A method and system for quickly judging dynamic safety distance of a crane boom

Abstract

The present application relates to a kind of engineering crane boom dynamic safety distance quick determination method and system, the method includes the following steps: S1, obtains crane boom spatial position information and motion trend by sensor;S2, obtains crane construction operation environment point cloud model by laser point cloud scanning equipment;S3, based on crane boom spatial position information, the movement direction and speed of boom are calculated, and then the motion trajectory of crane boom at future time is predicted;S4, based on crane boom movement direction, judges and analyzes the safety distance of boom movement direction side surrounding construction environment object and crane boom.The method and system are beneficial to quickly determine the dynamic safety distance of engineering crane boom, and then improve the safety of engineering crane construction operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction safety digital management and control, and particularly relates to a method and system for quickly judging dynamic safety distance of a crane boom of an engineering crane. BACKGROUND

[0002] Power transmission lines and substations play a key role in power transmission and voltage transformation in the power grid and are important components of the power system. As one of the common large construction machines, crane operation is widely used in power transmission and transformation engineering construction, operation and maintenance, and repair. In the process of crane operation, in order to ensure the safety distance of the boom from the sensitive objects such as high-voltage live equipment, high-voltage live wires and important structures such as frameworks, it is crucial to control the spatial position and motion trajectory of the boom. In traditional power transmission and transformation engineering, visual monitoring is used for crane safety monitoring, which has objective problems such as inaccurate visual inspection of safety distance and delayed personnel response. With the development of digital technology, there are many crane boom safety monitoring methods and systems based on sensing technology at present, which realize functions such as safety distance overrun alarm. However, the existing methods are mainly based on distance comparison of boom position information and surrounding environment position data. If only sensor information is used in the safety distance calculation and judgment process, it is difficult to completely represent the spatial position of the crane boom. If a rigid body modeling method is used for the extension of the crane boom, at least all the points on the outer edge of the crane boom need to be calculated to calculate and judge the safety distance, which is time-consuming. In summary, there is still a lack of a method and system for quickly judging the dynamic safety distance of the crane boom of an engineering crane, which can consider the position and speed information of the crane boom, prioritize the judgment and analysis of the safety distance on the side of the motion direction of the crane boom, thereby shortening the operation time and improving the response speed of the safety warning and alarm of the crane construction operation. SUMMARY

[0003] The present application aims to provide a method and system for quickly judging the dynamic safety distance of the crane boom of an engineering crane, which is beneficial to quickly judging the dynamic safety distance of the crane boom of an engineering crane, thereby improving the safety of the crane construction operation of the engineering crane.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: a method for quickly judging the dynamic safety distance of the crane boom of an engineering crane, comprising the following steps:

[0005] S1, acquiring the spatial position information and motion trend of the crane boom through a sensor;

[0006] S2, scanning and acquiring a point cloud model of the crane construction operation environment through a laser point cloud scanning device;

[0007] S3, based on the spatial position information of the crane boom, the movement direction and speed of the boom are calculated, and the movement trajectory of the crane boom at the future time is predicted;

[0008] S4, based on the movement direction of the crane boom, the safety distance between the surrounding construction environment objects and the crane boom in the movement direction of the boom is judged and analyzed.

[0009] Further, in step S1, a Beidou high-precision positioning sensor is installed at the bottom center of the crane boom for measuring the spatial position information of the bottom center of the boom axis, and another Beidou high-precision positioning sensor is installed at the rear side of the crane cab for determining the front direction of the crane together with the aforementioned Beidou high-precision positioning sensor; the millimeter wave radars are all installed on the outer edge of the crane boom for detecting and judging the obstacles around the crane boom.

[0010] Further, the rotation angle θ of the crane cab and the angle φ between the boom and the horizontal are known; through the latitude and longitude coordinates (B, L, H) of the Beidou high-precision positioning sensor, the coordinates (x, y, z) of the engineering self-defined coordinate system are converted after coordinate conversion;

[0011] The millimeter wave radars installed on the outer edge of the crane boom are grouped according to the following specific rules: the millimeter wave radars installed on the upper edge of the crane boom are included in the group up, the millimeter wave radars installed on the lower edge of the crane boom are included in the group down, the millimeter wave radars installed on the left side of the crane boom are included in the group left, the millimeter wave radars installed on the right side of the crane boom are included in the group right, and the millimeter wave radars installed on the front end of the crane boom are included in the group front;

[0012] The direction in which the front windshield of the crane cab is parallel to the ground in the cab is taken as the positive direction of the i-axis, the direction perpendicular to the front windshield and parallel to the ground is taken as the positive direction of the j-axis, and the direction perpendicular to the crane cab and pointing to the sky is taken as the positive direction of the k-axis, thereby establishing a rectangular coordinate system (i, j, k) based on the crane cab, which conforms to the right-hand screw rule;

[0013] The direction of the rotation angle θ of the crane cab is set as follows: the rotation to the right in the direction of the front windshield in the cab is taken as positive, and vice versa;

[0014] The direction of the angle φ between the boom of the crane cab and the horizontal is set as follows: the upward angle is positive, and the downward angle is negative.

