A mobile crane working state monitoring system and method

Abstract

The present invention belongs to the technical field of monitoring the working mode of engineering equipment, and specifically discloses a mobile crane working status monitoring system and method, including: collecting mobile crane data through a six-axis acceleration sensor, and supplemented by an intelligent algorithm, to achieve refined monitoring of the crane's motion conversion stage; using solar power supply and low-power wireless methods to monitor the status of the mobile crane, simplifying the installation steps and greatly increasing the working life of the device. By identifying the smoothness of the action execution of the mobile crane in the motion conversion stage, the inertia influence ratio of the linear acceleration of the boom load in each direction, analyzing the danger factor of the mobile crane's working state, and continuously and periodically collecting the corresponding action state data of the mobile crane, the fixing and monitoring effects of the sensor monitoring device are identified, and then the mobile crane's operating dangerous mode is discovered in time, which helps to warn of potential collision risks or load shedding accidents.

Description

Technical Field

[0001] The invention belongs to the technical field of engineering equipment working mode monitoring, and relates to a mobile crane working state monitoring system and method. Background Art

[0002] With the vigorous development of Internet of Things technology, its application areas are also constantly expanding, promoting the efficient transformation and upgrading of traditional industries, especially in the field of construction. In view of its complex construction scenes and harsh environment, it is even more necessary to use Internet of Things technology to empower intelligent construction management. Among them, engineering fuel machinery and equipment, due to its mobility and large size, need to be comprehensively controlled. At present, there are technologies for real-time monitoring of parameters such as the location and working mode of engineering fuel machinery and equipment. However, for mobile cranes such as truck cranes, crawler cranes and other equipment, due to their diverse working modes, accurate and reliable safety monitoring cannot be achieved. Therefore, there is an urgent need for a mobile crane working mode monitoring device that can monitor the working mode of the mobile crane in real time, so as to carry out corresponding safety management and ensure the safety of project construction.

[0003] The existing mobile crane operation monitoring system still has the following limitations: On the one hand, the existing mobile crane monitoring technology can usually only identify basic states such as startup, standby, and shutdown, and lacks detailed monitoring of the dynamic operation of the crane. In addition, previous monitoring devices often require complex wiring and installation processes, which not only increases the initial installation cost, but also is extremely inconvenient in subsequent maintenance.

[0004] On the other hand, existing monitoring technologies focus more on static loads and rated loads in assessing operational safety, while ignoring the dynamic load effects generated when the boom moves, accelerates and changes direction, especially the impact of inertia on load stability. This may lead to failure to accurately assess whether the load remains in a safe state during operation, especially during rapid or emergency movements, increasing the risk of load shedding. Summary of the invention

[0005] In view of this, in order to solve the problems raised in the above background technology, a mobile crane working status monitoring system and method are now proposed.

[0006] The objective of the present invention can be achieved through the following technical solutions: The present invention provides a mobile crane working status monitoring system, the system comprising: a mobile crane working mode discrimination module, used to identify the mobile crane working mode, including a stop mode, a standby mode, and a start mode, and then judge the mobile crane action state.

[0007] The stop mode motion analysis module is used to extract the motion performance information of the mobile crane when the working mode of the mobile crane is the stop mode, and evaluate the stop potential hazard index of the mobile crane.

[0008] The standby mode state analysis module is used to analyze the energy consumption damage coefficient of the mobile crane when the mobile crane is in the standby mode when the working mode of the mobile crane is the standby mode.

[0009] The motion instruction dynamic analysis module is used to receive the motion instruction of the mobile crane when the working mode of the mobile crane is the start-up mode, determine the motion conversion stage, and analyze the motion execution smoothness of the mobile crane in the motion conversion stage.

[0010] The mobile crane working area identification module is used to obtain the mobile crane operating area and identify the risk factor of the mobile crane working state.

[0011] The fixing effect monitoring module is used to continuously and periodically collect the corresponding action status data of the mobile crane and identify the fixing and monitoring effects of the sensor monitoring device.

[0012] The early warning feedback module is used to identify dangerous modes of mobile crane operation and provide early warning feedback.

[0013] Another aspect of the present invention is a method for monitoring the working state of a mobile crane, comprising the following steps: 3. Mobile crane working mode identification: Identify the mobile crane working mode, including stop mode, standby mode, and start mode, and then determine the mobile crane's operating status.

