Suspension arm construction safety monitoring and early warning method and system

Abstract

The invention discloses a suspension arm construction safety monitoring and early warning method which comprises the following steps: (1) building a 3D point cloud model of a live construction area, and inputting coordinate information for live equipment in the 3D point cloud model; setting a safety distance threshold value for electrified equipment in the 3D point cloud model; (2) during construction of the suspension arm, acquiring coordinate position information of the suspension arm in real time and converting the coordinate position information into coordinates of the suspension arm under a point cloud coordinate system; and under the point cloud coordinate system, the distance between the position of the suspension arm and the position of the electrified equipment is calculated, and when the distance is smaller than a set threshold value, risk early warning information is sent out. According to the scheme, early warning reminding is carried out in an automatic recognition mode, and the construction safety of the suspension arm in the electrified range of a power grid and the like is improved.

Description

Technical Field

[0001] The present invention relates to the field of construction safety monitoring and early warning, and in particular to a crane live construction safety monitoring and early warning system and method. Background Art

[0002] The crane construction vehicle is a piece of equipment that is needed at many construction sites. It uses the crane arm to approach or touch the location where construction is required. However, in the field of power grids, many devices are energized. It is very dangerous to operate with power on during construction. The energized equipment may break through the air and hit the nearby crane arm, causing a safety accident, or enter the risk range of the energized equipment during the crane arm operation, causing a safety hazard. Especially in the field of power grids, during the construction of substations, the substation uses the crane arm for maintenance, construction and other operations. Once it is accidentally touched or approached to a certain range, it will cause a discharge risk and cause a safety accident in operation.

[0003] In the field of power grids, the traditional practice is to have a safety officer visually conduct safety warnings, promptly detect the approaching state, and promptly inform the crane operator verbally to pay attention to safe operation and avoid approaching or contacting energized power grids, substations and other equipment. This method can improve the safety of crane operation to a certain extent, but manual monitoring has visual angle deviations and career deviations, and there are certain misjudgments, and even requires reliance on manual experience. When manual errors fail to issue timely warnings, it will cause safety hazards, affect construction safety, and cause production liability accidents. Therefore, the existing manual monitoring warning method has safety hazards, and the warning reminder cannot be issued accurately and reliably. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a crane construction safety monitoring and early warning system and method, which are used to provide early warning reminders through automatic identification to improve the construction safety of the crane in an energized area such as a power grid.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: a crane construction safety monitoring and early warning method, comprising:

[0006] (1) Build a 3D point cloud model of the live construction area, input coordinate information for the live equipment in the 3D point cloud model, and set a safety distance threshold for the live equipment in the 3D point cloud model;

[0007] (2) During the construction of the crane arm, the crane arm coordinate position information is collected in real time and converted into the crane arm coordinates in the point cloud coordinate system; in the point cloud coordinate system, the distance between the crane arm position and the position of the live equipment is calculated, and when the distance is less than the set threshold, a risk warning message is issued.

[0008] The laser radar is used to collect point cloud data of the construction area to obtain the point cloud data of the construction site; then the longitude and latitude coordinate information of each live equipment in the construction area is calculated and obtained, and the coordinate system of the live equipment is integrated with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system.

[0009] The latitude and longitude coordinate information of the live equipment is converted into coordinate position in the 3D point cloud coordinate system and merged with the corresponding live equipment.

[0010] During construction, a positioning terminal is installed on the boom to collect real-time positioning of the boom position. At the same time, a ground-based augmentation station is set up at the reference position. The coordinate information collected by the positioning terminal and the coordinate information of the ground-based augmentation station are fused and calculated to obtain the precise position data of the boom.

[0011] The RTK algorithm is used to fuse the positioning data of the boom and the positioning information of the ground-based augmentation station to obtain the processed accurate coordinate data of the boom.

[0012] After the precise position data of the crane arm is converted into coordinate information in the 3D point cloud coordinate system, it is displayed in the 3D point cloud model and the distance between the crane arm position and the live equipment is calculated in real time. Once the distance between the crane arm position and the live position is less than the set distance threshold, the crane arm construction is judged to be in a risky state and an early warning signal is issued.

