Crane accident simulation method, system and its application

Abstract

The present invention discloses a crane accident simulation method, system and application thereof. This scheme cleverly uses the crane's historical accident information and crane working data as the data basis, collects and analyzes them, and then constructs a crane working scene and operation simulation platform based on digital twins, so that the subsequent crane simulation process can better fit the actual situation for simulation. In constructing the data to be simulated, this scheme can retrieve historical accident information or construct simulation data by itself, and then obtain relevant simulation basic data after analyzing it, and then determine the crane's working scene and type, as well as other working data to achieve simulation. During the simulation process, images and working status records are recorded, which helps to improve the convenience and flexibility of subsequent simulation effect analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of crane simulation, and in particular to a crane accident simulation method, system and application thereof. Background Art

[0002] As an important equipment for heavy object transportation, cranes are widely used in ports, warehouses, workshops and other places. Due to the large size of the crane itself and the heavy weight of the objects it handles, it is often necessary to closely monitor its working status during the operation process to avoid accidents caused by equipment failure, improper operation and other factors. With the widespread application of cranes, how to improve their work safety management and accident warning monitoring, as well as how to simulate and trace the operation accidents of cranes have become popular topics nowadays. As heavy equipment, cranes have been in service for a long time. Therefore, designers often have There is a large amount of performance margin so that the crane can have a better performance reserve during use. How to simulate the crane's work, especially accident simulation, has positive practical significance for the crane's design, research and development, and post-analysis. Some current literature records the three-dimensional processing of image data during the operation of the crane to achieve simulation. However, this method lacks consideration of other factors (for example, weather, the condition of the crane itself, etc.), and there are some problems such as incomplete simulation and weak targeted learning guidance value. Therefore, how to improve the authenticity and diversity of crane operation simulation is a research topic with very positive practical significance. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a crane accident simulation method, system and application thereof with high simulation degree, good reference value and reliable implementation.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A crane accident simulation method, comprising:

[0006] S01. Collect and analyze historical crane accident data and crane operation data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the operating parameter limits of the crane at the preset work site based on the accident factor data and crane operation data;

[0007] S02. Build a crane working scene and operation simulation platform based on digital twins, and at the same time, import the scene information set and crane information set for simulation;

[0008] S03, obtaining data to be simulated, selecting a crane working scene and a crane type according to the data to be simulated according to preset requirements, determining a working instruction and working parameters for the crane to be simulated, and then performing a working simulation on the crane;

[0009] S04. Record the image and working status data of the crane in the working simulation process in real time, generate simulation image records and working status records, collect them into simulation record data, and complete the simulation.

[0010] As a possible implementation mode, further, in the present solution S01, the data contained in the historical accident information of the crane includes at least one of the following: the type of crane, the environmental parameters of the occurrence, the working parameters of the crane before or at the time of the accident, the operation record, the lifting load, the posture information after the accident, and the posture information during normal operation.

[0011] As a possible implementation mode, further, the crane working data of this scheme includes at least: crane configuration parameters, performance parameters, and posture information when empty; wherein, the performance parameters include the delay data of the crane responding to the control command, the braking distance during braking, and the maximum acceleration during acceleration and the maximum speed during movement.

[0012] As a preferred implementation option, preferably, in the present solution S02, the scene information set includes: one or more of crane work site information and environmental parameter information.

[0013] As a possible implementation mode, further, the crane information set described in this solution includes: crane type, operational information, working parameter range, working parameter limit, and one or more of the posture information of the crane when it is in a normal state and the posture information of the crane when it is in an accident or abnormal state.

[0014] As a possible implementation mode, further, the data to be simulated described in S03 of this scheme is historical accident data of crane retrieved from a database or simulation data constructed artificially; the data content covered by the data to be simulated includes at least one of the crane working scene, crane type, environmental parameters, work instructions, working parameters, lifting load conditions and lifting object specification information.

[0015] As a possible implementation, further, in the present solution S03, the data to be simulated is artificially constructed simulation data, which includes a video image of a crane in operation;

[0016] S03 also includes extracting information from the video image data, which includes:

[0017] A01. Extracting image frames from the video image at preset time intervals to obtain an image frame sequence;

[0018] A02, performing feature positioning and recognition on each image frame in the image frame sequence, generating positioning information and recognition information respectively, then selecting feature points on the crane according to the positioning information and recognition information, and then determining the posture information of the crane according to the feature points;

[0019] A03. According to the posture information of the crane in different image frames and the position change of the same feature point, the displacement speed information of the corresponding feature point of the crane between different image frames is obtained;

[0020] A04. Based on the displacement speed information of the feature points between different image frames and the posture information of the crane in different image frames, the posture change of the crane between different image frames is inverted to generate posture change information;

[0021] A05. Take the posture change information as one of the data included in the data to be simulated.

