Crane work management method and system and application thereof

Abstract

The invention discloses a crane work management method and system and application thereof.According to the scheme, identity authentication is ingeniously conducted on an operator before a crane is powered on and started, and then control authorization information is output according to an authentication result, so that the operator does not need to operate the crane before the operator operates the crane; different levels of operation authorities can be obtained based on the identity authentication result, so that the crane can adapt to operators with different proficiency degrees to give different control experiences when working, and a basis is provided for the working reliability and flexibility of the crane; meanwhile, according to the scheme, in the working process of the crane, working parameter records, noise data and / or vibration data are analyzed and judged, then working parameter threshold values of characteristic components of the crane are adjusted in time according to analysis and judgment results, when the crane is abnormal, the working amplitude of the crane can be reduced in time, and the working efficiency of the crane is improved. The expansion of abnormal conditions of the crane is avoided, and a guarantee is provided for reliable work of the crane.

Description

Technical Field

[0001] The present invention relates to the fields of crane control technology and crane management technology, and in particular to a crane work management method, system and application thereof. Background Art

[0002] As an important transfer equipment, cranes are widely used in workshops, warehouses, ports, construction sites and other scenes. Tower cranes are typical outdoor crane equipment. Compared with indoor environments, they are affected by more complex working factors, such as wind, temperature, humidity, rain, etc. These environmental factors often have characteristics such as variable and nonlinear changes. Therefore, when cranes work outdoors, their safety monitoring and abnormal monitoring need to be more sophisticated and strict. Operators are the first guarantee for the safety of crane operations. Different operators have different crane operations, especially in terms of control proficiency. The more experienced the operator, the more concise the control actions during the operation and the stronger the control stability.

[0003] Most of the literature on crane operation management disclosed so far only monitors the current, vibration or noise of the crane during operation, ignoring the working status of the operator and the risks caused by the operator's proficiency. At the same time, during the operation of the crane, its control parameters may have a certain impact on the noise and vibration generated by the characteristic components during operation, especially vibration. The most direct manifestation of the precursor of failure of some drive components is the intensification of vibration, which has a certain persistence, while some occasional problems are manifested through abnormal noise or loss vibration. Therefore, how to consider the operation of the crane from multiple aspects and optimize the abnormal monitoring so that when an abnormality occurs during the operation of the crane, timely feedback can be obtained from the operating parameter restrictions and early warnings is a very positive and practical research topic. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a crane work management method, system and application thereof which are reliable in implementation, timely in response and flexible in intervention.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A crane work management method, comprising:

[0007] Record the basic information and operation information of the characteristic components on the crane, build a component information database, and store the basic information and operation information of the characteristic components in it;

[0008] Respond to the operator's identity authentication request, perform identity authentication, generate authentication results, and after the authentication results meet the preset requirements, generate crane control authorization information, so that the crane can be powered on and enter the working standby state;

[0009] In response to the start signal of the crane, the control parameters of the characteristic components are recorded in real time in time series to generate working parameter records. At the same time, sound sensors and vibration sensors are deployed in the working influence area of ​​the characteristic components to monitor the external feedback of the characteristic components during operation and generate noise data and vibration data respectively;

[0010] Obtain working parameter records, noise data and / or vibration data, conduct abnormal data judgment according to preset conditions, and generate judgment results;

[0011] Obtain the judgment result, adjust the working parameter threshold of the characteristic components of the crane according to the preset conditions and / or identify the abnormal state of the operator, and generate the operator status information;

[0012] The operator status information is obtained. When the operator status information indicates that the operator is abnormal, the control authorization information of the crane is adjusted to restrict the operator's operating instructions.

[0013] As a possible implementation method, further, the solution also includes:

[0014] In response to the power-off shutdown signal of the crane, the working parameter records, noise data and vibration data recorded during its operation are collected into the component information database, and the basic information and operation information of the characteristic components are updated.

[0015] As a preferred implementation option, preferably, this solution also includes:

[0016] Collect the identity information of the operator and the instruction records of the crane control operation, build an operation information database, and store the identity information of the operator and the corresponding instruction records in it;

[0017] In response to the start signal of the crane, the operator's instructions for controlling the crane are recorded in real time in a time series to generate instruction records;

[0018] In response to the power-off shutdown signal of the crane, the operator's identity information and the command records of the operator's control operations on the crane are collected into the operation information database, and the operation records under the corresponding identity information are incrementally updated.

[0019] As a preferred implementation option, preferably, the crane described in this scheme is a tower crane, and the characteristic components are the lifting mechanism, slewing mechanism and / or luffing mechanism of the tower crane; the basic information of the characteristic components includes the loading time, model, maintenance record and cumulative usage time of the driving source of the lifting mechanism, slewing mechanism and / or luffing mechanism; the driving source is a driving motor and / or a cylinder; the control parameters include: one or more of the speed, acceleration, amplitude, load weight and direction change frequency when the characteristic components are in action.

[0020] As a better implementation option, preferably, when the scheme generates crane control authorization information, operators with different identity authentications have different operating permissions.