[0013] When using laser radar to collect point cloud data of the construction area, the point cloud data collected by the radar scanning is cropped according to the construction scope or the required monitoring area to obtain the cropped 3D point cloud data and merge it with the coordinate information of the live equipment.

[0014] There are multiple positioning terminals on the boom, which respectively collect position information from the end to the tail of the boom.

[0015] A crane arm safety monitoring and early warning system comprises a positioning terminal, a network transmission module, a computer and an early warning module; a 3D point cloud model of a live construction area with coordinate position information pre-built is loaded and installed in the computer; the positioning terminal is arranged on the crane arm, and a ground-based augmentation station is arranged at a reference position; the positioning terminal and the ground-based augmentation station obtain their respective positioning information through a satellite navigation system and transmit their respective positioning information to the computer through the network transmission module; the computer obtains the precise position information of the crane arm through RTK algorithm fusion calculation and displays it in the 3D point cloud model, calculates the distance between the position of the crane arm and the position of each live equipment in the 3D point cloud model in real time, and when the distance is less than the set safety distance threshold, the computer issues an early warning message through the early warning module.

[0016] The 3D point cloud model loaded by the computer is: the point cloud data of the construction site is obtained by pre-collecting the construction area using a laser radar; then the longitude and latitude coordinate information of each live device in the construction area is calculated and obtained, and the coordinate system of the live device is integrated with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system.

[0017] The advantages of the present invention are: the working range of the boom is modeled by integrating positioning technology and point cloud technology, and then the risk warning of the boom is issued through the set electronic fence, and the risk warning is issued in a timely and accurate manner, thereby improving the safety and reliability of the boom operation during construction in live areas such as power grids. The positioning of the boom is calculated using the RTK algorithm, which has higher accuracy. On the basis of high positioning accuracy, the warning is more accurate. Fewer hardware devices are used, the cost is low, and the implementation is convenient; compared with manual reminders, the warning through automatic positioning of this solution does not rely on manual warnings, the warning is accurate, and there will be no warnings due to human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0019] Figure 1 It is a schematic diagram of the principle of the early warning system of the crane construction site of the present invention;

[0020] Figure 2 This is a flow chart of the early warning method of the present invention;

[0021] Figure 3 This is a schematic diagram of the principle of calculating precise position using the RTK algorithm in the present invention. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0023] In response to the safety hazards when the crane arm is operating in the live area, this application has developed an early warning system and method. By collecting the position of the crane arm in real time and reproducing the calculated distance information in the model, real-time alarm prediction and monitoring are performed based on the distance information. Timely and effective safety warnings can be provided, thereby improving the construction safety of the crane arm in the live equipment area.

[0024] like Figure 1 , 2 As shown, a crane construction safety monitoring and early warning method includes the following two steps:

[0025] (1) Preparation step: Before carrying out the crane construction in the live area, a preparation step is required. In this step, a 3D point cloud model of the live construction area is built, and coordinate information is input for the live equipment in the 3D point cloud model; a safety distance threshold is set for the live equipment in the 3D point cloud model;

[0026] (2) Construction warning step: After the preparation step is completed, the construction step is entered. In this step, a warning can be issued for the construction process of the crane arm to avoid safety accidents caused by the crane arm contacting or approaching live equipment. In this step, when the crane arm is under construction, the crane arm coordinate position information is collected in real time and converted into the crane arm coordinates in the point cloud coordinate system; in the point cloud coordinate system, the distance between the crane arm position and the live equipment position is calculated. When the distance is less than the set threshold, a risk warning message is issued.