[0022] As a possible implementation method, further, in the present solution S03, a digital twin is used to simulate the operation of the crane and then output it visually.

[0023] As a possible implementation, further, in the present solution S04, the image of the crane during the work simulation process is recorded in real time from at least one direction angle.

[0024] As a possible implementation method, further, in the present solution S04, key frames are extracted from the simulation image record by a key frame extraction algorithm, and then the time points of the extracted key frames in the simulation image record are obtained and marked in the key frames and the simulation image record, and then the key frames and their corresponding time point information are aggregated in the simulation record data.

[0025] Based on the above, the present invention also provides a crane operation simulation method, which includes the crane accident simulation method described above.

[0026] Based on the above, the present invention also provides a crane accident simulation system, which includes:

[0027] A collection and analysis unit, used to collect and analyze historical crane accident data and crane working data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the working parameter limits of the crane at a preset work site based on the accident factor data and the crane working data;

[0028] A data storage unit, deployed in an Internet server or a local server, for storing historical crane accident data, crane working data, a simulation scenario information set, and a crane information set;

[0029] A simulation construction unit is used to construct a crane working scene and operation simulation platform based on digital twins, and at the same time, import a scene information set and a crane information set for simulation;

[0030] The task analysis unit is used to obtain the data to be simulated, select the crane working scene and crane type according to the data to be simulated according to preset requirements, determine the work instructions and work parameters of the crane to be simulated, and then simulate the work of the crane;

[0031] The simulation recording unit is used to record the image and working status data of the crane in the working simulation process in real time, generate simulation image records and working status records, and complete the simulation.

[0032] Based on the above, the present invention also provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the crane accident simulation method or the crane operation simulation method as described above.

[0033] By adopting the above-mentioned technical scheme, the present invention has the following beneficial effects compared with the prior art: the scheme cleverly uses the historical accident data and crane working data of the crane as the data basis, collects and analyzes them, and then constructs the crane working scene and operation simulation platform based on the digital twin, so that the subsequent crane simulation process can better fit the actual situation for simulation. In the construction of the data to be simulated, the scheme can retrieve historical accident data or construct simulation data by itself, and then obtain relevant simulation basic data after parsing it, and then determine the working scene and type of the crane, as well as other working data to realize simulation. During the simulation process, the image and working status are recorded, which helps to improve the convenience and flexibility of subsequent simulation effect analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1This is one of the schematic diagrams of a brief implementation process of the present embodiment;

[0036] Figure 2 This is one example of the detailed implementation process of step S03 of the solution of this embodiment;

[0037] Figure 3 Schematic diagram of the connection of unit modules of the system of this embodiment. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0039] like Figure 1 As shown, this embodiment provides a crane accident simulation method, which includes:

[0040] S01. Collect and analyze historical crane accident data and crane operation data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the operating parameter limits of the crane at the preset work site based on the accident factor data and crane operation data;

[0041] S02. Build a crane working scene and operation simulation platform based on digital twins, and at the same time, import the scene information set and crane information set for simulation;

[0042] S03, obtaining data to be simulated, selecting a crane working scene and a crane type according to the data to be simulated according to preset requirements, determining a working instruction and working parameters for the crane to be simulated, and then performing a working simulation on the crane;

[0043] S04. Record the image and working status data of the crane in the working simulation process in real time, generate simulation image records and working status records, collect them into simulation record data, and complete the simulation.

[0044] Among them, in terms of data structure, as a possible implementation method, further, in this solution S01, the data contained in the historical accident information of the crane includes at least one of the following: crane type, environmental parameters, working parameters of the crane when or before the accident, operation records, lifting load, posture information after the accident, and posture information during normal operation; the crane working data of this solution includes at least: crane configuration parameters, performance parameters, and posture information when empty; wherein, the performance parameters include the delay data of the crane's response to control instructions, the braking distance during braking, and the maximum acceleration during acceleration and the maximum speed during movement.

[0045] In addition, when constructing a crane work scene and operation simulation platform based on digital twins, in order to improve the degree of simulation, as a better implementation option, preferably, in this solution S02, the scene information set includes: one or more of the crane work site information and environmental parameter information; the crane information set described in this solution includes: crane type, operable information, working parameter range, working parameter limit, and one or more of the posture information of the crane when it is in a normal state and the posture information of the crane when it is in an accident or abnormal state.