[0021] As a preferred implementation option, preferably, the operation information of the characteristic component described in this solution includes: one or more of the following:

[0022] (1) The accumulated abnormal data of the characteristic component during its operation after loading, wherein the accumulated abnormal data includes the accumulated number of noise abnormalities, the accumulated number of vibration abnormalities, and the accumulated number of faults and the corresponding fault types;

[0023] (2) noise data and / or vibration data of the characteristic component within a preset time period;

[0024] (3) One or more of the following when the characteristic component is in motion at different time points or time periods within a preset time period: speed, acceleration, amplitude, load weight, or frequency of direction change.

[0025] As a preferred implementation option, preferably, in response to the identity authentication request of the operator, when performing identity authentication on the operator, the authentication content includes at least one of the following:

[0026] (1) The operator’s ID;

[0027] (2) Liveness verification of the operator’s face;

[0028] After the authentication result meets the preset requirements, the identity information corresponding to the identity authentication request is retrieved from the operation information database, and then the crane control authorization information is generated based on the operation authority of the identity information, so that the crane can be powered on and enter the working standby state.

[0029] As a preferred implementation option, preferably, this solution also includes:

[0030] According to the operator's instruction records and the operation information of the characteristic components of the crane, the operator's operating authority is adjusted, which includes:

[0031] A01. Extract the operator's instruction records and the operation information of the characteristic components based on the preset time interval, and match the instruction records and the operation information one by one in time series;

[0032] A02. Compare the operation information of the characteristic component at different time points or time periods with the corresponding preset thresholds, and then count the number of abnormalities exceeding the preset thresholds to generate abnormal statistical information; wherein the operation information includes one or more of the speed v, acceleration a, amplitude θ, load weight F and / or direction change frequency p; the abnormal statistical information includes the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities; mild abnormalities are within 10% of the threshold, moderate abnormalities are within 10% of the threshold and within 20% of the threshold, and severe abnormalities are 20% of the threshold;

[0033] A03. Construct an operation proficiency scoring model, which is defined as follows:

[0034] S=100-(w1·N1+w2·N2+w3·N3)

[0035] Among them, S is the operation proficiency score. The larger its value, the lower the operation risk, and the smaller its value, the higher the operation risk; N1, N2, and N3 are the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities respectively; w1, w2, and w3 are the calculation weight coefficients of mild abnormalities, moderate abnormalities, and severe abnormalities respectively;

[0036] A04. According to the operation proficiency score, the operation risk of the operator is graded as follows:

[0037] Grade A: 90≤S≤100

[0038] Grade B: 75≤S<90

[0039] C grade: 60≤S<75

[0040] D-level: S<60

[0041] According to the classification results of operational risks, the operating rights of operators are adjusted, which are defined as follows:

[0042] A-level: v max =v dafault , a max =a dafault ,θ max =θ dafault ;

[0043] B-level: v max =0.8×v dafault , a max =0.8×a dafault ,θ max =0.8×Δdafault ;

[0044] C-level: v max =0.6×v dafault , a max =0.6×a dafault ,θ max =0.6×θ dafault ;

[0045] D level: Suspend operation authority;

[0046] Among them, v max is the maximum working speed of the characteristic component per unit time, a max is the maximum working acceleration of the characteristic component per unit time, θ max is the maximum working swing amplitude of the characteristic component per unit time, v dafault 、a dafault ,θ dafault They are respectively the preset working speed, working acceleration and working swing amplitude per unit time.

[0047] As a preferred implementation option, preferably, this solution obtains working parameter records, noise data and / or vibration data, performs abnormal data judgment on them according to preset conditions, and generates judgment results including:

[0048] B01. Obtain the working parameter record, determine whether the control parameters in the working parameter record are abnormal, and then extract the time interval when the control parameters are normal, which is defined as the target time period;

[0049] B02. According to the target time period, extract the data that coincides with the timeline of the target time period from the noise data and vibration data, and then separately determine whether the noise and vibration exceed the preset threshold. If they exceed, it is defined as abnormal. Then further determine the time period when both the noise and vibration point to abnormality, which is defined as the characteristic time period;

[0050] B03. Extract data segments from the vibration data according to the characteristic time period, and then record them as time series as x(t), and then use the sampling frequency f s It is discretized to obtain a discrete signal, which is defined as follows:

[0051] x[n]=x[nT],

[0052] Where n is the sampling point index and T is the sampling interval;

[0053] Use a low-pass filter to remove high-frequency noise in the vibration data. The filter function is:

[0054]

[0055] Among them, f c is the filter cutoff frequency, H(f) is the filter transfer function in the frequency domain;

[0056] After the vibration signal is filtered, the preprocessed signal is obtained, which is defined as follows:

[0057] X filtered (f) = X(f)·H(f)

[0058] Through inverse Fourier transform, we get the filtered time domain signal x filtered (t), which is defined as follows:

[0059]

[0060] The envelope signal is extracted using the Hilbert transform, which is defined as follows:

[0061]

[0062] in, is the Hilbert transform operator;

[0063] The time domain signal x extracted from the Hilbert transform env (t) to extract the following time domain features:

[0064] (1) Mean μ x , which is defined as follows:

[0065]

[0066] (2) Root mean square value RMS, which is defined as follows:

[0067]

[0068] (3) Peak value x peak , which is defined as follows:

[0069] x peak =max{|x env [n]|}

[0070] Among them, x env [n] is the discrete value of the vibration signal extracted by Hilbert transform, and N is the total number of sampling points;

[0071] The spectrum is obtained by fast Fourier transform FFT, which is defined as follows:

[0072]

[0073] Where x[n] is the discrete value of the vibration signal, and N is the total number of sampling points;

[0074] The following features are extracted from the spectrum:

[0075] Main frequency, corresponding to the frequency of maximum amplitude f peak ;

[0076] Total frequency energy E:

[0077]

[0078] Short-time Fourier transform (STFT) is used to analyze the frequency variation of the signal over time, which is defined as follows:

[0079]

[0080] Among them, w(τ) is the window function, and X(t, f) is the time domain distribution of the signal;

[0081] The extracted features are subjected to multimodal fusion to obtain a multimodal feature vector F, which is defined as follows:

[0082] F=[μ x ,RMS,x peak , f peak , E]

[0083] The multimodal feature vector F is compared with the preset baseline feature vector F baseline After comparison, the normalized distance of multiple features is calculated using the following formula, which is defined as follows:

[0084]

[0085] Among them, F i is the i-th component of the current feature of the multimodal feature vector; F i,baseline is the i-th component of the baseline characteristic, σ i,baseline is the standard deviation of the ith component of the baseline characteristic;

[0086] The normalized distance D is judged, and when it exceeds the set threshold D 阈值 It is determined that there is an abnormality in the characteristic component and a judgment result is generated.

[0087] As a preferred implementation option, preferably, the scheme obtains the judgment result, and adjusts the working parameter threshold of the characteristic component of the crane according to the preset conditions, including: obtaining the judgment result, when it points to the abnormality of the characteristic component, lowering the upper limit of the control parameter of the characteristic component;

[0088] Obtaining the judgment result, identifying the abnormal state of the operator according to the preset conditions, and generating the operator status information includes: extracting the image data of the control room where the operator is located, inputting it into the trained detection neural network to determine whether the current state of the operator is abnormal, and generating the operator status information.

[0089] Based on the above, this solution also proposes a crane work warning method, which is applied with the above-mentioned crane work management method, and further includes:

[0090] The operator status information is obtained, and when it indicates that the operator is in an abnormal state, an early warning instruction is generated and output.

[0091] Based on the above, this solution also proposes a crane work management system, which includes:

[0092] The equipment server is used to record the basic information and operation information of the characteristic components on the crane, build a component information database, and store the basic information and operation information of the characteristic components therein; it is also used to collect the identity information of the operator and the instruction records of the control operation of the crane, build an operation information database, and store the identity information of the operator and the corresponding instruction records therein;

[0093] The identity authentication unit is used to respond to the identity authentication request of the operator, perform identity authentication on the operator, generate an authentication result, and after the authentication result meets the preset requirements, generate crane control authorization information to enable the crane to be powered on and enter a working standby state;

[0094] The working monitoring unit is used to respond to the start signal of the crane, record the control parameters of the characteristic components in real time according to the time series, and generate the working parameter record; it is also used to respond to the start signal of the crane, record the operator's instructions for controlling the crane in real time according to the time series, and generate the instruction record;

[0095] The sound sensor and the vibration sensor are deployed in the working influence area of ​​the characteristic component, and are used to monitor the external feedback of the characteristic component when it is working, and generate noise data and vibration data respectively;

[0096] A data judgment unit, used to obtain working parameter records, noise data and / or vibration data, perform abnormal data judgment on them according to preset conditions, and generate a judgment result;

[0097] A control intervention unit is used to obtain the judgment result, adjust the working parameter threshold of the characteristic components of the crane according to the preset conditions and / or identify the abnormal state of the operator, and generate the operator status information; and to obtain the operator status information, and when the operator status information indicates that the operator is abnormal, adjust the control authorization information of the crane to limit the operation instructions of the operator;

[0098] The data update unit is used to respond to the power-off signal of the crane, collect the working parameter records, noise data and vibration data recorded during the working process into the component information database, and update the basic information and operation information of the characteristic components; and respond to the power-off signal of the crane, collect the identity information of the operator and the command records of the operator's control operation on the crane into the operation information database, and incrementally update the operation records under the corresponding identity information.

[0099] By adopting the above-mentioned technical scheme, the present invention has the following beneficial effects compared with the prior art: the scheme cleverly authenticates the identity of the operator before the crane is powered on and starts, and then outputs the control authorization information according to the authentication result, so that the operator can obtain different levels of operation authority based on the authentication result before operating the crane, so that when the crane is working, it can adapt to operators with different proficiency to give different control experiences, providing a basis for the working reliability and flexibility of the crane; at the same time, the scheme also analyzes and judges the working parameter records, noise data and / or vibration data during the operation of the crane, and then adjusts the working parameter thresholds of the characteristic components of the crane in time according to the analysis and judgment results, so that when the crane is abnormal, its working range can be reduced in time to avoid the expansion of the abnormal condition of the crane, thereby providing a guarantee for the reliable operation of the crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0101] Figure 1 This is one of the simplified implementation flow diagrams of this program management method;