[0015] Further, in step S3, the velocities (v x ,v y ,v z ) of the boom in each coordinate axis direction of the self-defined coordinate system are calculated according to the coordinate transformation at the present time t and the previous time t-1, and the specific calculation method is as follows:

[0016] vx = Δx t = x t - x t-1

[0017] v y = Δy t = y t - y t-1

[0018] v z = Δz t = z t - z t-1

[0019] Then the space coordinate prediction value of the crane boom at the next moment t+1 is :

[0020]

[0021] Further, in step S4, the space coordinate of the Beidou high-precision positioning sensor installed at the center position of the bottom of the crane boom is set as (x1, y1, z1), the space coordinate of the Beidou high-precision positioning sensor installed at the rear side of the crane cab is set as (x2, y2, z2), Δx = x1-x2 and Δy = y1-y2 are calculated, and the safety distance of the construction environment object around the side of the movement direction of the boom to the crane boom is determined according to the following rules: when Δx>0 and Vx<0; Δy<0 and Vx<0, the data of the millimeter wave radar on the left side of the crane boom left is preferentially judged; when Δx<0 and Vx>0; Δy>0 and Vx>0, the data of the millimeter wave radar on the right side of the crane boom right is preferentially judged; when φ>0, the data of the millimeter wave radar above the crane boom up is preferentially judged.

[0022] Further, in step S4, based on the space coordinate prediction value of the crane boom at the next moment t+1 whether the safety distance of the construction environment object around the side of the movement direction of the boom to the crane boom meets the requirements is judged and analyzed.

[0023] The application also provides an engineering crane boom dynamic safety distance rapid judgment system for realizing the above method, comprising at least two Beidou high-precision positioning sensors, at least one millimeter wave radar and at least one data processing module; wherein the Beidou high-precision positioning sensor calculates the space position of the center of the bottom of the boom axis by measuring the position information, the millimeter wave radar is used for detecting the object around the boom, and the data processing module gathers and stores the data collected by each sensor, calculates the movement speed and direction of the boom through historical data information, and judges and warns the safety distance.

[0024] Compared with the prior art, the present application has the following beneficial effects: the present application provides an engineering crane boom dynamic safety distance rapid judgment method and system, which can obtain the spatial position information and motion trend of the crane boom through sensors, optimize the judgment and analysis of the safety distance on the side of the boom motion direction based on the point cloud model of the construction operation environment, effectively shorten the operation time, and improve the response speed of the crane construction operation safety warning and alarm. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a method implementation flowchart of an embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the drawings and embodiments.

[0027] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0028] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that when the terms "comprise" and / or "include" are used in the specification, they indicate the presence of a feature, step, operation, device, component, and / or combination thereof.

[0029] As shown in Figure 1 The present embodiment provides a method for rapidly judging the dynamic safety distance of an engineering crane boom, which comprises the following steps:

[0030] S1, sensor installation. Obtain the spatial position information and motion trend of the crane boom through sensors.

[0031] S2, construction operation environment point cloud model scanning and modeling. Obtain the point cloud model of the crane construction operation environment by scanning with a laser point cloud scanning device.

[0032] S3, boom motion trajectory prediction. Based on the spatial position information of the crane boom, calculate the boom motion direction and speed, and then predict the motion trajectory of the crane boom at a future time.

[0033] S4, safety distance judgment. Based on the motion direction of the crane boom, preferentially judge and analyze the safety distance between the construction environment objects around the side of the boom motion direction and the crane boom.

[0034] In this embodiment, in step S1, one Beidou high-precision positioning sensor is installed at the bottom center of the crane boom for accurately measuring the spatial position information of the bottom center of the boom axis, and another Beidou high-precision positioning sensor is installed at the rear side of the crane cab for determining the front direction of the crane together with the aforementioned Beidou high-precision positioning sensor; the millimeter wave radars are all installed at the outer edge of the crane boom for detecting and judging the obstacles around the crane boom.

[0035] The rotation angle θ of the crane cab and the angle φ between the boom and the horizontal are known. The data processing module can be deployed in the crane cab or near the crane operation site. Through the latitude and longitude coordinates (B, L, H) of the Beidou high-precision positioning sensor, the coordinates (x, y, z) in the engineering self-defined coordinate system are converted after coordinate conversion.