[0014] 2. Stop mode action analysis: When the working mode of the mobile crane is the stop mode, the action performance information of the mobile crane in the stop mode is extracted to evaluate the stop potential hazard indicators of the mobile crane.

[0015] 2. Standby mode status analysis: When the working mode of the mobile crane is standby mode, analyze the energy consumption damage coefficient of the mobile crane in standby mode.

[0016] 2. Dynamic analysis of motion instructions: When the working mode of the mobile crane is the start-up mode, the motion instructions of the mobile crane are received, the motion conversion stage is determined, and the smoothness of the motion execution of the mobile crane in the motion conversion stage is analyzed.

[0017] 3. Mobile crane working area identification: obtain the mobile crane operating area and identify the danger factor of the mobile crane working status.

[0018] 3. Fixing effect monitoring: continuously and periodically collect the corresponding action status data of the mobile crane to identify the fixing and monitoring effect of the sensor monitoring device.

[0019] , Early warning feedback: Identify dangerous operation modes of mobile cranes and provide early warning feedback.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention collects mobile crane data through a six-axis acceleration sensor and, with the assistance of an intelligent algorithm, realizes refined monitoring of the crane's motion conversion phase, improves the comprehensiveness and depth of monitoring, and makes up for the previous limitation that only the three states of start, standby and shutdown can be identified in the monitoring and identification of the mobile crane's operating status, making the monitoring more refined and diversified, which is conducive to on-site management.

[0021] (2) The present invention uses solar power supply and low-power wireless mode to monitor the status of the mobile crane, which simplifies the installation steps. The device only needs to be fixed on the mobile crane arm, and no wiring is required. It is convenient for installation, debugging and later maintenance, making the monitoring more intelligent. At the same time, the device has lower operating power consumption, which greatly increases the working life of the device.

[0022] (3) The present invention analyzes the risk factor of the mobile crane's working state by identifying the smoothness of the mobile crane's motion execution during the motion conversion stage and the inertia influence ratio of the linear acceleration of the boom load in various directions. It can timely identify unstable or excessively accelerated operating states, help identify and optimize the crane's uneven operations during the motion conversion stage, reduce time waste and precision loss caused by improper operation, and improve overall operating efficiency and precision.

[0023] (4) The present invention identifies dangerous operation modes of mobile cranes and provides timely feedback and warnings, which helps reduce the risk of damage to crane structures and loads caused by severe shaking. It can also warn of potential collision risks or load shedding accidents, while also protecting the safety of on-site workers and surrounding personnel.

[0024] (5) The present invention continuously and periodically collects the corresponding action status data of the mobile crane and identifies the fixation and monitoring effect of the sensor monitoring device. The large amount of accumulated data can be used to deeply analyze the crane operation mode, identify efficiency bottlenecks and safety hazards, provide data support for management, and help make more scientific and reasonable management and scheduling decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the connection of the system modules of the present invention.

[0027] Figure 2 The figure is a schematic diagram of the implementation process of the method of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1 As shown, the present invention provides a mobile crane working status monitoring system, which includes: a mobile crane working mode discrimination module, a stop mode action analysis module, a standby mode status analysis module, an action instruction dynamic analysis module, a mobile crane working area identification module, a fixed effect monitoring module, and an early warning feedback module.

[0030] The mobile crane working mode identification module is respectively connected to the stop mode action analysis module, the standby mode state analysis module, and the action instruction dynamic analysis module; the action instruction dynamic analysis module is connected to the mobile crane working area identification module; the mobile crane working area identification module is connected to the fixed effect monitoring module; the early warning feedback module is respectively connected to the mobile crane working mode identification module, the stop mode action analysis module, the standby mode state analysis module, the action instruction dynamic analysis module, the mobile crane working area identification module, and the fixed effect monitoring module.

[0031] The mobile crane working mode identification module is used to identify the working mode of the mobile crane, including the stop mode, the standby mode, and the start mode, and then determine the action state of the mobile crane.