[0102] Figure 2 This is the second schematic diagram of the brief implementation process of this program management method;

[0103] Figure 3 This is a brief schematic diagram of the unit module connection of this solution management system. DETAILED DESCRIPTION

[0104] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0105] Combination Figure 1 As shown, this embodiment provides a crane work management method, which includes:

[0106] S010, recording basic information and operation information of characteristic components on the crane, building a component information database, and storing the basic information and operation information of the characteristic components in the database;

[0107] S020, responding to the identity authentication request of the operator, performing identity authentication on the operator, generating an authentication result, and after the authentication result meets the preset requirements, generating crane control authorization information, so that the crane is powered on and enters a working standby state;

[0108] S030, in response to the start signal of the crane, the control parameters of the characteristic component are recorded in real time according to the time series, and the working parameter record is generated. At the same time, the sound sensor and the vibration sensor are deployed in the working influence area of ​​the characteristic component to monitor the external feedback of the characteristic component during operation, and the noise data and the vibration data are generated respectively;

[0109] S040, obtaining working parameter records, noise data and / or vibration data, performing abnormal data judgment according to preset conditions, and generating a judgment result;

[0110] S050, obtaining the judgment result, adjusting the working parameter threshold of the characteristic component of the crane according to the preset conditions and / or identifying the abnormal state of the operator, and generating the operator state information;

[0111] S060. Acquire operator status information. When the operator status information indicates that the operator is abnormal, adjust the control authorization information of the crane to restrict the operator's operating instructions.

[0112] This solution cleverly authenticates the operator before the crane is powered on, and then outputs control authorization information based on the authentication result, so that the operator can obtain different levels of operation permissions based on the authentication result before operating the crane. When the crane is working, it can adapt to operators with different proficiency to give different control experiences, providing a basis for the reliability and flexibility of the crane. Therefore, as a better implementation option, it is preferred that when this solution generates crane control authorization information, operators with different identity authentications have different operating permissions.

[0113] In order to optimize the authority allocation mechanism and provide better post-operation review data for different operation recognitions, combined Figure 2 As shown, as a possible implementation mode, further, this solution also includes:

[0114] S070. Respond to the power-off shutdown signal of the crane, collect the working parameter records, noise data and vibration data recorded during the working process into the component information database, and update the basic information and operation information of the characteristic components.

[0115] By collecting the operating parameter records, noise data and vibration data from the time the crane is powered on to the time it is powered off and shut down into the component information database, it can help managers review the work of on-site operators and trace problems, providing data support for the scientific management of cranes.

[0116] Based on the above, as a better implementation option, preferably, this solution also includes:

[0117] S011. Collect the identity information of the operators and their instruction records for controlling the crane, build an operation information database, and store the identity information of the operators and their corresponding instruction records in the database.

[0118] Wherein, step S011 may be executed in parallel with step S010, so that the corresponding information of the operator is recorded separately.

[0119] In response, when responding to the start signal of the crane, the present solution can also record the operator's instructions for controlling the crane in real time in a time series to generate an instruction record.

[0120] In addition, in S070, when responding to the power-off shutdown signal of the crane, the scheme also collects the identity information of the operator and the instruction records of the operator's control operation on the crane into the operation information database, and incrementally updates the operation records under the corresponding identity information.

[0121] As for the type of crane, as a better implementation option, preferably, the crane described in this scheme is a tower crane, and the characteristic components are the lifting mechanism, slewing mechanism and / or luffing mechanism of the tower crane; the basic information of the characteristic components includes the loading time, model, maintenance record and cumulative usage time of the driving source of the lifting mechanism, slewing mechanism and / or luffing mechanism; the driving source is a driving motor and / or a cylinder; the control parameters include: one or more of the speed, acceleration, amplitude, load weight and direction change frequency when the characteristic components are in action.

[0122] In recording the operation information, as a preferred implementation option, preferably, the operation information of the characteristic component described in this solution includes: one or more of the following:

[0123] (1) The accumulated abnormal data of the characteristic component during its operation after loading, wherein the accumulated abnormal data includes the accumulated number of noise abnormalities, the accumulated number of vibration abnormalities, and the accumulated number of faults and the corresponding fault types;

[0124] (2) noise data and / or vibration data of the characteristic component within a preset time period;

[0125] (3) One or more of the following when the characteristic component is in motion at different time points or time periods within a preset time period: speed, acceleration, amplitude, load weight, or frequency of direction change.

[0126] In terms of operator identity authentication, as a preferred implementation option, preferably, this solution responds to the operator's identity authentication request and performs identity authentication on the operator, and the authentication content includes at least one of the following:

[0127] (1) The operator’s ID;

[0128] (2) Liveness verification of the operator’s face;

[0129] After the authentication result meets the preset requirements, the identity information corresponding to the identity authentication request is retrieved from the operation information database, and then the crane control authorization information is generated based on the operation authority of the identity information, so that the crane can be powered on and enter the working standby state.

[0130] This solution uses identity ID and liveness verification to ensure that the operator's identity information can be reliably verified before the crane is controlled, preventing operations by people without operating authority and improving the reliability and safety of the crane's operation.

