Inclination angle measuring method and monitoring and early warning system for insulated boom truck

Abstract

The invention discloses a method for measuring the inclination angle of an insulated boom truck, and the method comprises the steps: a light source and a linear array CCD (Charge Coupled Device) are matched for use, and the light source and the linear array CCD are respectively fixed on different supporting legs of the insulated boom truck for measuring the inclination angle between the supporting legs in the vertical direction; the invention relates to an inclination angle monitoring and early warning system for an insulated boom truck. The inclination angle monitoring and early warning system structurally comprises a light source, a light source fixing band, a CCD (Charge Coupled Device) outer box, an optical filter, a linear array CCD, a CCD fixing band, a CCD upper limit pixel, a CCD lower limit pixel, a sliding block and a wire rail guide rod, the light source is connected with the light source fixing band, the light source fixing band is installed at the middle section position of the corresponding supporting leg, the linear array CCD, the CCD upper limit pixel, the CCD lower limit pixel, the sliding block and the wire rail guide rod are installed in the CCD outer box, the optical filter is embedded in the surface of the CCD outer box and located on the outer side of the linear array CCD, the CCD outer box is connected with the CCD fixing band, and the CCD fixing band is also installed at the middle section position of the corresponding supporting leg.

Description

Technical Field

[0001] The invention specifically relates to an insulated bucket arm vehicle inclination angle measurement method and a monitoring and early warning system, belonging to the technical field of measurement. Background Art

[0002] The use of insulated boom trucks for outdoor live-line operations greatly reduces labor intensity and improves work efficiency. It can flexibly and efficiently assist outdoor live-line operations and is widely used. It is currently an important method of live-line operations (insulated boom trucks are special vehicles for live-line operations, usually referring to boom trucks suitable for live-line operations at high altitudes on 10kV and above distribution lines. The four legs of the work truck are used for support during operations). Due to the large size of the work truck and the need to carry people into the air for operations, its shaking, tilting and even rollover are major danger points. Monitoring and ensuring the balance and stability of the work truck is an important aspect of safety considerations at the work site.

[0003] For the balance problem of the boom truck at the outdoor live-electric operation site, two aspects of work can be done: first, before the operation begins, the four legs of the operation vehicle support the entire vehicle to keep the vehicle plane relatively horizontal and stable before the operation can begin; second, during the operation, it is necessary to continuously monitor the balance of the legs in real time. If the legs sink or shake, which destroys the balance, feedback should be given immediately and the operation should be stopped; during the operation, due to limited manpower, personnel are usually not arranged to continuously monitor the balance of the legs and the personnel situation. Therefore, if the operation vehicle is unbalanced or personnel illegally get on and off the vehicle, it is difficult for the operating personnel to know and respond in time at the first time, which poses a great safety hazard.

[0004] Therefore, it is necessary to study and design an insulated boom truck inclination angle measurement method and monitoring and early warning system to solve the above safety problems. Summary of the invention

[0005] The present invention proposes an insulated boom truck inclination angle measurement method and a monitoring and early warning system, which aims to provide an insulated boom truck inclination angle measurement method and a monitoring and early warning system with timely information feedback for boom truck operation and operator management.

[0006] The technical solution of the present invention is a method for measuring the inclination angle of an insulated boom truck. The method includes the use of a light source and a linear array CCD. The light source and the linear array CCD are respectively fixed on different legs of the insulated boom truck to measure the inclination angle between the legs in the vertical direction. The inclination angle calculation formula is specifically shown in formula (1):

[0007]

[0008] Where D i,j is the distance between the two legs numbered i and j, d jis the relative movement distance between the reference point of the light spot on the jth leg and the linear array CCD in the vertical direction, α i,j is the inclination angle between the two legs i and j.

[0009] Furthermore, the light spot reference point is characterized by a virtual point of the light intensity center of gravity obtained by the center of gravity method. Specifically, the position information of all sensor elements of the linear array CCD and the measured light intensity information are substituted into the center of gravity formula for calculation to obtain the position coordinates of the light intensity center of gravity point as the reference point for calculating the inclination angle of the outrigger. The moving distance of this reference point on the linear array CCD is used as d in formula (1). j , which is equivalent to the relative movement distance between the legs in the vertical direction, and then the inclination angle between the legs is solved. The calculation formula of the position coordinates of the light intensity center of gravity point is shown in formula (2):

[0010]

[0011] Where, X is the coordinate of the center of gravity on the linear array CCD, x i is the coordinate of the i-th CCD sensor element in the linear array CCD, I i is the light intensity value measured by the i-th CCD sensor element.