[0032] In a preferred embodiment, the step of determining the working mode of the mobile crane includes: obtaining the locking state of the mobile crane start button by communicating with a six-axis acceleration sensor device installed near the transmission shaft of the mobile crane boom and the mobile crane start button, the locking state includes a closed state and an activated state, and when the locking state is a closed state, the working mode of the mobile crane is recorded as a shutdown mode.

[0033] When the locking mode is the activated mode, the six-axis acceleration sensor device is used to identify the change amplitude of the boom movement. If it does not change within a preset duration, the mobile crane working mode is recorded as the standby mode, otherwise it is recorded as the start-up mode.

[0034] The linear acceleration in three directions, X, Y, and Z, is established according to preset principles. For example, any right-angle direction on the horizontal plane is taken as the X and Y directions, and the vertical direction is taken as the Z direction. The linear acceleration in the three directions, X, Y, and Z, and each direction angle are collected in real time through a six-axis acceleration sensor device. Then, according to the relationship between the acceleration information and the direction angle information, a chart is designed to identify the corresponding action status of the mobile crane, including boom lifting, boom falling, boom working, and dynamic driving.

[0035] Specifically, the angles refer to the pitch angle, roll angle, and yaw angle. The pitch angle is analogous to the angle change of the boom relative to the horizontal plane; the roll angle refers to the degree of inclination of the boom around its longitudinal axis; and the yaw angle refers to the lateral rotation angle of the entire crane chassis relative to its initial or predetermined direction.

[0036] For example, when the relationship between the acceleration information and the angular velocity information is that the linear acceleration in the three directions of X, Y, and Z is less than , roll angle and yaw angle are less than , pitch angle greater than And when it continues to increase, the corresponding action state of the mobile crane is boom lifting, where , g is measured in meters per second squared (m / s²), .

[0037] When the relationship between acceleration information and angular velocity information is that the linear acceleration in the three directions of X, Y, and Z is less than , roll angle and yaw angle are less than , pitch angle is less than When the crane is continuously lowered, the corresponding action state of the mobile crane is the boom falling back. .

[0038] When the relationship between acceleration information and angular velocity information is that the linear acceleration in the three directions of X, Y, and Z is less than , pitch angle greater than and less than , roll angle is less than When the yaw angle continues to change, the corresponding action state of the mobile crane is boom operation, where .

[0039] When the relationship between acceleration information and angular velocity information is that the linear acceleration in the three directions of X, Y, and Z is greater than , pitch angle is less than , roll angle greater than and less than , yaw angle greater than and less than When , the mobile crane corresponds to the dynamic driving state, where , .

[0040] The present invention collects mobile crane data through a six-axis acceleration sensor and, with the assistance of an intelligent algorithm, realizes refined monitoring of the crane's motion conversion phase, improves the comprehensiveness and depth of monitoring, and makes up for the limitation that in the past, only the three states of start-up, standby and shutdown could be identified in the monitoring and identification of the mobile crane's operating status. This makes monitoring more refined and diversified, which is beneficial to on-site management.

[0041] The stop mode action analysis module is used to extract the action performance information of the mobile crane in the stop mode when the working mode of the mobile crane is the stop mode, and evaluate the stop potential hazard index of the mobile crane.

[0042] In a preferred embodiment, the evaluation of the downtime risk index of the mobile crane is specifically performed by extracting the action requirement information of the mobile crane when it is in the downtime mode from the relationship design chart between the acceleration information and the angular information, including the linear acceleration , direction angle , here , .

[0043] Extract the motion performance information of the mobile crane in the stop mode from the six-axis acceleration sensor device, which includes the linear acceleration in the three directions of X, Y and Z. And the angles , is the number of the direction angle, , is the pitch angle, is the roll angle, is the yaw angle.

[0044] Comparative evaluation of downtime risk indicators of mobile cranes , where , are the preset reference deviation values ​​corresponding to the linear acceleration and direction angle respectively, and e is a natural constant.

[0045] For example, the performance of the mobile crane in the stop mode is as follows: the linear acceleration of the mobile crane in the three directions of X, Y, and Z is less than , all directional angle information is less than .

[0046] The standby mode state analysis module is used to analyze the energy consumption damage coefficient of the mobile crane in the standby mode when the working mode of the mobile crane is the standby mode.

[0047] In a preferred embodiment, based on the evaluation method of the downtime hidden danger index of the mobile crane, the standby hidden danger index of the mobile crane is evaluated in the same way. .