[0131] In order to timely and flexibly evaluate the proficiency of operators and timely adjust the flexibility and space of their operations, as a better implementation option, preferably, this solution also includes:

[0132] According to the operator's instruction records and the operation information of the characteristic components of the crane, the operator's operating authority is adjusted, which includes:

[0133] A01. Extract the operator's instruction records and the operation information of the characteristic components based on the preset time interval, and match the instruction records and the operation information one by one in time series;

[0134] A02. Compare the operation information of the characteristic component at different time points or time periods with the corresponding preset thresholds, and then count the number of abnormalities exceeding the preset thresholds to generate abnormal statistical information; wherein the operation information includes one or more of the speed v, acceleration a, amplitude θ, load weight F and / or direction change frequency p; the abnormal statistical information includes the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities; mild abnormalities are within 10% of the threshold, moderate abnormalities are within 10% of the threshold and within 20% of the threshold, and severe abnormalities are 20% of the threshold;

[0135] A03. Construct an operation proficiency scoring model, which is defined as follows:

[0136] S=100-(w1·N1+w2·N2+w3·N3)

[0137] Among them, S is the operation proficiency score. The larger its value, the lower the operation risk, and the smaller its value, the higher the operation risk; N1, N2, and N3 are the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities respectively; w1, w2, and w3 are the calculation weight coefficients of mild abnormalities, moderate abnormalities, and severe abnormalities respectively;

[0138] A04. According to the operation proficiency score, the operation risk of the operator is graded as follows:

[0139] Grade A: 90≤S≤100

[0140] Grade B: 75≤S<90

[0141] C grade: 60≤S<75

[0142] D-level: S<60

[0143] According to the classification results of operational risks, the operating rights of operators are adjusted, which are defined as follows:

[0144] A-level: v max =v dafault , a max =a dafault ,θ max =θ dafault ;

[0145] B-level: vmax =0.8×v dafault , a max =0.8×a dafault ,θ max =0.8×θ dafault ;

[0146] C-level: v max =0.6×v dafault , a max =0.6×a dafault ,θ max =0.6×θ dafault ;

[0147] D level: Suspend operation authority;

[0148] Among them, v max is the maximum working speed of the characteristic component per unit time, a max is the maximum working acceleration of the characteristic component per unit time, θ max is the maximum working swing amplitude of the characteristic component per unit time, v dafault 、a dafault ,θ dafault They are respectively the preset working speed, working acceleration and working swing amplitude per unit time.

[0149] Through the above method, operators can be assigned different operating permissions according to their proficiency when operating different equipment, providing safer operating restrictions for those who are operating the crane for the first time or have only operated the crane a few times. For experienced operators, they can obtain more flexible permissions in a timely manner. Among them, for those who operate the crane for the first time, initial permissions can be set for them; and then adjustments can be made according to the above plan.

[0150] In the judgment of abnormal working data, as a better implementation option, preferably, this solution obtains working parameter records, noise data and / or vibration data, and judges abnormal data according to preset conditions, and generates judgment results including:

[0151] B01. Obtain the working parameter record, determine whether the control parameters in the working parameter record are abnormal, and then extract the time interval when the control parameters are normal, which is defined as the target time period;

[0152] B02. According to the target time period, extract the data that coincides with the timeline of the target time period from the noise data and vibration data, and then separately determine whether the noise and vibration exceed the preset threshold. If they exceed, it is defined as abnormal. Then further determine the time period when both the noise and vibration point to abnormality, which is defined as the characteristic time period;

[0153] B03. Extract data segments from the vibration data according to the characteristic time period, and then record them as time series as x(t), and then use the sampling frequency f s It is discretized to obtain a discrete signal, which is defined as follows:

[0154] x[n]=x[nT],

[0155] Where n is the sampling point index and T is the sampling interval;

[0156] Use a low-pass filter to remove high-frequency noise in the vibration data. The filter function is:

[0157]

[0158] Among them, f c is the filter cutoff frequency, H(f) is the filter transfer function in the frequency domain;

[0159] After the vibration signal is filtered, the preprocessed signal is obtained, which is defined as follows:

[0160] X filtered (f) = X(f)·H(f)

[0161] Through inverse Fourier transform, we get the filtered time domain signal x filtered (t), which is defined as follows:

[0162]

[0163] The envelope signal is extracted using the Hilbert transform, which is defined as follows:

[0164]

[0165] in, is the Hilbert transform operator;

[0166] The time domain signal x extracted from the Hilbert transform env (t) to extract the following time domain features:

[0167] (1) Mean μ x , which is defined as follows:

[0168]

[0169] (2) Root mean square value RMS, which is defined as follows:

[0170]

[0171] (3) Peak value x peak , which is defined as follows:

[0172] x peak =max{|x env [n]|}

[0173] Among them, x env [n] is the discrete value of the vibration signal extracted by Hilbert transform, and N is the total number of sampling points;

[0174] The spectrum is obtained by fast Fourier transform FFT, which is defined as follows:

[0175]

[0176] Where x[n] is the discrete value of the vibration signal, and N is the total number of sampling points;

[0177] The following features are extracted from the spectrum:

[0178] Main frequency, corresponding to the frequency of maximum amplitude f eak ;

[0179] Total frequency energy e:

[0180]