[0012] Furthermore, while using the light source and linear array CCD to measure the inclination angle between the legs, the on-off status of the optical path between the legs is continuously fed back. By judging the light intensity information received by the linear array CCD, if it is determined that the optical path is blocked, the blocking information will be uploaded to the APP terminal and an alarm will be prompted. The blockage is usually caused by the operating personnel blocking the optical path when getting on and off the vehicle. Therefore, the system can synchronously and parallelly monitor the balance state of the boom truck and the situation of people getting on and off the vehicle blocking the optical path.

[0013] Furthermore, the light source is a linear ultraviolet laser light source, which is combined with a filter for filtering out long-wave light to filter out interference from ambient light. Since it is necessary to extract the position information of the light spot on the linear array CCD, the light beam of the light source is required to be collimated and monochromatic, so a laser light source is selected. At the same time, the linear light source facilitates the initial installation and adjustment of the angle measurement system.

[0014] An insulated boom truck inclination monitoring and early warning system, the structure of which includes a light source 2, a light source fixing belt 3, a CCD outer box 5, a filter 6, a linear array CCD 7, a CCD fixing belt 8, a CCD upper limit pixel 9, a CCD lower limit pixel 10, a slider 11, and a wire rail guide rod 12; the light source 2 is connected to the light source fixing belt 3, the light source fixing belt 3 is installed in the middle section of the corresponding leg, the linear array CCD 7, the CCD upper limit pixel 9, the CCD lower limit pixel 10, the slider 11, and the wire rail guide rod 12 are installed inside the CCD outer box 5, the filter 6 is embedded in the surface of the CCD outer box 5 and is located outside the linear array CCD 7, the CCD outer box 5 is connected to the CCD fixing belt 8, and the CCD fixing belt 8 is also installed in the middle section of the corresponding leg.

[0015] Furthermore, the light source fixing strap 3 and the CCD fixing strap 8 are respectively wrapped around corresponding legs, and the ends of the light source fixing strap 3 and the CCD fixing strap 8 are fastened and connected by screws.

[0016] Furthermore, the light source 2 is a laser light source, and the light source 2 is hung on the light source fixing strap 3 through a metal buckle.

[0017] Furthermore, the CCD outer box 5 is hung on the CCD fixing strap 8 through a metal buckle.

[0018] Furthermore, the linear array CCD7, CCD upper limit pixel 9, CCD lower limit pixel 10, slider 11, and wire rail guide rod 12 are installed inside the CCD outer box 5, wherein the slider is installed in the middle section of the wire rail guide rod 12, the slider 11 can slide up and down along the wire rail guide rod 12, the CCD upper limit pixel 9 and the CCD lower limit pixel 10 are respectively installed and fixed at the upper and lower ends of the wire rail guide rod 12, and the linear array CCD7 is fastened to the surface of the slider 11 by screws; due to the long spacing between the legs and the limited length of the linear array CCD on the market, the angle measurement range is very limited, and a CCD pixel is set at the upper and lower ends of the adjustable range to ensure the maximum range, so that on the basis of the range always meeting the alarm threshold requirements, the CCD linear array with densely arranged pixels can be slid within the entire adjustable range through the adjustable slider to achieve high-precision dynamic measurement, thereby achieving a leg angle measurement effect that takes into account both a large range and high precision.

[0019] Furthermore, the filter 6 is embedded and fixed on the surface of the CCD outer box 5 by strong glue.

[0020] Beneficial effects of the present invention:

[0021] 1) The inclination angle measurement method of the present invention is simple and direct, highly reliable, and has both range and accuracy in dynamic measurement and is sensitive in response; it can minimize potential safety hazards, liberate manpower, and improve operating efficiency and safety;

[0022] 2) The inclination monitoring and early warning system of the present invention can provide timely feedback information and has strong safety. It is convenient for use in the operation of boom trucks and the management and control of operators. It can minimize safety hazards, liberate manpower, and improve operating efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Attached Figure 1 The present invention is a schematic diagram of the angle measurement principle of an insulated bucket arm vehicle of an inclination angle measurement method and monitoring and early warning system of the present invention.