[0027] In the preparation step, the main thing is to build a 3D point cloud model of the crane construction area. The construction area generally includes some energized equipment and non-energized equipment. Therefore, it is converted into a point cloud model through point cloud scanning. For this, laser radar is used to collect the construction area to obtain the point cloud data of the construction site. The point cloud data includes some energized objects and non-energized objects in the construction area. For subsequent early warning operations, it is necessary to locate the energized objects and locate their coordinate information; that is, calculate and obtain the longitude and latitude coordinate information of each energized device in the construction area, and merge the coordinate system of the energized equipment with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system. The longitude and latitude information of the energized equipment in the construction area can be used to locate the position of each device through a high-precision positioning method to confirm the position of the energized body. Of course, the position information at this time needs to be converted into coordinates in the 3D point cloud coordinate system. The longitude and latitude coordinate information of the energized equipment is converted to obtain the coordinate position in the 3D point cloud coordinate system and merged with the corresponding energized equipment. That is, the conversion parameters for converting the coordinate information of the charged body into the coordinate position in the 3D point cloud coordinate system can be calibrated in advance, and the collected coordinate position information of the charged body can be directly converted into the XYZ relative coordinate information in the 3D point cloud system through the conversion parameters; then the XYZ relative coordinate information of each charged body is merged with each charged body in the point cloud data to obtain a 3D point cloud model. This point cloud model data is loaded and displayed by a computer to achieve the purpose of visualization.

[0028] In the early warning stage, that is, during construction, a positioning terminal is set on the boom to collect the real-time positioning of the boom position. At the same time, a ground-based augmentation station is set at the reference position. The coordinate information collected by the positioning terminal and the coordinate information of the ground-based augmentation station are fused and calculated to obtain the precise position data of the boom. The RTK algorithm is used to fuse the positioning data of the boom and the positioning information of the ground-based augmentation station to obtain the processed accurate coordinate data of the boom. Figure 3As shown in the figure, the positioning terminal and the ground-based augmentation station are both terminal devices of the global positioning system. They exchange information with the global positioning system GNSS to obtain corresponding positioning information. The obtained positioning information is sent to the computer, and the RTK algorithm is run through the service platform pre-set in the computer to obtain the position information of the boom. This position information can be accurate to the centimeter level. Through the precise position information of the ground-based augmentation station, the position of the positioning terminal is differentially corrected and calculated in combination with the data of the positioning satellite. The precise (centimeter-level) position information of the positioning terminal can be obtained through the platform's solution service. Here, the centimeter-level positioning information of the boom is the precise position data of the boom. After the computer calculates the precise position data of the boom, it converts the precise position data of the boom into coordinate information in the 3D point cloud coordinate system, and displays and calculates the distance between the boom position and the live equipment in real time in the 3D point cloud model. Once the distance between the boom position and the live position is less than the set distance threshold, it is judged that the construction of the boom is in a risky state, and an early warning signal is issued at this time. Since the boom is not just a point but a long arm, it is impossible to determine the boom with only one position. Therefore, there are multiple positioning terminals on the boom, which collect the position information from the end to the tail of the boom respectively. Multiple positioning terminals can be set on the boom at the same intervals, so that multiple precise positions of the boom can be calculated. These positions together constitute the position state of the boom. The position information of multiple booms are converted into coordinates in the XYZ point cloud coordinate system respectively, and then the distance between each coordinate position information and the live equipment is calculated for the position coordinates of the multiple booms. When the distance calculated from the live body by any boom coordinate position is less than the set safety threshold, an alarm signal is issued. In a preferred embodiment of the present application, since the 3D point cloud model is loaded and displayed by a computer, in order to provide a more intuitive early warning, an alarm can be issued using the computer's speaker, and the early warning area can be displayed on the display screen. That is, when the early warning is issued, the computer renders the point cloud area of ​​the charged body whose distance is less than the safety threshold into a distinctive color. That is, in the point cloud model, the point cloud of the charged body is one color. When it is determined that the boom enters the safety distance threshold of the charged body, the color of the charged equipment is changed to another color, such as red and flashing. In this way, another display method can be used to inform the location of the risky charged area and achieve better early warning interaction.

[0029] The computing terminal obtains the latitude, longitude and height information, and converts the coordinates into xyz relative coordinates through matching coordinate conversion algorithm parameters, reproduces the crane arm in the three-dimensional point cloud space, and calculates the distance to the charged body in real time to form a three-dimensional protection space, providing basic point cloud data for early warning. The coordinate conversion can be achieved by forming the conversion parameters between the two coordinate systems based on pre-calibration.