[0181] Short-time Fourier transform (STFT) is used to analyze the frequency variation of the signal over time, which is defined as follows:

[0182]

[0183] Among them, w(τ) is the window function, and X(t, f) is the time domain distribution of the signal;

[0184] The extracted features are subjected to multimodal fusion to obtain a multimodal feature vector F, which is defined as follows:

[0185] F=[μ x ,RMS,x peak , f peak , E]

[0186] The multimodal feature vector F is compared with the preset baseline feature vector F baseline After comparison, the normalized distance of multiple features is calculated using the following formula, which is defined as follows:

[0187]

[0188] Among them, F i is the i-th component of the current feature of the multimodal feature vector; F i,baseline is the i-th component of the baseline characteristic, σ i,baseline is the standard deviation of the ith component of the baseline characteristic;

[0189] The normalized distance D is judged, and when it exceeds the set threshold D 阈值 It is determined that there is an abnormality in the characteristic component and a judgment result is generated.

[0190] Through the above method, the vibration feedback caused by abnormal characteristic components during the operation of the crane can be reviewed and traced in a timely manner; at the same time, it can also avoid false feedback caused by occasional abnormal noises, and provide back-end management personnel with more reliable and accurate result references.

[0191] For cranes suspected of abnormalities, in order to avoid or reduce the possibility of the abnormality expanding or other abnormal problems occurring, as a better implementation option, preferably, this scheme obtains the judgment result and adjusts the working parameter threshold of the characteristic component of the crane according to preset conditions, including: obtaining the judgment result, when it points to the existence of an abnormality in the characteristic component, lowering the upper limit of the control parameter of the characteristic component.

[0192] In terms of personnel restrictions, the judgment results are obtained, and the abnormal status of the operator is identified according to preset conditions. The operator status information is generated, including: extracting the image data of the control room where the operator is located, inputting it into the trained detection neural network to determine whether the operator's current status is abnormal, and generating the operator status information.

[0193] Through the above method, the crane can make a timely assessment of the operator's status when an abnormality occurs, to avoid the crane accidentally causing a larger abnormality due to the operator's sudden illness or abnormal condition.

[0194] Based on the above, this solution also proposes a crane work early warning method, which is applied with the crane work management method described above; in addition to the above-mentioned contents, the crane work early warning method also includes:

[0195] The operator status information is obtained, and when it indicates that the operator is in an abnormal state, an early warning instruction is generated and output.

[0196] Combination Figure 3 As shown, based on the above, this solution also proposes a crane work management system, which includes:

[0197] The equipment server is used to record the basic information and operation information of the characteristic components on the crane, build a component information database, and store the basic information and operation information of the characteristic components therein; it is also used to collect the identity information of the operator and the instruction records of the control operation of the crane, build an operation information database, and store the identity information of the operator and the corresponding instruction records therein;

[0198] The identity authentication unit is used to respond to the identity authentication request of the operator, perform identity authentication on the operator, generate an authentication result, and after the authentication result meets the preset requirements, generate crane control authorization information to enable the crane to be powered on and enter a working standby state;

[0199] The working monitoring unit is used to respond to the start signal of the crane, record the control parameters of the characteristic components in real time according to the time series, and generate the working parameter record; it is also used to respond to the start signal of the crane, record the operator's instructions for controlling the crane in real time according to the time series, and generate the instruction record;

[0200] The sound sensor and the vibration sensor are deployed in the working influence area of ​​the characteristic component, and are used to monitor the external feedback of the characteristic component when it is working, and generate noise data and vibration data respectively;

[0201] A data judgment unit, used to obtain working parameter records, noise data and / or vibration data, perform abnormal data judgment on them according to preset conditions, and generate a judgment result;

[0202] A control intervention unit is used to obtain the judgment result, adjust the working parameter threshold of the characteristic components of the crane according to the preset conditions and / or identify the abnormal state of the operator, and generate the operator status information; and to obtain the operator status information, and when the operator status information indicates that the operator is abnormal, adjust the control authorization information of the crane to limit the operation instructions of the operator;

[0203] The data update unit is used to respond to the power-off signal of the crane, collect the working parameter records, noise data and vibration data recorded during the working process into the component information database, and update the basic information and operation information of the characteristic components; and respond to the power-off signal of the crane, collect the identity information of the operator and the command records of the operator's control operation on the crane into the operation information database, and incrementally update the operation records under the corresponding identity information.

[0204] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0205] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0206] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A crane work management method, characterized in that: It includes: Record the basic information and operation information of the characteristic components on the crane, build a component information database, and store the basic information and operation information of the characteristic components in it; Respond to the operator's identity authentication request, perform identity authentication, generate authentication results, and after the authentication results meet the preset requirements, generate crane control authorization information, so that the crane can be powered on and enter the working standby state; In response to the start signal of the crane, the control parameters of the characteristic components are recorded in real time in time series to generate working parameter records. At the same time, sound sensors and vibration sensors are deployed in the working influence area of ​​the characteristic components to monitor the external feedback of the characteristic components during operation and generate noise data and vibration data respectively; Obtaining working parameter records, noise data and / or vibration data, conducting abnormal data judgment according to preset conditions, and generating judgment results; Obtain the judgment result, adjust the working parameter threshold of the characteristic components of the crane according to the preset conditions and / or identify the abnormal state of the operator, and generate the operator status information; The operator status information is obtained. When the operator status information indicates that the operator is abnormal, the control authorization information of the crane is adjusted to restrict the operator's operating instructions.