[0048] Specifically, in the step of evaluating the standby hidden danger index of the mobile crane, the performance action of the mobile crane in the shutdown mode is specifically: the linear acceleration of the mobile crane in the three directions of X, Y, and Z is greater than and less than , all directional angle information is less than ,in .

[0049] Extract the standby duration period, and extract the replenishment power of the device during the standby duration period from the six-axis acceleration sensor device and power consumption , determine the efficiency index of the device's light-emitting power supplement during the standby period .

[0050] The standby duration period is a time period in which the six-axis acceleration sensor device identifies that the amplitude of the boom movement change has not changed within a preset duration period.

[0051] Extract the light intensity during the standby duration period from the meteorological management platform And the light intensity in the subsequent specified period , compare and identify the light-emission power-replenishing efficiency index of the six-axis acceleration sensor device in the subsequent specified period of time in the standby position .

[0052] Analyze the energy consumption damage factor when the mobile crane is in standby mode .

[0053] The present invention uses solar power supply and low-power wireless mode to monitor the status of mobile cranes, which simplifies the installation steps. The device only needs to be fixed on the mobile crane arm, and no wiring is required. It is convenient for installation, debugging and later maintenance, making the monitoring more intelligent. At the same time, the device has lower operating power consumption and greatly increases the working life of the device.

[0054] The motion instruction dynamic analysis module is used to receive the motion instruction of the mobile crane transmitted from the core control unit when the working mode of the mobile crane is the startup mode, determine the motion conversion stage, and analyze the motion execution smoothness of the mobile crane in the motion conversion stage.

[0055] Specifically, the core control unit transmits in the following manner: when the six-axis acceleration sensor device detects that the action state of the mobile crane has changed, a wake-up mechanism is executed on the low-power Bluetooth communication unit, the monitoring device status data is sent to the server, and the next action instruction is extracted.

[0056] In a preferred embodiment, the steps of analyzing the smoothness of the mobile crane's motion execution in the motion conversion stage are: real-time monitoring of the mobile crane's motion state, obtaining its execution process of converting from one motion state to another, recorded as the motion conversion stage, and recording the motion performance information of the mobile crane at each time point in the motion conversion stage.

[0057] The execution process includes: changing from boom raising to boom lowering, and changing from boom raising to boom operation.

[0058] Extract the linear acceleration of the mobile crane in the X, Y, and Z directions corresponding to each time point in the motion conversion phase in the motion performance information, identify the mutation points of the linear acceleration in each direction of the mobile crane in the motion conversion phase, and extract the corresponding values. Compare the corresponding values ​​of the mutation points of the linear acceleration in each direction with each other, and obtain the maximum value of the linear acceleration in each direction, which is recorded as the mutation value of the linear acceleration in each direction. , and calculate the average interval length of all adjacent mutation points of linear acceleration in each direction to obtain the linear acceleration jitter buffer length in each direction , based on which the vibration impact amplitude of the mobile crane during the motion conversion phase is calculated ,in is the preset reference value of the linear acceleration corresponding to the sudden change difference value, It is the preset reference value of the linear acceleration jitter buffer duration. is the direction number of the linear acceleration, , The linear acceleration in the X, Y, and Z directions corresponds to the jitter buffer duration. They are the linear acceleration mutation values ​​in the X, Y, and Z directions respectively.

[0059] The mutation point moments include the moments when the linear acceleration starts to change, reaches a constant value, and resumes to change. The values ​​corresponding to the mutation point moments refer to the linear acceleration corresponding to the moments when the linear acceleration starts to change, reaches a constant value, and resumes to change.

[0060] Extract the direction angles of the mobile crane at each time point in the action conversion phase from the action performance information , calculate the stability index of the angle change in the mobile crane motion conversion phase ,in Mobile crane in the action conversion phase The time point Direction angles, is the appropriate value of the change angle between two preset time points, is the number of the time point, , is the number of time points.

[0061] Analyze the smoothness of the mobile crane's motion execution during the motion transition phase , Represents an exponential function with the natural constant e as the base.

[0062] The mobile crane working area identification module is used to obtain the mobile crane operating area and identify the risk factor of the mobile crane working state.