[0046] In the construction of the data to be simulated, as a possible implementation method, further, the data to be simulated described in S03 of this scheme is the historical accident information of the crane retrieved from the database or the simulation data constructed by humans; the data content covered by the data to be simulated includes at least one of the crane working scene, crane type, environmental parameters, work instructions, working parameters, lifting load conditions and lifting object specification information.

[0047] As an example of an embodiment, in the present solution S03, the data to be simulated is artificially constructed simulation data, which includes a video image of a crane in the working process.

[0048] In this technology, S03 also includes information extraction from video image data, which includes:

[0049] A01. Extracting image frames from the video image at preset time intervals to obtain an image frame sequence;

[0050] A02, performing feature positioning and recognition on each image frame in the image frame sequence, generating positioning information and recognition information respectively, then selecting feature points on the crane according to the positioning information and recognition information, and then determining the posture information of the crane according to the feature points;

[0051] A03. According to the posture information of the crane in different image frames and the position change of the same feature point, the displacement speed information of the corresponding feature point of the crane between different image frames is obtained;

[0052] A04. Based on the displacement speed information of the feature points between different image frames and the posture information of the crane in different image frames, the posture change of the crane between different image frames is inverted to generate posture change information;

[0053] A05. Take the posture change information as one of the data included in the data to be simulated.

[0054] As an implementation example, in A02, after selecting the feature points on the crane in the image frame, the feature points in the image frame sequence can be tracked by the optical flow method, and the method includes the following:

[0055] According to the feature point information, assuming that the position of feature point I in the image frame at time t is (x, y), its position information is represented as I(x, y, t);

[0056] Then, assuming that the position of the feature point I changes with time, it can be expressed as:

[0057] I(x,y,t)=I(x+Δx,y+Δy,t+Δt)

[0058] Wherein, Δx and Δy represent the displacement distance of feature point I in the x and y directions in different image frames of the image monitoring data, respectively, and Δt is the time change value between image frames;

[0059] Using Taylor expansion and ignoring higher phases, we get:

[0060]

[0061] After simplifying it, we get:

[0062]

[0063] in, They represent the velocity components of the feature point I in the x and y directions in the image monitoring data respectively;

[0064] The velocity components V in the x and y directions of the feature point I x 、V y , further construct the trajectory model of feature point I from time t0 to t1 in a single image monitoring data, and express the position of feature point I as (X(t), Y(t)), then the formula is as follows:

[0065]

[0066]

[0067] In order to improve the intuitiveness of the simulation, as a possible implementation method, further, in the present solution S03, a digital twin is used to simulate the operation of the crane and then output it visually.

[0068] In addition, in the present solution S04, the image of the crane during the working simulation process is recorded in real time from at least one direction angle.

[0069] In order to facilitate the recording and marking of key time points in the simulation process, as a possible implementation method, further, in this scheme S04, key frames are extracted from the simulation image record through a key frame extraction algorithm, and then the time points of the extracted key frames in the simulation image record are obtained and marked in the key frames and the simulation image record, and then the key frames and their corresponding time point information are collected in the simulation record data.

[0070] Based on the above, this embodiment also provides a crane operation simulation method, which is applied with the above-mentioned crane accident simulation method.

[0071] Combination Figure 3 As shown, based on the above, this embodiment also provides a crane accident simulation system, which includes:

[0072] A collection and analysis unit, used to collect and analyze historical crane accident data and crane working data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the working parameter limits of the crane at a preset work site based on the accident factor data and the crane working data;

[0073] A data storage unit, deployed in an Internet server or a local server, for storing historical crane accident data, crane working data, a simulation scenario information set, and a crane information set;

[0074] A simulation construction unit is used to construct a crane working scene and operation simulation platform based on digital twins, and at the same time, import a scene information set and a crane information set for simulation;

[0075] The task analysis unit is used to obtain the data to be simulated, select the crane working scene and crane type according to the data to be simulated according to preset requirements, determine the work instructions and work parameters of the crane to be simulated, and then simulate the work of the crane;

[0076] The simulation recording unit is used to record the image and working status data of the crane in the working simulation process in real time, generate simulation image records and working status records, and complete the simulation.