[0030] In the preparation step, when using laser radar to collect point cloud data of the construction area to obtain the construction site, due to the large range of point cloud data, there may be areas that are not involved in this construction. In order to provide more accurate and reliable early warning, when establishing a 3D point cloud model, it is necessary to crop the point cloud data collected by the radar scanning according to the construction scope or the required monitoring area, and crop the area involved in this construction or the area of ​​interest. These areas may have safety hazards during the construction process. The cropped 3D point cloud data is fused with the coordinate information of the live equipment to obtain the 3D point cloud model of the construction scope. This can avoid the interference of redundant point cloud data that is not involved in the early warning and improve the accuracy of the early warning.

[0031] like Figure 1As shown, the present embodiment also provides a boom formula safety monitoring and early warning system, including a positioning terminal, a network transmission module, a computer, and an early warning module; a 3D point cloud model of a live construction area with coordinate position information pre-built is loaded and installed in the computer; the construction of the 3D point cloud model is implemented according to the preparation steps provided in the above embodiment, and then loaded and operated by the computer and the point cloud is displayed; when the boom is under construction, a positioning terminal is set on the boom and a ground-based augmentation station is set at the reference position; the positioning terminal and the ground-based augmentation station obtain their respective positioning information through the satellite navigation system GNSS and transmit their respective positioning information to the computer through the network transmission module; the computer runs the mqtt server business system to realize on-site networking to obtain information sent by the positioning terminal installed on the crane; the computer calculates high-precision positioning information through a pre-developed high-precision positioning settlement service based on the RTK algorithm, the computer obtains the precise position information of the boom through the RTK algorithm fusion calculation, converts it into XYZ relative coordinates and displays it in the 3D point cloud model, and calculates the distance between the position of the boom and the position of each live device in the 3D point cloud model in real time, and when the distance is less than the set safety distance threshold, the computer issues an early warning message through the early warning module. The 3D point cloud model loaded on the computer is: the point cloud data of the construction site is obtained by using laser radar to collect the construction area in advance; then the longitude and latitude coordinate information of each live equipment in the construction area is calculated, and the coordinate system of the live equipment is integrated with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system. The construction personnel use the visible light and laser scanning terminal equipped with the system to perform 3D scanning and modeling of the construction site. Combined with high-precision positioning terminals and base stations, high-precision latitude and longitude information is injected into the model to generate a 3D point cloud model containing geographic information. A high-precision Beidou base station is set up at the construction site. After the installation is completed, the Beidou base station will continue to output rtcm data and eventually form a file. Then, combined with the laser scanning radar software, the data is fused and reported (to form the final 3D point cloud model. When the computer system loads the 3D point cloud model, it can be cut according to the construction area to obtain the 3D point cloud model required for this time, which is convenient for monitoring and early warning, real-time analysis and processing of data, and detection of the distance between the boom and the object to be detected. When the boom enters the alarm area, that is, the distance between the real-time monitoring of the boom and the charged body is less than the set threshold, it is judged to enter the alarm area. At this time, the alarm strategy is triggered, and an audible and visual alarm is issued. The alarm can be issued by the computer speaker to emit an alarm sound and the point cloud data of the charged body corresponding to the driving distance less than the threshold is dyed red.

[0032] In this embodiment, the live equipment in the construction area is scanned by radar to form a 3D point cloud text, which is then recorded and run by a computer. The live equipment is run in the form of a point cloud, and then the safety distance threshold is set according to the nature of each live equipment. Then, during construction, the position of the boom is collected in real time, and the distance between the boom and the live equipment is calculated based on the position. It is determined whether to issue an early warning based on the distance. The hardware equipment involved includes a positioning terminal set on the crane boom, such as Figure 1 As shown, crane module 1 and crane module 2 are Beidou positioning chips, which can interact with the Beidou system to obtain their own coordinate information; then the data is transmitted to the cloud or on-site computing devices such as computers through communication networks such as 4G networks for calculation, and the corresponding high-precision positioning information is converted. The high-precision positioning information of the boom is transmitted to the on-site computer through the wifi network, etc. The on-site computer converts the real-time position of the boom into the position of the coordinate system where the 3D point cloud is located, and then displays the boom; calculates the corresponding distance and issues an early warning, which is issued through the early warning module. The speaker of the on-site computer can be used to issue an early warning sound, and at the same time, the point cloud where the charged body whose distance is less than the safety threshold is located is rendered red, thereby displaying the collision area and issuing a warning signal in a timely and accurate manner.

