operates the industrial remote control to send operation commands to the receiving device, and the receiver controls the movement of the lifting hook of the crane according to the operation commands; the operation commands include the moving direction and the pressing duration. The moving direction refers to the moving direction of the lifting hook hoisting the goods, and the pressing duration refers to the continuous duration when the staff presses the moving button on the industrial remote control. The lifting hook moves continuously during the pressing time; The camera information acquisition unit is used to acquire the camera position and the real-time video. The camera position refers to the installation position of the camera in the operation area, and the real-time video refers to the monitoring video of the operation area, which is collected by a camera installed in the operation area.

2. The intelligent mobile remote control management system for industrial remote controllers according to claim 1, wherein: The data analysis module includes a sway analysis unit, a region division unit, and a risk prediction unit; The swaying analysis unit is used to analyze the swaying degree of the goods and calculate the swaying index; obtain the sensed weight when the lifting hook hooks the goods off the ground as the goods weight Z 货 , set a sampling duration. When the lifting hook hooks the goods and moves, the sensed weight is obtained in real time. All the sensed weights collected within the sampling duration are substituted into the formula to calculate the swaying index HD. Each sampling duration corresponds to a swaying index. The formula is as follows: where j is the number of times of the induced weight collected during the sampling duration, and Z i is the induced weight collected for the i-th time; The region division unit is used to divide a dangerous area for the lifting hook. When the lifting hook hooks the goods and translates, the sway index and the position of the lifting hook are obtained in real time, an influence distance is set, the sway index is multiplied by the influence distance to obtain the dangerous distance, and a circular area is divided with the position of the lifting hook as the center and the dangerous distance as the radius as the dangerous area; The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the goods and translates. When the lifting hook hooks the goods and translates, the warning area is divided according to the dangerous area, and it is judged whether there are staff in the warning area. If the result is yes, it is regarded as an unsafe situation for personnel.

3. The intelligent mobile remote control management system for industrial remote controls according to claim 2, wherein: The specific steps for obtaining the weight of the goods are as follows: S1. When the staff operates the lifting hook of the crane to lower, obtain the position of the lowering lifting hook and the positions of all cameras in the operation area; S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the lowering lifting hook respectively, and select the camera with the closest distance to take a real-time video of the position where the lowering lifting hook is located; S3. When the lifting hook hooks the goods and is ready to lift, perform object detection on the goods in the captured video image to detect whether the goods leave the ground, and obtain the time t when the goods leave the ground in the image. 离 , retrieve the induced weight at time t in the lifting record. 离 The induced weight at this time is used as the weight of the goods.

4. The intelligent mobile remote control management system for industrial remote controllers according to claim 2, characterized in that: The judgment steps for the unsafe situation of personnel are as follows: S1. When the lifting hook hooks the goods and moves them horizontally, analyze the change of the position of the lifting hook over time, and calculate the horizontal moving speed in real time; set a minimum acceleration a with a negative value min , substitute the horizontal moving speed U into the formula S = (0 - U 2 ) ÷ 2a min to calculate the braking distance S; S2. Obtain the position of the lifting hook, the translation direction, and the danger distance. Starting from the position of the lifting hook, find a position along the translation direction whose distance from the starting point is equal to the braking distance and denote it as the warning position. Taking the warning position as the center and the danger distance as the radius, divide a circular area as Area A; S3. Taking the braking distance as the length of the rectangle and twice the danger distance as the width of the rectangle, and using the position of the lifting hook and the warning position as the positions where the midpoints of the width of the rectangle are located respectively, divide a rectangular area as Area B; S4. Take Area A, Area B, and the danger area together as the warning area; S5. Use the YOLO algorithm to perform human detection on the targets in the real-time video frame captured by the camera, mark the positions of each staff member, and determine whether there are staff members in the warning area. If there are, it is an unsafe situation for personnel.

5. The intelligent mobile remote control management system for industrial remote controls according to claim 2, wherein: The data processing module is used to adjust the speed and acceleration when the lifting hook hooks the goods and moves them horizontally, including a speed adjustment unit and an acceleration adjustment unit; The speed adjustment unit sets the initial speed according to the swaying index when the lifting hook hooks the goods and rises. Based on the initial speed, it determines whether the swaying index when the lifting hook hooks the goods and moves horizontally is within the exponential region interval, so as to adjust the speed; The acceleration adjustment unit also sets the initial acceleration according to the swaying index when the lifting hook hooks the goods and rises. Based on the initial acceleration, it determines whether the swaying index when the lifting hook hooks the goods and moves horizontally is within the exponential region interval, so as to adjust the acceleration.