[0024] Attached Figure 2 The present invention provides a functional block diagram of an insulated bucket arm vehicle inclination angle measurement method and a monitoring and early warning system.

[0025] Attached Figure 3 This is a schematic diagram of the installation of a linear array CCD in an insulated boom truck inclination monitoring and early warning system.

[0026] Attached Figure 4 This is a schematic diagram of the light source installation in an insulated bucket truck tilt angle monitoring and early warning system. Figure 5 Schematic diagram of the front view of the insulated bucket arm vehicle in Example 1 of the present invention. Figure 6 Schematic diagram of top view of the insulated bucket truck in Example 1 of the present invention. Figure 7 It is a side view schematic diagram of the insulated bucket arm vehicle inclination angle measurement in Example 1 of the present invention. In the figure, 1 is the No. ① leg, 2 is the light source, 3 is the light source fixing strap, 4 is the No. ② leg, 5 is the CCD outer box, 6 is the filter, 7 is the linear array CCD, 8 is the CCD fixing strap, 9 is the CCD upper limit pixel, 10 is the CCD lower limit pixel, 11 is the slider, and 12 is the wire rail guide rod. DETAILED DESCRIPTION

[0027] A method for measuring the inclination angle of an insulated boom truck, the method includes the use of a light source and a linear array CCD, the light source and the linear array CCD are respectively fixed on different legs of the insulated boom truck to measure the inclination angle between the legs in the vertical direction, and the inclination angle calculation formula is specifically shown in formula (1):

[0028]

[0029] Where D i,j is the distance between the two legs numbered i and j, d j is the relative movement distance between the reference point of the light spot on the jth leg and the linear array CCD in the vertical direction, α i,j is the inclination angle between the two legs i and j.

[0030] The size of the CCD sensor element in the linear array CCD is preferably defined as d min , that is, the minimum moving distance of the light spot that the CCD can detect, corresponds to the minimum inclination angle that the system can detect. By selecting CCDs with different sensor element sizes, the angle measurement accuracy of the system can be adjusted, with the highest accuracy reaching 0.0001° (calculated based on a leg spacing of 4m).

[0031] Preferably, the distances between the CCD upper limit pixel 9 and the CCD lower limit pixel 10 and the center position of the wire guide rod 12 (i.e. the angle measurement origin) are both defined as d max , that is, the CCD upper limit pixel 9 and the CCD lower limit pixel 10 are symmetrical about the center position, d maxThe maximum inclination angle that the corresponding system can detect can be adjusted by setting the positions of the CCD upper limit pixel 9 and the CCD lower limit pixel 10. The distance between the CCD upper limit pixel 9 and the CCD lower limit pixel 10 set by the system and the initial center point is preferably 25 cm, and the corresponding maximum inclination angle detected by the system is 3.576° (calculated based on the leg spacing of 4 m).

[0032] The light spot reference point is characterized by a virtual point of the light intensity center of gravity obtained by the center of gravity method. Specifically, the position information of all sensor elements of the linear array CCD and the measured light intensity information are substituted into the center of gravity formula for calculation to obtain the position coordinates of the light intensity center of gravity point as the reference point for calculating the inclination angle of the outrigger. The moving distance of this reference point on the linear array CCD is used as d in formula (1). j , which is equivalent to the relative movement distance between the legs in the vertical direction, and then the inclination angle between the legs is solved. The calculation formula of the position coordinates of the light intensity center of gravity point is shown in formula (2):

[0033]

[0034] Where, X is the coordinate of the center of gravity on the linear array CCD, x i is the coordinate of the i-th CCD sensor element in the linear array CCD, I i is the light intensity value measured by the i-th CCD sensor element.

[0035] The present invention utilizes a light source and a linear array CCD to measure the inclination angle between the outriggers, while continuously feeding back the on-and-off status of the optical path between the outriggers. By judging the light intensity information received by the linear array CCD, if it is determined that the optical path is blocked, the blocking information will be uploaded to the APP terminal and an alarm will be prompted. The blockage is usually caused by the operating personnel getting on and off the vehicle blocking the optical path. Therefore, the system performs synchronous and parallel monitoring of the balance state of the boom truck and the situation of people getting on and off the vehicle blocking the optical path.