[0063] In a preferred embodiment, the content of identifying the danger coefficient of the working state of the mobile crane includes: obtaining two action states of the mobile crane corresponding to the action conversion stage, and analyzing the startup danger indicators of the two action states of the mobile crane corresponding to the action conversion stage according to the shutdown danger indicator analysis method of the mobile crane. , combined with the smoothness of the mobile crane's motion execution in the motion conversion stage, obtain the influencing factors of the mobile crane's operation accuracy .

[0064] Delineate the operation area corresponding to the action instruction in the action conversion phase and analyze the danger index of the working area of ​​the mobile crane .

[0065] The six-axis acceleration sensor device is used to obtain the linear acceleration in each direction corresponding to each time point during the operation of the two action states of the mobile crane in the action conversion phase, and the maximum linear acceleration in each direction is extracted from it. .

[0066] Extract the boom load weight of the mobile crane in the start mode from the mobile crane motion command transmitted by the core control unit , based on which the risk factor of the mobile crane working state is analyzed ,in is the preset load inertia reference force, It is the maximum value of the inertia influence ratio of the linear acceleration of the boom load in each direction.

[0067] The present invention analyzes the risk factor of the working state of the mobile crane by identifying the smoothness of the motion execution of the mobile crane in the motion conversion stage and the inertia influence ratio of the linear acceleration of the boom load in various directions. It can timely identify the unstable or excessively accelerated operating state, which helps to identify and optimize the uneven operation of the crane in the motion conversion stage, reduce the time waste and precision loss caused by improper operation, and improve the overall operation efficiency and precision.

[0068] In a further preferred embodiment, the analysis of the hazard index of the working area of ​​the mobile crane is specifically carried out as follows: extracting the action instructions of the mobile crane, obtaining the positions of the two action states of the mobile crane corresponding to the action conversion stage, obtaining the action-related distance of the mobile crane, and obtaining the direction angles in each direction corresponding to the two action states at each time point during the operation, screening out the maximum value of the direction angle in each direction, and combining with the set length of the mobile crane boom to circle the operation area corresponding to the action instructions in the action conversion stage.

[0069] Specifically, the extension height and extension distance of the boom of the mobile crane can be determined according to the maximum directional angles of the two action states in each direction and the set length of the boom of the mobile crane. The product of the maximum directional angle and the extension distance of the boom of the mobile crane is used to obtain the volume of the operation area corresponding to the action instruction in the action conversion stage, and the operation area corresponding to the action instruction in the action conversion stage can be obtained.

[0070] Identify the operators whose operating area is within the specified distance from the action instruction corresponding to the action conversion stage of the mobile crane, and extract their real-time distance , and extract the real-time travel speed of the mobile crane from the six-axis acceleration sensor device .

[0071] Calculate the linear acceleration sliding impact distance of the mobile crane corresponding to the load in each direction ,in It is the preset load drop transient duration.

[0072] Obstacle frame structures within the mobile crane operation area are acquired through laser pulse scanning technology, and then the volume proportion of obstacle frame structures within the mobile crane operation area is extracted. , analyze the danger index of the working area of ​​the mobile crane ,in It indicates the preset personnel position hazard factor when the linear acceleration sliding impact distance in each direction is less than or equal to the real-time distance. Indicates the risk factor of the preset personnel position when the linear acceleration sliding impact distance in each direction is greater than the real-time distance. , represents any symbol, Indicates the presence of a symbol.

[0073] The fixing effect monitoring module is used to continuously and periodically collect the corresponding action status data of the mobile crane and identify the fixing and monitoring effects of the sensor monitoring device.

[0074] In a preferred embodiment, the analysis content of the fixed effect monitoring module includes: taking the comprehensive operation process of the two action states of the mobile crane corresponding to the above-mentioned action conversion stage as an action instruction, extracting each action instruction of the mobile crane from the core control unit, and according to the above-mentioned risk factor analysis method of the working state of the mobile crane, similarly obtaining the working risk factor of the mobile crane under each action instruction If the working risk coefficient under several continuous action instructions is less than a conventional threshold value such as a preset working risk coefficient, it is determined that the six-axis acceleration sensor device has a fixed detachment situation, and an early warning feedback is given to it.