[0036] The millimeter wave radars installed at the outer edge of the crane boom are grouped according to the following specific rules: the millimeter wave radars installed at the upper edge of the crane boom are included in the group up, the millimeter wave radars installed at the lower edge of the crane boom are included in the group down, the millimeter wave radars installed at the left side of the crane boom are included in the group left, the millimeter wave radars installed at the right side of the crane boom are included in the group right, and the millimeter wave radars installed at the front end of the crane boom are included in the group front.

[0037] The right-handed coordinate system (i, j, k) based on the crane cab is established, with the direction parallel to the ground of the front windshield of the crane cab in the cab as the positive direction of the i-axis, the direction perpendicular to the front windshield parallel to the ground as the positive direction of the j-axis, and the direction perpendicular to the crane cab pointing to the sky as the positive direction of the k-axis. The establishment of the coordinate system conforms to the right-hand screw rule.

[0038] The direction of the rotation angle θ of the crane cab is set as follows: the rotation to the right in the direction of the front windshield in the cab is positive, and vice versa is negative.

[0039] The direction of the angle φ between the boom of the crane cab and the horizontal is set as follows: the upward angle is positive, and the downward angle is negative.

[0040] In this embodiment, in step S3, according to the coordinate transformation at the current time t and the previous time t-1, the speed (v x ,v y ,v z ) of the boom in each coordinate axis direction of the self-defined coordinate system can be calculated, and the specific calculation method is as follows:

[0041] v x = Δx t = x t -x t-1

[0042] v y = Δy t = yt - y t-1

[0043] v z = Δz t = z t - z t-1

[0044] The predicted value of the spatial coordinates of the crane boom at the next moment t+1 is :

[0045]

[0046] In this embodiment, in step S4, the spatial coordinates of the Beidou high-precision positioning sensor installed at the bottom center of the crane boom are set as (x1, y1, z1), the spatial coordinates of the Beidou high-precision positioning sensor installed at the rear side of the crane cab are set as (x2, y2, z2), Δx = x1-x2 and Δy = y1-y2 are calculated, and the safety distance of the object around the construction environment on the side of the movement direction of the boom to the crane boom is determined according to the following rules: when Δx > 0 and Vx < 0; Δy < 0 and Vx < 0, the data of the millimeter wave radar on the left side of the crane boom is determined preferentially; when Δx < 0 and Vx > 0; Δy > 0 and Vx > 0, the data of the millimeter wave radar on the right side of the crane boom is determined preferentially; when φ > 0, the data of the millimeter wave radar above the crane boom is determined preferentially. Based on the predicted value of the spatial coordinates of the crane boom at the next moment t+1 whether the safety distance of the object around the construction environment on the side of the movement direction of the boom to the crane boom meets the requirements.

[0047] The embodiment also provides an engineering crane boom dynamic safety distance rapid judgment system for implementing the above method, comprising at least two Beidou high-precision positioning sensors, at least one millimeter wave radar, and at least one data processing module. The Beidou high-precision positioning sensor calculates the spatial position of the bottom center of the axis of the crane boom by measuring the position information, the millimeter wave radar accurately detects the object around the crane boom by being arranged at the key positions of the crane boom, and the data processing module gathers and stores the data collected by each sensor, calculates the movement speed and direction of the crane boom through historical data information, and performs safety distance judgment and early warning.

[0048] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In one

[0049] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks can represent code, circuits, hardware components, or executable computer program instructions on a machine-readable or computer-readable storage medium which, when executed by a computer or other Figure 1 an apparatus with a function specified in one or more flowcharts and / or blocks.

[0050] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks can represent code, circuits, hardware components, or executable computer program instructions on a machine-readable or computer-readable storage medium which, when executed by a computer or other Figure 1 an apparatus with a function specified in one or more flowcharts and / or blocks.

[0051] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks can represent code, circuits, hardware components, or executable computer program instructions on a machine-readable or computer-readable storage medium which, when executed by a computer or other Figure 1 an apparatus with a function specified in one or more flowcharts and / or blocks.

[0052] The above description is only preferred embodiments of the application, not intended to limit other forms of the application. Any person skilled in the art may make modifications or equivalent changes to the above-mentioned technical contents without departing from the technical scope of the application. Any simple modification, equivalent change and modification of the above-mentioned embodiments according to the technical essence of the application still belongs to the protection scope of the technical scheme of the application.

