Crane operation risk detection system and method based on virtual electronic fence

Abstract

The invention discloses a crane operation risk detection system and method based on a virtual electronic fence, and belongs to the technical field of hoisting operation, and the system comprises an information acquisition module which is used for acquiring data information of a preset crane and data information of an electronic fence of an operation site, the data acquisition module is used for acquiring object data information in the electronic fence and generating a data set based on the acquired data information; the data calculation module is used for calculating the movement amplitude of the lifting arm of the crane in the lifting process on the basis of the preset lifting height required by the crane and / or the rotation angle of the lifting arm; by collecting the movement data of the suspension arm in the preset crane operation process, collecting the enclosure area of the electronic fence and presetting the coordinates of the crane in the electronic fence, the safety state of the crane in the operation process can be calculated, and whether the suspension arm of the crane exceeds the safety enclosure range or not in the movement process is predicted; therefore, the hoisting operation in the electronic fence is ensured to be in a safe and controllable state.

Description

Technical Field

[0001] The present invention relates to the technical field of hoisting operations, and in particular to a crane operation risk detection system and method based on a virtual electronic fence. Background Art

[0002] Crane hoisting operation is an indispensable and important part of all kinds of engineering construction, but it is also a high-risk operation project. The risks mainly include three major danger sources: mechanical failure, complex environment and low safety awareness of personnel. In real life, there are many large-scale workplaces, so the safety of operators is the key protection object. With the development of technology, electronic fences are usually installed at crane operation sites to assist in operation safety. Among them, the technical application number CN202211162521.8 provides a crane monitoring method and system based on simulation. This technical application monitors and simulates the working status of the crane by three-dimensional modeling of the crane and obtaining the real-time working data of the crane, monitors the safety of the crane operation, and ensures the personal safety and equipment safety on site; another technical application number CN202211311704.1 provides a crane operation monitoring system based on a virtual electronic fence. This technical application receives the positioning information of the Beidou satellite by setting up a fixed station, and after forming the positioning correction information, the positioning information of the position to which the hook moves under the operating conditions is corrected on the mobile station, so that the console can determine the real-time movement information of the hook according to the corrected position information of the hook to construct the moving trajectory of the hook, and then further perform an out-of-limit judgment on the virtual electronic fence to achieve warning or alarm. However, cranes are usually huge in size, and the enclosed area of ​​the electronic fence is usually fixed, while the crane itself is not stationary. Within the electronic fence, the above technical applications all ignore the risk of obstacles within the electronic fence colliding with the crane arm during its movement, and the above technical solutions are unable to calculate and predict the movement and rotation amplitude of the crane arm and the safe distance from the electronic fence boundary, resulting in missing calculations of the movement data of the huge crane arm, which in turn creates loopholes in the prediction of the crane's operating safety, and accidents are prone to occur in extreme cases. Summary of the invention

[0003] In view of the problems existing in the technical field of the above-mentioned existing hoisting operation, the present invention is proposed.

[0004] Therefore, one of the objects of the present invention is to provide a crane operation risk detection system and method based on a virtual electronic fence, which can calculate the safety status of the crane operation process by collecting the movement data of the boom during the preset crane operation process, and by collecting the enclosing area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence, and predict whether the crane boom will exceed the safety enclosure range during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the boom during the movement process, it can predict whether it will collide with obstacles within the electronic fence during the continuous movement process, so as to ensure that the lifting operation within the electronic fence is in a safe and controllable state.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] On the one hand, the present invention provides a crane operation risk detection system based on a virtual electronic fence, comprising:

[0007] An information acquisition module, used to acquire data information of a preset crane, and data information of an electronic fence at a work site, and also used to acquire data information of objects within the electronic fence, and generate a data set based on the acquired data information;

[0008] A data calculation module, which calculates the movement range of the crane boom during the lifting process based on the required lifting height of the preset crane and / or the rotation angle of the boom, and calculates the distance between the boom and the electronic fence according to the maximum movement range data obtained by calculation;

[0009] A fusion analysis system, wherein the fusion analysis system responds to the boom movement amplitude data calculated and acquired by the data calculation module, and is used to analyze the variation characteristics of the boom movement amplitude, and the fusion analysis system comprises a distinguishing unit, a data presetting unit, a judging unit, and a data capturing and analyzing unit;