[0075] On the contrary, the working risk factor of the mobile crane under each action instruction is compared with the preset working risk factor two conventional thresholds. Compare and evaluate the operating stability coefficient of the mobile crane through the logic function , where is the number of the action instruction, , is a logical function, and its mathematical expression is .

[0076] Specifically, the preset first-category conventional threshold of the work hazard coefficient is much smaller than the preset second-category conventional threshold of the work hazard coefficient.

[0077] The present invention continuously and periodically collects the corresponding action status data of the mobile crane and identifies the fixation and monitoring effect of the sensor monitoring device. The accumulated large amount of data can be used to deeply analyze the crane operation mode, identify efficiency bottlenecks and safety hazards, provide data support for the management, and help make more scientific and reasonable management and scheduling decisions. At the same time, the present invention analyzes the corresponding action status data of the mobile crane and identifies the fixation and monitoring effect of the sensor monitoring device, which helps to ensure the normal operation of the monitoring device and the continuity and accuracy of data collection, thereby providing more reliable data support for management personnel.

[0078] The early warning feedback module is used to identify dangerous operation modes of the mobile crane and provide early warning feedback thereto.

[0079] In a preferred embodiment, the content of identifying the dangerous mode of mobile crane operation is: based on the method of obtaining the shutdown hidden danger index of the mobile crane, obtaining various working hidden danger indicators of the mobile crane.

[0080] The various working hidden danger indicators of the mobile crane include a shutdown hidden danger indicator of the mobile crane, a standby hidden danger indicator of the mobile crane, and a startup hidden danger indicator corresponding to two action states of the mobile crane in the action conversion stage.

[0081] The various working hidden danger indicators of the mobile crane, the energy consumption damage coefficient in standby mode, the smoothness of action execution in the action conversion stage, the danger coefficient of the working state, and the operation stability coefficient of the mobile crane are counted, and they are compared with the corresponding preset evaluation indicator thresholds, and the coefficient indicators that exceed the corresponding preset evaluation indicator thresholds are screened out to obtain the working mode to which they belong, that is, the dangerous operation mode of the mobile crane.

[0082] The present invention helps to reduce the risk of damage to crane structures and loads due to severe shaking by identifying dangerous operating modes of mobile cranes and providing timely feedback and warnings. It can also warn of potential collision risks or load-shedding accidents, while also protecting the safety of on-site workers and surrounding personnel, and taking measures in advance to avoid major safety accidents.

[0083] See also Figure 2 As shown, another aspect of the present invention provides a method for monitoring the working status of a mobile crane, comprising the following steps: 3. Mobile crane working mode identification: Identify the mobile crane working mode, including stop mode, standby mode, and start mode, and then determine the mobile crane's operating status.

[0084] 2. Stop mode action analysis: When the working mode of the mobile crane is the stop mode, the action performance information of the mobile crane in the stop mode is extracted to evaluate the stop potential hazard indicators of the mobile crane.

[0085] 2. Standby mode status analysis: When the working mode of the mobile crane is standby mode, analyze the energy consumption damage coefficient of the mobile crane in standby mode.

[0086] 2. Dynamic analysis of motion instructions: When the working mode of the mobile crane is the start-up mode, the motion instructions of the mobile crane are received, the motion conversion stage is determined, and the smoothness of the motion execution of the mobile crane in the motion conversion stage is analyzed.

[0087] 3. Mobile crane working area identification: obtain the mobile crane operating area and identify the danger factor of the mobile crane working status.

[0088] 3. Fixing effect monitoring: continuously and periodically collect the corresponding action status data of the mobile crane to identify the fixing and monitoring effect of the sensor monitoring device.

[0089] , Early warning feedback: Identify dangerous operation modes of mobile cranes and provide early warning feedback.