Claims

1. A method for rapidly determining the dynamic safety distance of an engineering crane boom, characterized in that, Includes the following steps: S1. Obtain the spatial position information and movement trend of the crane boom through sensors; S2. Obtain a point cloud model of the crane's construction operation environment by scanning with a laser point cloud scanning device; S3. Based on the spatial position information of the crane boom, calculate the direction and speed of boom movement, and then predict the trajectory of the crane boom in the future. S4. Based on the direction of crane boom movement, determine and analyze the safe distance between objects in the surrounding construction environment and the crane boom on the side of the boom movement direction. In step S1, a Beidou high-precision positioning sensor is installed at the center of the bottom of the crane boom to measure the spatial position information of the center of the bottom of the boom axis. Another Beidou high-precision positioning sensor is installed on the rear side of the crane cab to work together with the aforementioned Beidou high-precision positioning sensor to determine the crane's frontal orientation. Millimeter-wave radars are installed on the outer edge of the crane boom to detect and identify obstacles around the crane boom. The crane cab rotation angle θ and the angle φ between the boom and the horizontal are known; the latitude and longitude coordinates (B,L,H) of the Beidou high-precision positioning sensor are transformed into coordinates (x,y,z) of the engineering custom coordinate system after coordinate transformation; The millimeter-wave radars installed on the outer edge of the crane boom are grouped according to the following specific rules: millimeter-wave radars installed on the upper edge of the crane boom are included in group up, millimeter-wave radars installed on the lower edge of the crane boom are included in group down, millimeter-wave radars installed on the left side of the crane boom are included in group left, millimeter-wave radars installed on the right side of the crane boom are included in group right, and millimeter-wave radars installed at the front end of the crane boom are included in group front. Let the direction parallel to the ground when looking directly at the crane cab from inside the cab be the positive direction of the i-axis, the direction perpendicular to the windshield and parallel to the ground be the positive direction of the j-axis, and the direction perpendicular to the crane cab and pointing upwards be the positive direction of the k-axis. Establish a rectangular coordinate system (i,j,k) based on the crane cab. The establishment of this coordinate system conforms to the right-hand screw rule. The direction of the crane cab rotation angle θ is set as follows: positive is rotating to the right when looking directly at the windshield from inside the cab, and negative is rotating to the left. The direction of the angle φ between the crane boom and the horizontal in the crane cab is set as follows: the upward angle is positive, and the downward angle is negative.

2. The method for rapidly determining the dynamic safety distance of an engineering crane boom according to claim 1, characterized in that, In step S3, the velocities (v) of the boom in each coordinate axis of the user-defined coordinate system are calculated based on the coordinate transformation between the current time t and the previous time t-1. x ,v y ,v z The specific calculation method is as follows: v x =Δx t =x t -x t-1 v y =Δy t =y t -y t-1 in z =Δz t =with t -with t-1 Then the predicted spatial coordinates of the crane boom at the next time t+1 are: for:

3. The method for rapidly determining the dynamic safety distance of an engineering crane boom according to claim 1, characterized in that, In step S4, the spatial coordinates of the Beidou high-precision positioning sensor installed at the center of the bottom of the crane boom are set to (x1, y1, z1), and the spatial coordinates of the Beidou high-precision positioning sensor installed at the rear of the crane cab are set to (x2, y2, z2). Δx = x1 - x2 and Δy = y1 - y2 are calculated. The safe distance between the crane boom and surrounding construction environment objects on the boom's movement direction is determined according to the following rules: When Δx > 0 and Vx < 0; Δy < 0 and Vx < 0, the data of the millimeter-wave radar on the left side of the crane boom is prioritized; when Δx < 0 and Vx > 0; Δy > 0 and Vx > 0, the data of the millimeter-wave radar on the right side of the crane boom is prioritized; when φ > 0, the data of the millimeter-wave radar above the crane boom is prioritized.

4. The method for rapidly determining the dynamic safety distance of an engineering crane boom according to claim 1, characterized in that, In step S4, the spatial coordinates of the crane boom are predicted based on the next time t+1. Determine and analyze whether the safe distance between the crane boom and surrounding construction environment objects on the side of the boom's movement direction meets the requirements.

5. A rapid dynamic safety distance determination system for an engineering crane boom used to implement the method described in any one of claims 1-4, characterized in that, It includes at least two BeiDou high-precision positioning sensors, at least one millimeter-wave radar, and at least one data processing module. The BeiDou high-precision positioning sensors calculate the spatial position of the bottom center of the crane boom axis by measuring position information. The millimeter-wave radar is used to detect objects around the crane boom. The data processing module collects and stores the data collected by each sensor, calculates the crane boom's movement speed and direction through historical data, and performs safety distance judgment and early warning.

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