[0010] The classification unit is used to divide the movement range of the boom into initial movement, middle movement and final movement, and calculate the difference between the movement range change data of the boom in different movement stages and the maximum lifting height and / or the maximum rotation angle of the boom based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object;

[0011] The data preset unit presets the initial movement limit value, the middle movement limit value and the final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and presets the safety threshold value based on the three limit values;

[0012] The judging unit responds to the difference between the movement amplitude change data of the boom at different movement stages calculated and obtained by the distinguishing unit and the maximum hoisting height and / or the maximum rotation angle of the boom, and is used to judge whether the difference exceeds the safety threshold;

[0013] The data capture and analysis unit is used to statically capture the movement trajectory and / or movement speed of the boom during the initial movement, the middle movement and / or the final movement, and divide the static capture data into ▽1, ▽2, ..., ▽ n , where n represents the static grasping data at the nth grasping time point, and analyzes the law of the change of different static grasping data in the same moving stage with the change of grasping time point;

[0014] The remote monitoring terminal is used to record the communication party that matches the preset crane, receive the field data uploaded by the operation construction site, and update the background data at the same time; when the difference determined by the judgment unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to the communication party that matches the preset crane.

[0015] As a preferred solution of the present invention, wherein: in the information acquisition module, the data information of the electronic fence includes boundary setting information, trigger event information, device status information and maintenance record information; wherein the boundary setting information includes the location, length and width parameters of the electronic fence;

[0016] The trigger event information includes the time and location information recorded by the system when a person or object touches the electronic fence;

[0017] The device status information includes the power status and signal strength data of the electronic fence;

[0018] The maintenance record information includes the installation, maintenance and update information of the electronic fence;

[0019] The data information of the crane includes the crane's deadweight, arm length and maximum working radius;

[0020] The object data information includes people moving within the electronic fence, fixed objects and / or obstacles.

[0021] As a preferred solution of the present invention, the enclosed area of ​​the electronic fence is obtained, and based on the enclosed area, the coordinates of the preset crane in the enclosed area are obtained, and the distance of the coordinates from the electronic fence is calculated, and the coordinates of each obstacle in the electronic fence are obtained. When the boom of the preset crane is raised and / or rotated for lifting, the distance between the top of the boom and each obstacle is calculated according to the following formula:

[0022] m t =β*m t +(β×g t ), where m t represents the coordinate data collected for the obstacle in the electronic fence at the tth moment;

[0023] Where, β represents the moving distance of the preset crane arm, and the acquisition time of the moving distance is consistent with the time of collecting the coordinate data of the target obstacle, g t It represents the predicted position to which the boom can move at the tth moment.

[0024] As a preferred solution of the present invention, the distance change between the top of the boom and the crane when the boom rotates is collected during the initial movement, the middle movement and the final movement of the boom, and a distance change function matrix is ​​generated, as shown below:

[0025]

[0026] Wherein, R represents the coordinates of the preset crane within the electronic fence, x represents the preset crane arm left rotation function data, θ represents the preset crane arm right rotation function data, cos represents the cosine function of the angle between the crane arm and the R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the R coordinate when the crane arm rotates right; and based on the crane coordinates within the electronic fence, when the arm rotates left / right, the maximum angle value between its top and the crane in the initial movement, middle movement and final movement is preset, and a risk threshold is preset based on the maximum angle value. When the crane is in operation, when the arm rotates left / right in each movement stage, if the maximum angle value between its top and the crane exceeds the risk threshold, the system will issue an early warning and determine that the rotation amplitude of the arm is in a dangerous state, otherwise, it will not be determined.

[0027] As a preferred solution of the present invention, the distance change between the top of the boom and the crane when the boom is lifted is collected during the initial, middle and final movements of the boom, and a distance change function matrix is ​​generated, as shown below:

[0028]

[0029] Wherein, R represents the coordinates of the preset crane within the electronic fence, z represents the geodetic plane coordinates, x represents the sinusoidal function change of the coordinates of the boom when it is raised to the left, y represents the sinusoidal function change of the coordinates of the boom when it is raised to the right, p represents the total length of the boom, and based on the coordinates of the crane within the electronic fence, the maximum coordinate distance value between the top of the boom and the crane in the initial movement, the middle movement and the final movement when the boom is raised and rotated to the left / right is preset, and a critical threshold is preset based on the maximum coordinate distance value. When the crane is in operation, when the boom is raised to the left / right in each movement stage, if the maximum coordinate distance value between the top of the boom and the crane exceeds the critical threshold, the system will issue an early warning and determine that the boom raising amplitude is in a dangerous state, otherwise, it will not be determined.