[0090] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A mobile crane working status monitoring system, characterized in that: The system includes: The mobile crane working mode identification module is used to identify the working mode of the mobile crane, including the stop mode, standby mode and start mode, and then determine the action state of the mobile crane; The stop mode action analysis module is used to extract the action performance information of the mobile crane in the stop mode when the working mode of the mobile crane is the stop mode, and evaluate the stop hidden danger index of the mobile crane; A standby mode state analysis module is used to analyze the energy consumption damage coefficient of the mobile crane when the mobile crane is in the standby mode when the working mode of the mobile crane is the standby mode; The motion instruction dynamic analysis module is used to receive the motion instruction of the mobile crane when the working mode of the mobile crane is the start-up mode, determine the motion conversion stage, and analyze the motion execution smoothness of the mobile crane in the motion conversion stage; A mobile crane working area identification module is used to obtain the mobile crane operating area and identify the risk factor of the mobile crane working state; The fixing effect monitoring module is used to continuously and periodically collect the corresponding action status data of the mobile crane and identify the fixing and monitoring effects of the sensor monitoring device; Early warning feedback module, used to identify dangerous operation modes of mobile cranes and provide early warning feedback; The analysis of the smoothness of the action execution of the mobile crane in the action conversion stage comprises the following steps: real-time monitoring of the action state of the mobile crane, obtaining the execution process of its conversion from one action state to another action state, recorded as the action conversion stage, and recording the action performance information of the mobile crane at each time point in the action conversion stage; Extract the linear acceleration of the mobile crane in the X, Y, and Z directions corresponding to each time point in the motion conversion phase in the motion performance information, identify the mutation points of the linear acceleration in each direction of the mobile crane in the motion conversion phase, and extract their corresponding values, based on which the jitter impact amplitude of the mobile crane in the motion conversion phase is calculated. ; Extract the direction angles of the mobile crane at each time point in the motion conversion phase from the motion performance information, and calculate the angle change stability index of the mobile crane during the motion conversion phase based on this. ; Analyze the smoothness of the mobile crane's motion execution during the motion transition phase , It represents the exponential function with the natural constant e as the base; The content of identifying the risk factor of the mobile crane working state includes: Obtain the two action states of the mobile crane corresponding to the action conversion stage, analyze the startup hidden danger indicators of the two action states of the mobile crane corresponding to the action conversion stage, and then obtain the influencing factors of the mobile crane operation accuracy ; Delineate the operation area corresponding to the action instruction in the action conversion phase and analyze the danger index of the working area of ​​the mobile crane ; Obtain the linear acceleration in each direction corresponding to each time point during the two motion states of the mobile crane in the motion conversion phase, and extract the maximum linear acceleration in each direction , is the direction number of the linear acceleration, ; Extract the boom load weight of the mobile crane in start mode , based on which the risk factor of the mobile crane working state is analyzed ,in It is the preset load inertia reference force.

2. A mobile crane working status monitoring system according to claim 1, characterized in that: The step of determining the working mode of the mobile crane comprises: Obtain the locking state of the mobile crane start button, the locking state includes a closed state and an activated state. When the locking state is a closed state, the mobile crane working mode is recorded as a stop mode; When the locking mode is the activation mode, the six-axis acceleration sensor device is used to identify the change amplitude of the boom movement. If it does not change within the preset duration period, the mobile crane working mode is recorded as the standby mode, otherwise it is recorded as the start-up mode; The linear acceleration in the X, Y, and Z directions is established according to the preset principle. The linear acceleration in the X, Y, and Z directions and the direction angles are collected in real time through the six-axis acceleration sensor device. Then, a chart is designed according to the relationship between the acceleration information and the direction angle information to identify the corresponding action state of the mobile crane.

3. A mobile crane working status monitoring system according to claim 2, characterized in that: The specific evaluation method for evaluating the downtime risk index of the mobile crane is as follows: Extract the motion requirement information of the mobile crane in the stop mode from the relationship between acceleration information and angular information, including linear acceleration , direction angle ; Extract the motion performance information of the mobile crane in the stop mode from the six-axis acceleration sensor device, which includes the linear acceleration in the three directions of X, Y and Z. And the angles , is the number of the direction angle, , is the pitch angle, is the roll angle, is the yaw angle; Comparative evaluation of downtime risk indicators of mobile cranes , where , are the preset reference deviation values ​​corresponding to the linear acceleration and direction angle respectively, and e is a natural constant.