[0033] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A crane construction safety monitoring and early warning method, characterized in that: include: (1) Build a 3D point cloud model of the live construction area, input coordinate information for the live equipment in the 3D point cloud model, and set a safety distance threshold for the live equipment in the 3D point cloud model; (2) During the construction of the crane arm, the crane arm coordinate position information is collected in real time and converted into the crane arm coordinates in the point cloud coordinate system; in the point cloud coordinate system, the distance between the crane arm position and the position of the live equipment is calculated, and when the distance is less than the set threshold, a risk warning message is issued.

2. A crane construction safety monitoring and early warning method as claimed in claim 1, characterized in that: The laser radar is used to collect point cloud data of the construction area to obtain the point cloud data of the construction site; then the longitude and latitude coordinate information of each live equipment in the construction area is calculated and obtained, and the coordinate system of the live equipment is integrated with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system.

3. A crane construction safety monitoring and early warning method as claimed in claim 2, characterized in that: The latitude and longitude coordinate information of the live equipment is converted into coordinate position in the 3D point cloud coordinate system and merged with the corresponding live equipment.

4. A crane construction safety monitoring and early warning method as described in any one of claims 1 to 3, characterized in that: During construction, a positioning terminal is installed on the boom to collect real-time positioning of the boom position. At the same time, a ground-based augmentation station is set up at the reference position. The coordinate information collected by the positioning terminal and the coordinate information of the ground-based augmentation station are fused and calculated to obtain the precise position data of the boom.

5. A crane construction safety monitoring and early warning method as claimed in claim 4, characterized in that: The RTK algorithm is used to fuse the positioning data of the boom and the positioning information of the ground-based augmentation station to obtain the processed accurate coordinate data of the boom.

6. A crane construction safety monitoring and early warning method as claimed in claim 4, characterized in that: After the precise position data of the crane arm is converted into coordinate information in the 3D point cloud coordinate system, it is displayed in the 3D point cloud model and the distance between the crane arm position and the live equipment is calculated in real time. Once the distance between the crane arm position and the live position is less than the set distance threshold, the crane arm construction is judged to be in a risky state and an early warning signal is issued.

7. A crane construction safety monitoring and early warning method as claimed in claim 1 or 2, characterized in that: When using laser radar to collect point cloud data of the construction area, the point cloud data collected by the radar scanning is cropped according to the construction scope or the required monitoring area to obtain the cropped 3D point cloud data and merge it with the coordinate information of the live equipment.

8. A crane construction safety monitoring and early warning method as claimed in any one of claims 1 to 6, characterized in that: There are multiple positioning terminals on the boom, which respectively collect position information from the end to the tail of the boom.

9. A crane arm safety monitoring and early warning system, characterized in that: It includes a positioning terminal, a network transmission module, a computer, and an early warning module; the computer is loaded with a pre-built 3D point cloud model of the live construction area with coordinate position information; the positioning terminal is set on the boom, and a foundation reinforcement station is set at the reference position; The positioning terminal and the ground-based augmentation station obtain their respective positioning information through the satellite navigation system and transmit their respective positioning information to the computer through the network transmission module; the computer obtains the precise position information of the boom through the RTK algorithm fusion calculation and displays it in the 3D point cloud model, and calculates the distance between the position of the boom and the position of each live device in the 3D point cloud model in real time. When the distance is less than the set safety distance threshold, the computer issues a warning message through the warning module.

10. A boom safety monitoring and early warning system as claimed in claim 8, characterized in that: The 3D point cloud model loaded by the computer is: the point cloud data of the construction site is obtained by pre-collecting the construction area using a laser radar; then the longitude and latitude coordinate information of each live device in the construction area is calculated and obtained, and the coordinate system of the live device is integrated with the 3D point cloud data to obtain a 3D point cloud model with a coordinate system.

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