[0036] The light source is a linear ultraviolet laser light source, which is used in conjunction with a filter for filtering out long-wave light to filter out interference from ambient light. The long-wave light filtering refers to filtering out ambient light in the environment whose wavelength is greater than that of the ultraviolet laser emitted by the ultraviolet laser light source, including filtering out visible light whose wavelength is greater than that of the ultraviolet laser. Furthermore, since it is necessary to extract the position information of the light spot on the linear array CCD, the light source is required to have a collimated beam and good monochromaticity, so a laser light source is selected. At the same time, the linear light source facilitates the initial installation and adjustment of the angle measurement system.

[0037] An inclination monitoring and early warning system for an insulated boom truck comprises a light source 2, a light source fixing belt 3, a CCD outer box 5, a filter 6, a linear array CCD 7, a CCD fixing belt 8, a CCD upper limit pixel 9, a CCD lower limit pixel 10, a slider 11, and a wire rail guide rod 12; the light source 2 is connected to the light source fixing belt 3, the light source fixing belt 3 is installed at the middle section of the corresponding leg of the insulated boom truck, the linear array CCD 7, the CCD upper limit pixel 9, the CCD lower limit pixel 10, the slider 11, and the wire rail guide rod 12 are installed inside the CCD outer box 5, the filter 6 is embedded in the surface of the CCD outer box 5 and is located outside the linear array CCD 7, the CCD outer box 5 is connected to the CCD fixing belt 8, and the CCD fixing belt 8 is also installed at the middle section of the corresponding leg of the insulated boom truck.

[0038] The insulated boom truck inclination monitoring and early warning system also includes an APP terminal to display and record the measured leg inclination in real time and to alarm when the angle exceeds a set threshold.

[0039] The light source fixing strap 3 is wrapped around the corresponding leg of the insulating boom truck, and the CCD fixing strap 8 is also wrapped around the corresponding leg of the insulating boom truck. The ends of the light source fixing strap 3 and the CCD fixing strap 8 are fastened together by screws.

[0040] The light source 2 is a laser light source, and the light source 2 is hung on the light source fixing strap 3 through a metal buckle.

[0041] The CCD outer box 5 is hung on the CCD fixing strap 8 through a metal buckle.

[0042] The linear array CCD7, CCD upper limit pixel 9, CCD lower limit pixel 10, slider 11, wire rail guide rod 12 are installed inside the CCD outer box 5, wherein the slider is installed in the middle section of the wire rail guide rod 12, the slider 11 can slide up and down along the wire rail guide rod 12, the CCD upper limit pixel 9 and the CCD lower limit pixel 10 are respectively fixed to the upper and lower ends of the wire rail guide rod 12, and the linear array CCD7 is fastened to the surface of the slider 11 by screws; due to the long spacing between the legs and the limited length of the linear array CCD on the market, the angle measurement range is very limited, and the CCD upper limit pixel 9 and the CCD lower limit pixel 10 are respectively set at the upper and lower ends of the adjustable range to ensure the maximum range, so that on the basis of the range always meeting the alarm threshold requirements, the CCD linear array with densely arranged pixels can slide within the entire adjustable range through the adjustable slider to achieve high-precision dynamic measurement, thereby achieving a leg angle measurement effect that takes into account both a large range and high precision.

[0043] The filter 6 is embedded and fixed on the surface of the CCD outer box 5 by strong glue.