4. A mobile crane working status monitoring system according to claim 1, characterized in that: The energy consumption damage coefficient of the mobile crane in standby mode is analyzed as follows: Based on the evaluation method of the shutdown hidden danger index of the mobile crane, the standby hidden danger index of the mobile crane is evaluated in the same way. ; Extract the standby duration period, and extract the replenishment power of the device during the standby duration period from the six-axis acceleration sensor device and power consumption , determine the efficiency index of the device's light-emitting power supplement during the standby period ; Extract the light intensity during the standby duration period from the meteorological management platform And the light intensity in the subsequent specified period , compare and identify the light-emission power-replenishing efficiency index of the six-axis acceleration sensor device in the subsequent specified period of time in the standby position ; Analyze the energy consumption damage factor when the mobile crane is in standby mode .

5. A mobile crane working status monitoring system according to claim 1, characterized in that: The specific method for analyzing the dangerousness index of the working area of ​​the mobile crane is as follows: Extract the action instructions of the mobile crane, obtain the positions of the two action states of the mobile crane corresponding to the action conversion stage, obtain the distance involved in the action of the mobile crane, and obtain the direction angles in each direction corresponding to the two action states at each time point during the operation process, screen out the maximum value of the direction angle in each direction, and circle the operation area corresponding to the action instructions in the action conversion stage in combination with the set length of the mobile crane boom; Identify the operators whose operating area is within the specified distance from the action instruction corresponding to the action conversion stage of the mobile crane, and extract their real-time distance , and extract the real-time travel speed of the mobile crane ; Calculate the linear acceleration sliding impact distance of the mobile crane corresponding to the load in each direction ; Obtain the obstacle framework structure within the mobile crane operation area, and then extract the obstacle framework structure volume ratio within the mobile crane operation area , analyze the danger index of the working area of ​​the mobile crane ,in It indicates the preset personnel position hazard factor when the linear acceleration sliding impact distance in each direction is less than or equal to the real-time distance. Indicates the risk factor of the preset personnel position when the linear acceleration sliding impact distance in each direction is greater than the real-time distance. , represents any symbol, Indicates the presence of a symbol.

6. A mobile crane working status monitoring system according to claim 1, characterized in that: The analysis content of the fixing effect monitoring module includes: extracting each action instruction of the mobile crane, obtaining the working risk coefficient of the mobile crane under each action instruction, and if there are several consecutive action instructions whose working risk coefficients are less than a conventional threshold such as a preset working risk coefficient, it is determined that the six-axis acceleration sensor device has a fixing detachment situation; On the contrary, the working hazard coefficient of the mobile crane under each action instruction is compared with the preset working hazard coefficient two-category conventional threshold value, and the operation stability coefficient of the mobile crane is evaluated through the logic function.

7. A mobile crane working status monitoring system according to claim 6, characterized in that: The content of identifying the dangerous mode of mobile crane operation is: based on the method of obtaining the shutdown hidden danger index of the mobile crane, obtaining various working hidden danger indexes of the mobile crane; The various working hidden danger indicators of the mobile crane, the energy consumption damage coefficient in standby mode, the smoothness of action execution in the action conversion stage, the danger coefficient of the working state, and the operation stability coefficient of the mobile crane are counted, and they are compared with the corresponding preset evaluation indicator thresholds, and the coefficient indicators that exceed the corresponding preset evaluation indicator thresholds are screened out to obtain the working mode to which they belong, that is, the dangerous operation mode of the mobile crane.

8. A method for monitoring the working status of a mobile crane, executed by the system according to claim 1, characterized in that: The steps include:

1. Mobile crane working mode identification: identify the mobile crane working mode, including stop mode, standby mode, and start mode, and then determine the mobile crane action state; 2. Stop mode action analysis: When the working mode of the mobile crane is the stop mode, extract the action performance information of the mobile crane in the stop mode to evaluate the stop hidden danger index of the mobile crane; , Standby mode status analysis: when the working mode of the mobile crane is standby mode, analyze the energy consumption damage coefficient of the mobile crane in standby mode; , Dynamic analysis of motion instructions: When the working mode of the mobile crane is the start-up mode, the motion instructions of the mobile crane are received, the motion conversion phase is determined, and the motion execution smoothness of the mobile crane in the motion conversion phase is analyzed; , Mobile crane working area identification: obtain the mobile crane operating area and identify the risk factor of the mobile crane working status; , Fixing effect monitoring: continuously and periodically collect the corresponding action status data of the mobile crane to identify the fixing and monitoring effect of the sensor monitoring device; , Early warning feedback: Identify dangerous modes of mobile crane operation and provide early warning feedback.

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