6. The intelligent mobile remote control management system for industrial remote controllers according to claim 5, characterized in that: The steps for setting the initial speed and initial acceleration are as follows: S1. Obtain all the sway indices from the start time when the lifting hook hooks the goods to start rising to the end time of rising, and calculate the average value as the basic sway index HD 基 , divide the basic sway index by the median value of the index threshold range to obtain the index ratio; S2. Set a standard speed V 标 , and multiply the standard speed by the exponential ratio to obtain the initial speed V0; S3. Set a standard acceleration VJ 标 , and multiply the standard acceleration by the exponential proportion to obtain the initial acceleration VJ0.

7. The intelligent mobile remote control management system for industrial remote controllers according to claim 5, characterized in that: The steps for speed adjustment and acceleration adjustment are as follows: S1. After the lifting hook stops rising and remains stationary waiting for the operation instruction of the staff member, when the staff member controls the industrial remote control to select the translation direction and long-presses the button, according to the translation direction, increase the translation speed from 0 to the initial speed V0 at the initial acceleration VJ0; S2. Calculate the average value of the sway index during the period when the translation speed increases from 0 to the initial speed V0 to obtain the acceleration sway index HD vj , determine whether the acceleration sway index is within the exponential threshold range. If it is, no adjustment is made; if not, substitute the acceleration sway index into the formula to calculate the adjusted acceleration. The formula is as follows: Where, VJ n is the adjusted acceleration, α is the acceleration influence coefficient, HD 阈 is the intermediate value of the exponential threshold interval, HD 标 is the standard jitter index; S3. Obtain the average value of the wobbling index at the initial velocity V0 in real time, and then obtain the velocity wobbling index HD v , determine whether the velocity wobbling index is within the exponential threshold range. If it is, no adjustment is made; if not, substitute the velocity wobbling index into the formula to calculate the adjusted velocity. The formula is as follows: Where V n is the adjusted speed and β is the speed influence coefficient.

8. The intelligent mobile remote control management system for industrial remote controllers according to claim 7, wherein: The adjustment includes the following situations: Neither the acceleration nor the speed is adjusted: Both the speed and the acceleration remain unchanged; The acceleration is not adjusted and the speed is adjusted: The speed is uniformly decelerated or uniformly accelerated to the adjusted speed according to the original acceleration; Both the acceleration and the speed are adjusted: The speed is uniformly decelerated or uniformly accelerated to the adjusted speed according to the adjusted acceleration; The acceleration is adjusted and the speed is not adjusted: When the staff member stops long-pressing the button, the speed is uniformly decelerated to zero according to the adjusted acceleration; when the staff member starts long-pressing the button again, the speed is uniformly accelerated to the original speed according to the adjusted acceleration.

9. The intelligent mobile remote control management system for industrial remote controllers according to claim 5, wherein: The operation management module controls the moving direction and moving duration of the goods according to the instruction information, and performs emergency stop management for abnormal situations; When the operator presses the button for the horizontal translation direction on the industrial remote control, the transmitting device of the industrial remote control continuously transmits operation instructions to the receiving device. After parsing the operation instructions, the receiving device controls the lifting hook of the crane to translate in the commanded direction, and the translation speed and acceleration are calculated in real time by the data processing module. When the operator stops pressing the button for the horizontal translation direction on the industrial remote control, the transmitting device of the industrial remote control no longer transmits operation instructions to the receiving device, and the receiving device controls the lifting hook of the crane to decelerate uniformly to zero according to the acceleration adjusted most recently by the data processing module; the translation duration is equal to the pressing duration plus the time required for the speed at the moment of stopping pressing to decelerate to zero. An abnormal situation refers to an unsafe situation of the goods or an unsafe situation of the personnel; when any of these situations occurs, the control speed will be decelerated uniformly to zero according to the acceleration adjusted most recently by the data processing module; among them, an unsafe situation of the goods means that the sway index when the lifting hook hooks the goods and moves is greater than the standard sway index.

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