[0030] As a preferred solution of the present invention, wherein: within the electronic fence, the safety distance between the preset crane and the electronic fence is divided based on the coordinates of the preset crane, and the division method includes dividing it into low safety distance, medium safety distance and high safety distance, and monitoring the angle and / or direction of the lifting and / or rotation of the boom of the preset crane. When the lifting and / or rotation angle and / or direction of the boom is toward the side of the low safety distance, the system issues an early warning and determines that the operation process is in a dangerous state. Otherwise, it will not be determined.

[0031] As a preferred solution of the present invention, in which: in the medium safety distance, based on the total length of the preset crane boom, the safety distance between the boom and the electronic fence during the lifting and / or rotation process is calculated, and based on the monitored lifting and / or rotation speed of the boom, a median is given in the safety distance, and a risk threshold is preset based on the median. When the safety distance between the boom and the electronic fence during the lifting and / or rotation process exceeds the risk threshold, the system issues an early warning and determines that the operation process is in a dangerous state. Otherwise, no determination is made.

[0032] As a preferred solution of the present invention, in the medium safety distance, when calculating the safety distance between the boom and the electronic fence during the lifting and / or rotation process, the calculated safety distance data is divided into several evaluation indicators, and the data is normalized to calculate the weight of each evaluation indicator in the final excess of the risk threshold.

[0033] On the other hand, the present invention provides a crane operation risk detection method based on a virtual electronic fence, which is applied to a crane operation risk detection system based on a virtual electronic fence as claimed in claim 1, comprising the following steps:

[0034] Acquiring data information of a preset crane and data information of an electronic fence at a work site, and also acquiring data information of objects within the electronic fence, and generating a data set based on the acquired data information;

[0035] Based on the preset crane required hoisting height and / or the rotation angle of the boom, the movement range of the crane boom during the hoisting process is calculated, and according to the maximum movement range data obtained by calculation, the distance between the boom and the electronic fence is calculated;

[0036] Analyze the variation characteristics of the boom movement range, divide the boom movement range into initial movement, middle movement and final movement, and calculate the difference between the boom movement range variation data at different movement stages and the maximum lifting height and / or the maximum rotation angle of the boom based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting objects;

[0037] Presetting the initial movement limit value, the middle movement limit value and the final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and respectively presetting the safety thresholds based on the three limit values;

[0038] It is determined whether the difference exceeds the safety threshold. When the difference determined by the determination unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to a communication party matching the preset crane.

[0039] Beneficial effects:

[0040] The present invention collects the movement data of the boom during the preset crane operation process, and collects the enclosure area of ​​the electronic fence and the coordinates of the preset crane in the electronic fence, so as to calculate the safety status of the crane during the operation process, and predict whether the boom of the crane will exceed the safety enclosure during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the boom during the movement process, it can be predicted whether it will collide with obstacles in the electronic fence during the continuous movement process, and by calculating the maximum coordinate distance value and the maximum angle value between the top of the boom and the crane during the lifting and / or rotation of the boom, it can be determined whether the movement range of the boom is in a safe state and timely warning can be issued to ensure that the hoisting operation in the electronic fence is in a safe and controllable state. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative labor. Among them:

[0042] Figure 1 It is a schematic diagram of the modular structure of a crane operation risk detection system based on a virtual electronic fence in an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a method flow chart of an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the process structure of an embodiment of the present invention;

[0045] Numbers in the figure: 110 - information acquisition module; 120 - data calculation module; 130 - fusion analysis system; 1301 - distinction unit; 1302 - data preset unit; 1303 - judgment unit; 1304 - data capture and analysis unit; 140 - remote monitoring terminal. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0047] Because the existing technology ignores the possible security threats caused by the movement of people within the electronic fence, and the existing technology has difficulty in calculating and predicting the movement and rotation range of the crane boom and the safe distance from the electronic fence boundary, the calculation of the movement data of the huge boom is missing, which in turn creates loopholes in the prediction of the crane's operation safety, and accidents are prone to occur in extreme cases.