2. The crane work management method according to claim 1, characterized in that: It also includes: In response to the power-off shutdown signal of the crane, the working parameter records, noise data and vibration data recorded during its operation are collected into the component information database, and the basic information and operation information of the characteristic components are updated.

3. The crane operation management method according to claim 2, characterized in that: It also includes: Collect the identity information of the operator and the instruction records of the crane control operation, build an operation information database, and store the identity information of the operator and the corresponding instruction records in it; In response to the start signal of the crane, the operator's instructions for controlling the crane are recorded in real time in a time series to generate instruction records; In response to the power-off shutdown signal of the crane, the operator's identity information and the command records of the operator's control operations on the crane are collected into the operation information database, and the operation records under the corresponding identity information are incrementally updated.

4. The crane operation management method according to claim 3, characterized in that: The crane is a tower crane, and the characteristic components are a lifting mechanism, a slewing mechanism and / or a luffing mechanism of the tower crane; The basic information of the characteristic components includes the loading time, model, maintenance record and cumulative usage time of the driving source of the lifting mechanism, the slewing mechanism and / or the luffing mechanism; the driving source is a driving motor and / or a cylinder; The control parameters include: one or more of the speed, acceleration, amplitude, load weight, and direction change frequency when the characteristic component is in motion; When generating crane control authorization information, operators with different identity authentications have different operating permissions; The operation information of the characteristic component includes: one or more of the following: (1) The accumulated abnormal data of the characteristic component during its operation after loading, wherein the accumulated abnormal data includes the accumulated number of noise abnormalities, the accumulated number of vibration abnormalities, and the accumulated number of faults and the corresponding fault types; (2) noise data and / or vibration data of the characteristic component within a preset time period; (3) One or more of the following when the characteristic component is in motion at different time points or time periods within a preset time period: speed, acceleration, amplitude, load weight, or frequency of direction change.

5. The crane operation management method according to claim 4, characterized in that: When responding to an operator's identity authentication request and authenticating the operator's identity, the authentication content includes at least one of the following: (1) The operator’s ID; (2) Liveness verification of the operator’s face; After the authentication result meets the preset requirements, the identity information corresponding to the identity authentication request is retrieved from the operation information database, and then the crane control authorization information is generated based on the operation authority of the identity information, so that the crane can be powered on and enter the working standby state.

6. The crane operation management method according to claim 5, characterized in that: It also includes: According to the operator's instruction records and the operation information of the characteristic components of the crane, the operator's operating authority is adjusted, which includes: A01. Extract the operator's instruction records and the operation information of the characteristic components based on the preset time interval, and match the instruction records and the operation information one by one in time series; A02. Compare the operation information of the characteristic component at different time points or time periods with the corresponding preset thresholds, and then count the number of abnormalities exceeding the preset thresholds to generate abnormal statistical information; wherein the operation information includes one or more of the speed v, acceleration a, amplitude θ, load weight F and / or direction change frequency p; the abnormal statistical information includes the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities; mild abnormalities are within 10% of the threshold, moderate abnormalities are within 10% of the threshold and within 20% of the threshold, and severe abnormalities are 20% of the threshold; A03. Construct an operation proficiency scoring model, which is defined as follows: S=100-(w1·N1+w2·N2+w3·N3) Among them, S is the operation proficiency score. The larger its value, the lower the operation risk, and the smaller its value, the higher the operation risk; N1, N2, and N3 are the number of mild abnormalities, the number of moderate abnormalities, and the number of severe abnormalities respectively; w1, w2, and w3 are the calculation weight coefficients of mild abnormalities, moderate abnormalities, and severe abnormalities respectively; A04. According to the operation proficiency score, the operation risk of the operator is graded as follows: Grade A: 90≤S≤100 Grade B: 75≤S<90 C grade: 60≤S<75 D-level: S<60 According to the classification results of operational risks, the operating rights of operators are adjusted, which are defined as follows: A class: v max =v dafault ,a max =a dafault ,the max =θ dafault ; B class: v max =0.8×v dafault ,a max =0.8×a dafault ,the max =0.8×θ dafault ; C-level: v max =0.6×v dafault , a max =0.6×a dafault ,θ max =0.6×θ dafault ; D level: Suspend operation authority; Among them, v max is the maximum working speed of the characteristic component per unit time, a max is the maximum working acceleration of the characteristic component per unit time, θ max is the maximum working swing amplitude of the characteristic component per unit time, v dafault 、a dafault ,θ dafault They are respectively the preset working speed, working acceleration and working swing amplitude per unit time.