[0044] The linear array CCD described in the present invention is a high-precision one-dimensional imaging sensor, and its photoelectric conversion characteristics can be effectively used for measurement. Combined with a laser light source, it has the advantages of small size, fast speed, high resolution, good stability, strong anti-interference ability, high sensitivity, and small measurement error. Due to the long leg spacing and the limited length of the linear array CCD on the market, these factors lead to a very limited angle measurement range. In order to achieve the measurement of the inclination angle of the outriggers of the work vehicle within a larger range while taking into account the high-precision advantage of CCD, a CCD pixel is set at the upper and lower ends of the adjustable range as the CCD upper limit pixel 9 and the CCD lower limit pixel 10 respectively, which can ensure the maximum range. In this way, on the basis that the range always meets the alarm threshold requirements, the CCD linear array with densely arranged pixels can slide within the entire adjustable range through the adjustable slider to achieve high-precision dynamic measurement, thereby achieving a support with both a large range and high precision. Leg angle measurement effect; for the confirmation of the position of the reference light spot, the present invention uses the center of gravity method to calculate and select the center of gravity of the light spot as the reference point. Compared with selecting the position with the strongest light intensity or the geometric center position of the light spot as the reference point, the center of gravity method involves the position and intensity information of each sensor element where the light spot is located. Each point will have different degrees of influence on the center of gravity position based on the light intensity, which scientifically and effectively improves the sensitivity and robustness of the angle measurement system; the insulated boom truck inclination monitoring and early warning system of the present invention can effectively improve the balance supervision effect of the boom truck, strengthen the control of the operating personnel getting on and off the vehicle, and use the APP to summarize, process, store and display the inclination measurement status information of the boom truck and the situation of people getting on and off the vehicle in real time, which helps to improve the intelligent level of safety supervision of the insulated boom truck, liberate the manpower required for safety supervision of the boom truck, improve work efficiency, and lay the foundation for establishing a safer, more stable and efficient boom truck operating environment.

[0045] The present invention forms an angle measuring optical path from the light source to the CCD between the legs, uses the center of gravity method to calculate the center of gravity of the light intensity of the light spot on the CCD, and uses the moving distance of the center of gravity as a reference to accurately measure the inclination angle caused by the relative movement of each leg in the vertical direction. The data is wirelessly transmitted to the APP terminal, and while measuring and displaying the inclination angle in real time, the on-and-off status of the optical path between the legs is detected, thereby continuously and intelligently monitoring the balance state of the boom truck and the situation where people get on and off the vehicle and block the light path. During the operation, if the boom truck shakes and tilts, or people get on and off the vehicle illegally, the system will alarm according to the set threshold, thereby improving the supervision efficiency and safety of the boom truck's outdoor operations.

[0046] Example 1

[0047] In order to facilitate the understanding of the present invention, the following will be introduced in conjunction with a specific embodiment, as shown below: The system is used for the inclination measurement and monitoring and early warning of the insulated bucket truck for outdoor operations. The inclination measurement of the outriggers of the bucket truck is achieved by installing a light source and a linear array CCD on the vertical part of the outriggers, as shown in the attached Figure 5 -Attached Figure 7 As shown, specifically, a light source and a linear array CCD are respectively installed and fixed on the vertical parts of the four legs, and the legs are numbered as ①, ②, ③, and ④ in the order of left front (driver's seat orientation)-left rear-right rear-right front, so that the light emitted by the light source of leg No. ① (the direction of light emission is perpendicular to the vertical leg) is received by the linear array CCD of leg No. ②, the light emitted by the light source of leg No. ② is received by the linear array CCD of leg No. ③, and the light emitted by the light source of leg No. ③ is received by the linear array CCD of leg No. ④, and the optical paths are connected in this way (especially, leg No. ① is only equipped with a light source, and leg No. ④ is only equipped with a linear array CCD). CCD, the optical path from leg ④ to leg ① is not set because the optical path between the left front and right front legs is easily blocked by the front wheels and chassis, and the inclination data corresponding to the three pairs of legs can traverse all situations of relative movement of the legs in the vertical direction); the light spot position and light intensity information detected by the three linear array CCDs (located on legs 2, 3, and 4) are used to calculate the light intensity center of gravity of the corresponding light spots, and combined with the leg spacing, the inclination angle caused by the relative movement of each leg in the vertical direction is obtained to complete the inclination measurement of the boom truck, and at the same time, the on-and-off status of the optical path between the legs is fed back to monitor the situation of people getting on and off the vehicle.

[0048] Taking outriggers ① and ② as examples, the structure of an insulated boom vehicle tilt angle monitoring and early warning system is shown in the attached figure. Figure 3 -Attached Figure 4 As shown, it includes a laser light source 2, a light source fixing belt 3, a CCD outer box 5, a filter 6, a linear array CCD 7, a CCD fixing belt 8, a CCD upper limit pixel 9, a CCD lower limit pixel 10, a slider 11, and a wire track guide rod 12; the laser light source 2 is connected to the light source fixing belt 3, the light source fixing belt 3 is installed in the middle section of the No. 1 leg 1, the linear array CCD 7 is installed inside the CCD outer box 5, the filter 6 is embedded in the surface of the CCD outer box 5, and is located on the outside of the linear array CCD 7, the CCD outer box 5 is connected to the CCD fixing belt 8, the linear array CCD 7, the CCD upper limit pixel 9, the CCD lower limit pixel 10, the slider 11, and the wire track guide rod 12 are installed inside the CCD outer box 5, and the CCD fixing belt 8 is installed in the middle section of the No. 2 leg 4.