[0048] Based on this, the present invention proposes a crane operation risk detection system and method based on a virtual electronic fence, which can calculate the safety status of the crane operation process by collecting the movement data of the boom during the preset crane operation process, as well as by collecting the enclosing area of ​​the electronic fence and the coordinates of the preset crane in the electronic fence, and predict whether the crane boom will exceed the safe enclosure range during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the boom during the movement process, it can predict whether it will collide with obstacles in the electronic fence during the continuous movement process, so as to ensure that the lifting operation within the electronic fence is in a safe and controllable state.

[0049] The present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0050] Reference Figures 1 to 3 , is an embodiment of the present invention, which provides a crane operation risk detection system based on a virtual electronic fence, including:

[0051] The information acquisition module 110 is used to acquire data information of a preset crane and data information of an electronic fence at a work site, and also includes a module for acquiring data information of objects within the electronic fence, and generating a data set based on the acquired data information;

[0052] It should be noted that the data information of the electronic fence includes boundary setting information, trigger event information, device status information and maintenance record information; wherein the boundary setting information includes the location, length and width parameters of the electronic fence, which are used to define the boundary of the electronic fence to ensure that it can effectively cover and protect a specific area;

[0053] Trigger event information includes the time and location information recorded by the system when a person or object touches the electronic fence;

[0054] This information is used to identify when and where a triggering event occurred, which is critical for security monitoring and incident response;

[0055] Device status information includes the power status and signal strength data of the electronic fence;

[0056] This information reflects the operating status of the equipment and serves as a reference for maintaining the normal operation of the equipment and promptly discovering potential problems;

[0057] Maintenance record information includes installation, repair and update information of electronic fences;

[0058] These records help track the maintenance history of the equipment, ensuring that the equipment is always in optimal working condition, while also providing a reference for future maintenance and upgrades;

[0059] The crane’s data information includes crane’s deadweight, arm length and maximum working radius;

[0060] Object data information includes people moving within the electronic fence, fixed objects and / or obstacles;

[0061] Specifically, this embodiment obtains the enclosure area of ​​the electronic fence, obtains the coordinates of the preset crane within the enclosure area based on the enclosure area, calculates the distance of the coordinates from the electronic fence, and also obtains the coordinates of each obstacle within the electronic fence. When the boom of the preset crane is lifted and / or rotated, the distance between the top of the boom and each obstacle is calculated, which is calculated according to the following formula:

[0062] m t =β*m t +(β×g t ), where m t represents the coordinate data collected for the obstacle in the electronic fence at the tth moment;

[0063] Where, β represents the moving distance of the preset crane arm, and the acquisition time of the moving distance is consistent with the time of collecting the coordinate data of the target obstacle, g t represents the predicted position to which the boom can move at the tth moment;

[0064] Furthermore, in this embodiment, the distance change between the top of the boom and the crane when the boom rotates and moves is collected during the initial movement, the middle movement, and the final movement of the boom, and a distance change function matrix is ​​generated, as shown below:

[0065]

[0066] Wherein, R represents the coordinates of the crane preset in the electronic fence, x represents the preset crane arm left rotation function data, θ represents the preset crane arm right rotation function data, cos represents the cosine function of the angle between the crane arm and the R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the R coordinate when the crane arm rotates right; and based on the crane coordinates in the electronic fence, the maximum angle value between the top of the crane and the crane in the initial movement, the middle movement and the final movement when the crane arm rotates left / right is preset, and the risk threshold is preset based on the maximum angle value. When the crane arm rotates left / right in each movement stage during the operation, when the maximum angle value between the top of the crane and the crane exceeds the risk threshold, the system issues an early warning and determines that the rotation amplitude of the crane arm is in a dangerous state, otherwise, it will not be determined;

[0067] It should be emphasized in this embodiment that the distance change between the top of the boom and the crane when the boom is raised is collected during the initial movement, middle movement and final movement of the boom, and a distance change function matrix is ​​generated, as shown below:

[0068]

[0069] Wherein, R represents the coordinates of the crane preset in the electronic fence, z represents the coordinates of the geodetic plane, x represents the sine function change of the coordinates when the boom is raised to the left, y represents the sine function change of the coordinates when the boom is raised to the right, p represents the total length of the boom, and based on the coordinates of the crane in the electronic fence, the maximum coordinate distance value between the top of the boom and the crane in the initial movement, the middle movement and the final movement when the boom is raised and rotated to the left / right is preset, and the critical threshold is preset based on the maximum coordinate distance value. When the crane is operating, when the boom is raised to the left / right in each movement stage, if the maximum coordinate distance value between the top of the boom and the crane exceeds the critical threshold, the system will issue an early warning and determine that the boom raising range is in a dangerous state, otherwise, it will not be determined;