7. The crane operation management method according to claim 4, characterized in that: Obtain working parameter records, noise data and / or vibration data, conduct abnormal data judgment according to preset conditions, and generate judgment results including: B01. Obtain the working parameter record, determine whether the control parameters in the working parameter record are abnormal, and then extract the time interval when the control parameters are normal, which is defined as the target time period; B02. According to the target time period, extract the data that coincides with the timeline of the target time period from the noise data and vibration data, and then separately determine whether the noise and vibration exceed the preset threshold. If they exceed, it is defined as abnormal. Then further determine the time period when both the noise and vibration point to abnormality, which is defined as the characteristic time period; B03. Extract data segments from the vibration data according to the characteristic time period, and then record them as time series as x(t), and then use the sampling frequency f s It is discretized to obtain a discrete signal, which is defined as follows: Where n is the sampling point index and T is the sampling interval; Use a low-pass filter to remove high-frequency noise in the vibration data. The filter function is: Among them, f c is the filter cutoff frequency, H(f) is the filter transfer function in the frequency domain; After the vibration signal is filtered, the preprocessed signal is obtained, which is defined as follows: X filtered (f)=X(f)·H(f) Through inverse Fourier transform, we get the filtered time domain signal x filtered (t), which is defined as follows: The envelope signal is extracted using the Hilbert transform, which is defined as follows: in, is the Hilbert transform operator; The time domain signal x extracted from the Hilbert transform env (t) extracts the following time domain features: (1) Mean μ x , which is defined as follows: (2) Root mean square value RMS, which is defined as follows: (3) Peak value x peak , which is defined as follows: x peak =max{|x env [n]|} Among them, x nev [n] is the discrete value of the vibration signal extracted by Hilbert transform, and N is the total number of sampling points; The spectrum is obtained by fast Fourier transform FFT, which is defined as follows: Where x[n] is the discrete value of the vibration signal, and N is the total number of sampling points; The following features are extracted from the spectrum: Main frequency, corresponding to the frequency of maximum amplitude f peak ; Total frequency energy E: Short-time Fourier transform (STFT) is used to analyze the frequency variation of the signal over time, which is defined as follows: Among them, w(τ) is the window function, and X(t, f) is the time domain distribution of the signal; The extracted features are subjected to multimodal fusion to obtain a multimodal feature vector F, which is defined as follows: F=[μ x ,RMS,x peak ,f peak ,E] The multimodal feature vector F is compared with the preset baseline feature vector F baseline After comparison, the normalized distance of multiple features is calculated using the following formula, which is defined as follows: Among them, F i is the i-th component of the current feature of the multimodal feature vector; F i,baseline is the i-th component of the baseline characteristic, σ i,baseline is the standard deviation of the ith component of the baseline characteristic; The normalized distance D is judged, and when it exceeds the set threshold D 阈值 It is determined that there is an abnormality in the characteristic component and a judgment result is generated.

8. The crane operation management method according to claim 1, characterized in that: Obtaining the judgment result and adjusting the threshold of the working parameter of the characteristic component of the crane according to the preset conditions includes: obtaining the judgment result, and when it points to the abnormality of the characteristic component, lowering the upper limit of the control parameter of the characteristic component; Obtaining the judgment result, identifying the abnormal state of the operator according to the preset conditions, and generating the operator status information includes: extracting the image data of the control room where the operator is located, inputting it into the trained detection neural network to determine whether the current state of the operator is abnormal, and generating the operator status information.

9. A crane operation early warning method, characterized in that: The crane work management method according to any one of claims 1 to 8 is applied, and further comprises: The operator status information is obtained, and when it indicates that the operator is in an abnormal state, an early warning instruction is generated and output.

10. A crane work management system, characterized in that: It includes: The equipment server is used to record the basic information and operation information of the characteristic components on the crane, build a component information database, and store the basic information and operation information of the characteristic components in the database; It is also used to collect the identity information of operators and their instruction records for controlling the crane, build an operation information database, and store the identity information of operators and their corresponding instruction records; The identity authentication unit is used to respond to the identity authentication request of the operator, perform identity authentication on the operator, generate an authentication result, and after the authentication result meets the preset requirements, generate crane control authorization information to enable the crane to be powered on and enter a working standby state; The working monitoring unit is used to respond to the start signal of the crane, record the control parameters of the characteristic components in real time according to the time series, and generate the working parameter record; it is also used to respond to the start signal of the crane, record the operator's instructions for controlling the crane in real time according to the time series, and generate the instruction record; The sound sensor and the vibration sensor are deployed in the working influence area of ​​the characteristic component, and are used to monitor the external feedback of the characteristic component when it is working, and generate noise data and vibration data respectively; A data judgment unit, used to obtain working parameter records, noise data and / or vibration data, perform abnormal data judgment on them according to preset conditions, and generate a judgment result; A control intervention unit is used to obtain the judgment result, adjust the working parameter threshold of the characteristic components of the crane according to the preset conditions and / or identify the abnormal state of the operator, and generate the operator status information; and to obtain the operator status information, and when the operator status information indicates that the operator is abnormal, adjust the control authorization information of the crane to limit the operation instructions of the operator; The data updating unit is used to respond to the power-off shutdown signal of the crane, collect the working parameter records, noise data and vibration data recorded during the working process into the component information database, and update the basic information and operation information of the characteristic components; And in response to the power-off shutdown signal of the crane, the identity information of the operator and the instruction records of the operator's control operation on the crane are collected into the operation information database, and the operation records under the corresponding identity information are incrementally updated.

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