[0049] The system installation fixed zero calibration process specifications include the following:

[0050] (1) Find the balanced position of the insulated boom truck and adjust and fix the legs; start installing the light source and linear array CCD;

[0051] (2) Install the laser light source at the approximately center position of the No. ① leg 1, and hang the laser light source 2 on the light source fixing strap 3 through a metal buckle. The buckle connection facilitates the horizontal movement and adjustment of the light source; the light source fixing strap 3 is wrapped around the No. ① leg 1, and the ends of the strap are fastened and connected by screws;

[0052] (3) Turn on the light source-CCD inclination monitoring system and install the CCD outer box 5 on the No. 2 leg (the outer box includes a linear array CCD, a CCD circuit, a CCD upper limit pixel, a CCD lower limit pixel, a slider, a wire guide rod, and a filter to reduce the influence of ambient light on the measurement); slide the slider 11 to adjust the position of the linear array CCD 7 so that the measured inclination angle is within the range of ±0.1° (taking the spacing of No. 1 and No. 2 as 4m as an example, according to formula (1), the vertical distance corresponding to ±0.1° is ±0.70cm; the vertical distance corresponding to the same angle is different for different leg spacings, so the angle is used as the installation standard). At this time, the CCD can be completely fixed. The CCD fixing strap 8 is wrapped around the No. 2 leg 4, and the ends of the strap are fastened together by screws;

[0053] (4) The fixing process may cause position deviation, so the inclination angle measured after fixing can be within the range of ±0.15° (still taking the spacing of 4m as an example, according to formula (1), the vertical distance corresponding to ±0.15° is ±1.05cm);

[0054] (5) If the fixed tilt angle is within the range of ±0.15°, reset the tilt angle to zero on the APP, i.e., use the fixed light source and CCD position as the reference position for monitoring the tilt angle; if the fixed tilt angle is not within the range of ±0.15°, remove the CCD and repeat steps (3) and (4);

[0055] (6) Zeroing is completed, and the entire installation and fixed zeroing process is completed.

[0056] The system starts to continuously and intelligently monitor the balance state of the boom truck and the situation of personnel getting on and off the truck; the length of the photosensitive surface of the linear array CCD is usually no more than 10 cm, and the corresponding angle measurement range is ±0.716°. The range is small and it is difficult to meet the needs. By setting a CCD pixel at the upper and lower ends of the adjustable range to ensure that the maximum range angle can always be monitored, the slider-wire guide rod design makes the relative position of the linear array CCD with densely arranged pixels and the outrigger adjustable to achieve high-precision dynamic measurement, thereby achieving an outrigger angle measurement effect that takes both range and accuracy into account. The system range can reach ±2.505°; the angle measurement accuracy can reach up to 0.0001° (taking the outrigger spacing of 4m as an example, the distance between the CCD upper limit pixel 9 and the CCD lower limit pixel 10 and the initial center point is 25cm, and D i,j =4,d j = ±0.175 Substituting into formula (1) yields an angular measurement range of ±3.576°; the CCD sensor element size is 7um×7um, and D i,j =4,D j =7×10 -6 Substituting into formula (1) we can get the angle measurement accuracy to be 0.0001°).

[0057] The above-mentioned embodiments are typical embodiments of the present invention, but not all of them; any embodiments that do not make creative changes but only make similar replacements belong to the protection scope of the present invention.

Claims

1. A method for measuring the inclination angle of an insulated boom truck. Its characteristics are The light source and the linear array CCD are used together. The light source and the linear array CCD are respectively fixed on different legs of the insulated boom truck to measure the inclination angle between the legs in the vertical direction. The inclination angle calculation formula is shown in formula (1): Where D i,j is the distance between the two legs numbered i and j, d j is the relative movement distance between the reference point of the light spot on the jth leg and the linear array CCD in the vertical direction, α i,j is the inclination angle between the two legs i and j.