[0070] The data calculation module 120 calculates the movement range of the crane boom during the lifting process based on the preset lifting height and / or the rotation angle of the boom required by the crane, and calculates the distance between the boom and the electronic fence based on the maximum movement range data obtained by calculation;

[0071] The fusion analysis system 130, the fusion analysis system responds to the boom movement amplitude data calculated by the data calculation module, and is used to analyze the change characteristics of the boom movement amplitude. The fusion analysis system 130 includes a distinguishing unit 1301, a data preset unit 1302, a judging unit 1303 and a data capture and analysis unit 1304;

[0072] The distinguishing unit 1301 is used to divide the movement range of the boom into initial movement, middle movement and final movement, and calculate the difference between the movement range change data of the boom in different movement stages and the maximum lifting height and / or the maximum rotation angle of the boom based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting an object;

[0073] The data preset unit 1302 presets the initial movement limit value, the middle movement limit value and the final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and presets the safety threshold value based on the three limit values;

[0074] The judging unit 1303 responds to the difference between the movement amplitude change data of the boom at different movement stages calculated and obtained by the distinguishing unit 1301 and the maximum hoisting height and / or the maximum rotation angle of the boom, and is used to judge whether the difference exceeds a safety threshold;

[0075] The data capture and analysis unit 1304 is used to statically capture the movement trajectory and / or movement speed of the boom during the initial movement, the middle movement and / or the final movement, and divide the static capture data into ▽1, ▽2, ..., ▽ n , where n represents the n The static crawling data of the crawling time points are analyzed to analyze the changes of different static crawling data in the same moving stage with the changes of crawling time points;

[0076] It should be noted that in this embodiment, within the electronic fence, the safety distance between the crane and the electronic fence is divided based on the coordinates of the preset crane, and the division method includes dividing according to low safety distance, medium safety distance and high safety distance, and monitoring the angle and / or direction of the lifting and / or rotation of the preset crane arm. When the lifting and / or rotation angle and / or direction of the arm is toward the side of the low safety distance, the system issues an early warning and determines that the operation process is in a dangerous state, otherwise, it does not determine;

[0077] It should be noted that in this embodiment, in this case, the parking direction of the crane is adjusted to avoid possible safety accidents caused by the lifting and / or rotation of the boom;

[0078] This embodiment further calculates the safety distance between the boom and the electronic fence during the lifting and / or rotation process in the medium safety distance based on the total length of the preset crane boom obtained, and gives a median in the safety distance based on the monitored boom lifting and / or rotation speed, and presets a risk threshold based on the median. When the safety distance between the boom and the electronic fence during the lifting and / or rotation process exceeds the risk threshold, the system issues an early warning and determines that the operation process is in a dangerous state, otherwise, no determination is made;

[0079] Among them, in this embodiment, in the medium safety distance, when calculating the safety distance between the boom and the electronic fence during the lifting and / or rotation process, the calculated safety distance data is divided into several evaluation indicators, and the data is normalized to calculate the weight of each evaluation indicator in the final exceeding risk threshold;

[0080] The remote monitoring terminal 140 is used to record the communication party that matches the preset crane, receive the field data uploaded by the operation construction site, and update the background data at the same time; when the difference judged by the judgment unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to the communication party that matches the preset crane.

[0081] Based on the above, the present application can calculate the safety status of the crane during operation by collecting the movement data of the boom during the preset crane operation process, as well as by collecting the enclosing area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence. It can also predict whether the boom of the crane will exceed the safety enclosure during movement. At the same time, by calculating the changes in the coordinate trajectory of the boom during movement, it can be predicted whether it will collide with obstacles within the electronic fence during continuous movement, thereby ensuring that the lifting operation within the electronic fence is in a safe and controllable state.