[0077] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0079] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A crane accident simulation method, characterized in that: It includes: S01. Collect and analyze historical crane accident data and crane operation data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the operating parameter limits of the crane at the preset work site based on the accident factor data and crane operation data; S02. Build a crane working scene and operation simulation platform based on digital twins, and at the same time, import the scene information set and crane information set for simulation; S03, obtaining data to be simulated, selecting a crane working scene and a crane type according to the data to be simulated according to preset requirements, determining a working instruction and working parameters for the crane to be simulated, and then performing a working simulation on the crane; S04, recording the image and working status data of the crane in the working simulation process in real time, generating simulation image records and working status records, aggregating them to form simulation record data, and completing the simulation; Among them, in S01, the data contained in the historical accident data of the crane includes at least one of the following: the type of crane, the environmental parameters of the crane, the working parameters of the crane before or at the time of the accident, the operation record, the lifting load, the posture information after the accident, and the posture information during normal operation; The crane operation data at least includes: crane configuration parameters, performance parameters, and posture information when unloaded; wherein the performance parameters include the time delay data of the crane responding to the control command, the braking distance during braking, and the maximum acceleration during acceleration and the maximum speed during movement; In S02, the scene information set includes: one or more of crane work site information and environmental parameter information; The crane information set includes: crane type, operable information, working parameter range, working parameter limit, and one or more of the crane's posture information when it is in a normal state and the crane's posture information when it is in an accident or abnormal state.

2. The crane accident simulation method according to claim 1, characterized in that: The data to be simulated in S03 is the historical accident data of the crane retrieved from the database or the simulation data constructed manually; The data content covered by the data to be simulated includes at least one of the following: crane working scene, crane type, environmental parameters, working instructions, working parameters, lifting load conditions and lifting object specification information.

3. The crane accident simulation method according to claim 2, characterized in that: In S03, the data to be simulated is artificially constructed simulation data, which includes a video image of a crane in operation; S03 also includes extracting information from the video image data, which includes: A01. Extracting image frames from the video image at preset time intervals to obtain an image frame sequence; A02, performing feature positioning and recognition on each image frame in the image frame sequence, generating positioning information and recognition information respectively, then selecting feature points on the crane according to the positioning information and recognition information, and then determining the posture information of the crane according to the feature points; A03. According to the posture information of the crane in different image frames and the position change of the same feature point, the displacement speed information of the corresponding feature point of the crane between different image frames is obtained; A04. Based on the displacement speed information of the feature points between different image frames and the posture information of the crane in different image frames, the posture change of the crane between different image frames is inverted to generate posture change information; A05. Take the posture change information as one of the data included in the data to be simulated.

4. The crane accident simulation method according to claim 3, characterized in that: In S03, a digital twin is used to simulate the crane’s operation and then output it visually; In S04, the image of the crane during the working simulation is recorded in real time from at least one direction angle.

5. The crane accident simulation method according to claim 4, characterized in that: In S04, key frames are extracted from the simulation image record using a key frame extraction algorithm, and then the time points of the extracted key frames in the simulation image record are obtained and marked in the key frames and the simulation image record, and then the key frames and their corresponding time point information are aggregated in the simulation record data.

6. A crane operation simulation method, characterized in that: It includes the crane accident simulation method as described in any one of claims 1 to 5.

7. A crane accident simulation system, characterized in that: It is loaded with the crane accident simulation method according to any one of claims 1 to 5, and comprises: A collection and analysis unit, used to collect and analyze historical crane accident data and crane working data, determine the accident type, environmental conditions, crane status and operation records associated with the crane accident, generate accident factor data, and then determine the working parameter limits of the crane at a preset work site based on the accident factor data and the crane working data; A data storage unit, deployed in an Internet server or a local server, for storing historical crane accident data, crane working data, a simulation scenario information set, and a crane information set; A simulation construction unit is used to construct a crane working scene and operation simulation platform based on digital twins, and at the same time, import a scene information set and a crane information set for simulation; The task analysis unit is used to obtain the data to be simulated, select the crane working scene and crane type according to the data to be simulated according to preset requirements, determine the work instructions and work parameters of the crane to be simulated, and then simulate the work of the crane; The simulation recording unit is used to record the image and working status data of the crane in the working simulation process in real time, generate simulation image records and working status records, and complete the simulation; The data contained in the historical accident data of the crane include at least one of the following: the type of crane, the environmental parameters of the crane, the working parameters of the crane before or at the time of the accident, the operation records, the lifting load, the posture information after the accident, and the posture information during normal operation; The crane operation data at least includes: crane configuration parameters, performance parameters, and posture information when unloaded; wherein the performance parameters include the time delay data of the crane responding to the control command, the braking distance during braking, and the maximum acceleration during acceleration and the maximum speed during movement; The scene information set includes: one or more of crane work site information and environmental parameter information; The crane information set includes: crane type, operable information, working parameter range, working parameter limit, and one or more of the crane's posture information when it is in a normal state and the crane's posture information when it is in an accident or abnormal state.

8. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the crane accident simulation method as described in one of claims 1 to 5 or the crane operation simulation method as described in claim 6.

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