2. The insulated boom truck inclination angle measurement method according to claim 1, Its characteristics are The light spot reference point is characterized by a virtual point of the light intensity center of gravity obtained by the center of gravity method. Specifically, the position information of all sensor elements of the linear array CCD and the measured light intensity information are substituted into the center of gravity formula for calculation to obtain the position coordinates of the light intensity center of gravity point as the reference point for calculating the inclination angle of the outrigger. The moving distance of this reference point on the linear array CCD is used as d in formula (1). j , which is equivalent to the relative movement distance between the legs in the vertical direction, and then the inclination angle between the legs is solved. The calculation formula of the position coordinates of the light intensity center of gravity point is shown in formula (2): Where, X is the coordinate of the center of gravity on the linear array CCD, x i is the coordinate of the i-th CCD sensor element in the linear array CCD, I i is the light intensity value measured by the i-th CCD sensor element.

3. The insulated boom truck inclination angle measurement method according to claim 1, Its characteristics are While using the light source and linear array CCD to measure the inclination angle between the outriggers, the on-off status of the optical path between the outriggers is continuously fed back. The light intensity information received by the linear array CCD is judged. If it is determined that the optical path is blocked, the blocking information will be uploaded to the APP terminal and an alarm will be prompted. The blockage is usually caused by the operating personnel blocking the optical path when getting on and off the vehicle. Therefore, the system can synchronously and parallelly monitor the balance state of the boom truck and the situation of people getting on and off the vehicle blocking the optical path.

4. The insulated boom truck inclination angle measurement method according to claim 1, Its characteristics are The light source is a linear ultraviolet laser light source, and the ultraviolet laser light source cooperates with a filter for filtering out long-wave light to filter out interference from ambient light.

5. An insulated bucket truck tilt angle monitoring and early warning system, Its characteristics are The invention comprises a light source (2), a light source fixing belt (3), a CCD outer box (5), a filter (6), a linear array CCD (7), a CCD fixing belt (8), a CCD upper limit pixel (9), a CCD lower limit pixel (10), a slider (11), and a wire rail guide rod (12); the light source (2) is connected to the light source fixing belt (3), the light source fixing belt (3) is installed at the middle section of the corresponding leg, the linear array CCD (7), the CCD upper limit pixel (9), the CCD lower limit pixel (10), the slider (11), and the wire rail guide rod (12) are installed inside the CCD outer box (5), the filter (6) is embedded on the surface of the CCD outer box (5) and is located outside the linear array CCD (7), the CCD outer box (5) is connected to the CCD fixing belt (8), and the CCD fixing belt (8) is also installed at the middle section of the corresponding leg.

6. The insulated boom truck tilt angle monitoring and early warning system according to claim 5, Its characteristics are The light source fixing strap (3) and the CCD fixing strap (8) are both wrapped around corresponding legs, and the ends of the light source fixing strap (3) and the CCD fixing strap (8) are fastened together by screws.

7. The insulated boom truck tilt angle monitoring and early warning system according to claim 5, Its characteristics are The light source (2) is a laser light source, and the light source (2) is hung on the light source fixing strap (3) via a metal buckle.

8. The insulated boom truck tilt angle monitoring and early warning system according to claim 5, Its characteristics are The CCD outer box (5) is hung on the CCD fixing strap (8) via a metal buckle.

9. The insulated boom truck tilt angle monitoring and early warning system according to claim 5, Its characteristics are The linear array CCD (7), CCD upper limit pixel (9), CCD lower limit pixel (10), slider (11), and wire guide rod (12) are installed inside the CCD outer box (5), wherein the slider (11) is installed in the middle section of the wire guide rod (12), the slider (11) can slide up and down along the wire guide rod (12), the CCD upper limit pixel (9) and the CCD lower limit pixel (10) are respectively installed and fixed at the upper and lower ends of the wire guide rod (12), and the linear array CCD (7) is fastened to the surface of the slider (11) by screws.

10. The insulated boom truck tilt angle monitoring and early warning system according to claim 5, Its characteristics are The optical filter (6) is embedded and fastened on the surface of the CCD outer box (5) by means of strong glue.

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