[0082] This embodiment combines the above-mentioned crane operation risk detection system based on virtual electronic fence and also proposes a working method of the system, as follows:

[0083] S10: acquiring data information of a preset crane, and data information of an electronic fence at a work site, and also acquiring data information of an object within the electronic fence, and generating a data set based on the acquired data information;

[0084] S20: Calculate the movement range of the crane boom during the lifting process based on the preset lifting height and / or the rotation angle of the boom of the crane, and calculate the distance between the boom and the electronic fence according to the maximum movement range data obtained by calculation;

[0085] S30: analyzing the variation characteristics of the arm movement amplitude, dividing the arm movement amplitude into initial movement, middle movement and final movement, and calculating the difference between the arm movement amplitude variation data in different movement stages and the maximum lifting height and / or the maximum rotation angle of the arm based on the maximum lifting height and / or the maximum rotation angle of the arm required when lifting the object;

[0086] S40: Presetting an initial movement limit value, a middle movement limit value, and a final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and respectively presetting safety thresholds based on the three limit values;

[0087] S50: Determine whether the difference exceeds a safety threshold. When the difference determined by the determination unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to a communication party that matches the preset crane.

[0088] In summary, the present invention collects the movement data of the boom during the preset crane operation process, and collects the enclosing area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence, so as to calculate the safety status of the crane during the operation process, and predict whether the boom of the crane will exceed the safety enclosure during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the boom during the movement process, it can be predicted whether it will collide with obstacles in the electronic fence during the continuous movement process, and by calculating the maximum coordinate distance value and the maximum angle value between the top of the boom and the crane during the lifting and / or rotation of the boom, it can be determined whether the movement range of the boom is in a safe state and timely warning can be issued to ensure that the lifting operation within the electronic fence is in a safe and controllable state.

[0089] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A crane operation risk detection system based on virtual electronic fence, characterized in that: include: An information acquisition module, used to acquire data information of a preset crane, and data information of an electronic fence at a work site, and also used to acquire data information of objects within the electronic fence, and generate a data set based on the acquired data information; A data calculation module, which calculates the movement range of the crane boom during the lifting process based on the required lifting height of the preset crane and / or the rotation angle of the boom, and calculates the distance between the boom and the electronic fence according to the maximum movement range data obtained by calculation; A fusion analysis system, wherein the fusion analysis system responds to the boom movement amplitude data calculated and acquired by the data calculation module, and is used to analyze the variation characteristics of the boom movement amplitude, and the fusion analysis system comprises a distinguishing unit, a data presetting unit, a judging unit, and a data capturing and analyzing unit; The classification unit is used to divide the movement range of the boom into initial movement, middle movement and final movement, and calculate the difference between the movement range change data of the boom in different movement stages and the maximum lifting height and / or the maximum rotation angle of the boom based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object; The data preset unit presets the initial movement limit value, the middle movement limit value and the final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and presets the safety threshold value based on the three limit values; The judging unit responds to the difference between the movement amplitude change data of the boom at different movement stages calculated and obtained by the distinguishing unit and the maximum hoisting height and / or the maximum rotation angle of the boom, and is used to judge whether the difference exceeds the safety threshold; The data capture and analysis unit is used to statically capture the movement trajectory and / or movement speed of the boom during the initial movement, the middle movement and / or the final movement, and divide the static capture data into ▽1, ▽2, ..., ▽ n , where n represents the static grasping data at the nth grasping time point, and analyzes the law of the change of different static grasping data in the same moving stage with the change of grasping time point; The remote monitoring terminal is used to record the communication party that matches the preset crane, receive the field data uploaded by the operation construction site, and update the background data at the same time; when the difference determined by the judgment unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to the communication party that matches the preset crane.

2. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: In the information acquisition module, the data information of the electronic fence includes boundary setting information, trigger event information, device status information and maintenance record information; wherein the boundary setting information includes the location, length and width parameters of the electronic fence; The trigger event information includes the time and location information recorded by the system when a person or object touches the electronic fence; The device status information includes the power status and signal strength data of the electronic fence; The maintenance record information includes the installation, maintenance and update information of the electronic fence; The data information of the crane includes the crane's deadweight, arm length and maximum working radius; The object data information includes people moving within the electronic fence, fixed objects and / or obstacles.

3. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: The enclosed area of ​​the electronic fence is obtained, and based on the enclosed area, the coordinates of the preset crane in the enclosed area are obtained, and the distance between the coordinates and the electronic fence is calculated. The coordinates of each obstacle in the electronic fence are also obtained, and when the boom of the preset crane is raised and / or rotated for lifting, the distance between the top of the boom and each obstacle is calculated according to the following formula: m t =β*m t +(β×g t ), where m t represents the coordinate data collected for the obstacle in the electronic fence at the tth moment; Where, β represents the moving distance of the preset crane arm, and the acquisition time of the moving distance is consistent with the time of collecting the coordinate data of the target obstacle, g t It represents the predicted position to which the boom can move at the tth moment.

4. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: The distance change between the top of the boom and the crane when the boom rotates is collected during the initial, middle and final movements of the boom, and a distance change function matrix is ​​generated, as shown below: Wherein, R represents the coordinates of the preset crane within the electronic fence, x represents the preset crane arm left rotation function data, θ represents the preset crane arm right rotation function data, cos represents the cosine function of the angle between the crane arm and the R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the R coordinate when the crane arm rotates right; and based on the crane coordinates within the electronic fence, when the arm rotates left / right, the maximum angle value between its top and the crane in the initial movement, middle movement and final movement is preset, and a risk threshold is preset based on the maximum angle value. When the crane is in operation, when the arm rotates left / right in each movement stage, if the maximum angle value between its top and the crane exceeds the risk threshold, the system will issue an early warning and determine that the rotation amplitude of the arm is in a dangerous state, otherwise, it will not be determined.

5. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: The distance change between the top of the boom and the crane when the boom is lifted is collected during the initial, middle and final movements of the boom, and a distance change function matrix is ​​generated, as shown below: Wherein, R represents the coordinates of the preset crane within the electronic fence, z represents the geodetic plane coordinates, x represents the sinusoidal function change of the coordinates of the boom when it is raised to the left, y represents the sinusoidal function change of the coordinates of the boom when it is raised to the right, p represents the total length of the boom, and based on the coordinates of the crane within the electronic fence, the maximum coordinate distance value between the top of the boom and the crane in the initial movement, the middle movement and the final movement when the boom is raised and rotated to the left / right is preset, and a critical threshold is preset based on the maximum coordinate distance value. When the crane is in operation, when the boom is raised to the left / right in each movement stage, if the maximum coordinate distance value between the top of the boom and the crane exceeds the critical threshold, the system will issue an early warning and determine that the boom raising amplitude is in a dangerous state, otherwise, it will not be determined.

6. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: Within the electronic fence, a safety distance between the preset crane and the electronic fence is divided based on the coordinates of the preset crane, and the division method includes dividing it into a low safety distance, a medium safety distance and a high safety distance, and monitoring the angle and / or direction of the lifting and / or rotation of the boom of the preset crane. When the lifting and / or rotation angle and / or direction of the boom is toward the side of the low safety distance, the system issues an early warning and determines that the operation process is in a dangerous state. Otherwise, no determination is made.

7. A crane operation risk detection system based on virtual electronic fence as claimed in claim 6, characterized in that: In the medium safety distance, based on the total length of the preset crane boom, the safety distance between the boom and the electronic fence during the raising and / or rotation process is calculated, and based on the monitored lifting and / or rotation speed of the boom, a median is given in the safety distance, and a risk threshold is preset based on the median. When the safety distance between the boom and the electronic fence during the raising and / or rotation process exceeds the risk threshold, the system issues an early warning and determines that the operation process is in a dangerous state. Otherwise, no determination is made.

8. A crane operation risk detection system based on virtual electronic fence as claimed in claim 7, characterized in that: In the medium safety distance, when calculating the safety distance between the boom and the electronic fence during the lifting and / or rotation process, the calculated safety distance data is divided into several evaluation indicators, and the data is normalized to calculate the weight of each evaluation indicator in the final excess of the risk threshold.

9. A crane operation risk detection method based on virtual electronic fence, applied to a crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: The steps include: Acquiring data information of a preset crane and data information of an electronic fence at a work site, and also acquiring data information of objects within the electronic fence, and generating a data set based on the acquired data information; Based on the preset crane required hoisting height and / or the rotation angle of the boom, the movement range of the crane boom during the hoisting process is calculated, and according to the maximum movement range data obtained by calculation, the distance between the boom and the electronic fence is calculated; Analyze the variation characteristics of the boom movement range, divide the boom movement range into initial movement, middle movement and final movement, and calculate the difference between the boom movement range variation data at different movement stages and the maximum lifting height and / or the maximum rotation angle of the boom based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting objects; Presetting the initial movement limit value, the middle movement limit value and the final movement limit value based on the maximum lifting height and / or the maximum rotation angle of the boom required when lifting the object, and respectively presetting the safety thresholds based on the three limit values; It is determined whether the difference exceeds the safety threshold. When the difference determined by the determination unit exceeds the safety threshold, the system issues an early warning and initiates an information acquisition request for the preset crane to a communication party matching the preset crane.

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