A crane operation risk detection system and method based on virtual electronic fence

Abstract

The present invention discloses a crane operation risk detection system and method based on a virtual electronic fence, which belongs to the technical field of lifting operations. The system comprises an information acquisition module for acquiring data information of a preset crane and data information of an electronic fence at an operation site, and also comprises a module for acquiring data information of objects within the electronic fence and generating a data set based on the acquired data information; a data calculation module for calculating the movement amplitude 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; the present invention collects the movement data of the boom during the operation of the preset crane, as well as 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 during the operation of the crane, and predict whether the crane boom will exceed the safety enclosure range during the movement, so as to ensure that the lifting operation within the electronic fence is 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 lifting operation is an indispensable and important part of all kinds of engineering construction, but it is also a high-risk operation project. Its risks mainly include three major sources of danger: mechanical failure, complex environment and low safety awareness of personnel. In real life, due to the large number of large-scale workplaces, the safety of operators is the key protection target. 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 performing three-dimensional modeling of the crane and obtaining 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, forms the positioning correction information, and corrects the positioning information of the position to which the hook moves under the operating conditions on the mobile station, so that the console can determine the real-time movement information of the hook based on the corrected position information of the hook to construct the movement trajectory of the hook, and then further perform 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 moving rotation amplitude of the crane arm and the safe distance from the electronic fence boundary, resulting in the lack of calculation of the movement data of the huge crane arm, and thus creating loopholes in the prediction of the crane's operation safety, which is prone to accidents in extreme cases. Summary of the Invention

[0003] In view of the above problems existing in the technical field of existing lifting operations, 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 crane arm 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 arm will exceed the safety enclosure range during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the crane arm 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] In one aspect, the present invention provides a crane operation risk detection system based on a virtual electronic fence, comprising:

[0007] An information acquisition module is used to acquire data information of a preset crane and data information of an electronic fence at a work site, and is 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 for calculating the movement range of the crane boom during the lifting process based on the preset lifting height required by the crane and / or the rotation angle of the boom, and calculating the distance between the boom and the electronic fence based on the maximum movement range data obtained by the calculation;

[0009] A fusion analysis system, wherein the fusion analysis system responds to the boom movement amplitude data calculated and obtained by the data calculation module and is used to analyze the variation characteristics of the boom movement amplitude. The fusion analysis system includes a differentiation unit, a data preset unit, a judgment unit, and a data capture and analysis unit;

[0010] The classification unit is used to divide the movement range of the boom into an initial movement, a middle movement, and a 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;

[0011] The data presetting unit 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 presetting the safety threshold value based on the three limit values;

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

[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 the change pattern of different static grasping data in the same moving stage with the change of grasping time point is analyzed;

[0014] The remote monitoring terminal is used to record the communication party that matches the preset crane, receive on-site data uploaded by the 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, repair 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 embodiment of the present invention, the method further comprises: obtaining the enclosed area of ​​the electronic fence, obtaining the coordinates of the preset crane within the enclosed area based on the enclosed area, and calculating the distance between the coordinates and the electronic fence; obtaining the coordinates of each obstacle within the electronic fence; and calculating the distance between the top of the boom and each obstacle when the boom of the preset crane is raised and / or rotated for lifting, which 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 within the electronic fence at time t;

[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 during the initial, middle and final movement of the boom is collected to generate a distance change function matrix 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 crane R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the crane R coordinate when the crane arm rotates right; and based on the crane coordinates within the electronic fence, when the crane arm rotates left / right, the maximum angle value between its top end 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 crane arm rotates left / right in each movement stage, if the maximum angle value between its top end and the crane exceeds the risk threshold, the system will issue an early warning and determine that the crane arm rotation amplitude 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 during the initial, middle and final movement of the boom is collected to generate a distance change function matrix 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 when the boom is raised to the left, y represents the sinusoidal 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 within the electronic fence, the maximum coordinate distance value between the top end 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 end 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, no determination will be made.

[0030] As a preferred solution of the present invention, 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 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 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 obtained, the safety distance between the boom and the electronic fence during the lifting and / or rotation process is calculated, and based on the monitored boom lifting and / or rotation speed, 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 exceeding of the risk threshold.

[0033] In another aspect, 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 lifting height and / or the rotation angle of the boom, the movement range of the crane boom during the lifting process is calculated, and based on the maximum movement range data obtained by the calculation, the distance between the boom and the electronic fence is calculated;

[0036] Analyze the variation characteristics of the boom's movement amplitude, divide the boom's movement amplitude into initial movement, middle movement, and final movement, and calculate the difference between the boom's movement amplitude 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 to lift the object;

[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 an object, and presetting 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 that matches 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 enclosed area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence. It can calculate the safety status of the crane during the operation process, 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 be predicted whether it will collide with obstacles in the electronic fence during the continuous movement process. 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 judged 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. 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. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. Among them:

[0042] Figure 1 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 Schematic diagram of a method flow in an embodiment of the present invention;

[0044] Figure 3 This 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 - differentiation unit; 1302 - data preset unit; 1303 - judgment unit; 1304 - data capture and analysis unit; 140 - remote monitoring terminal. DETAILED DESCRIPTION

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0047] Because existing technologies ignore the potential safety threats caused by the movement of people within the electronic fence, and it is difficult for existing technologies to calculate and predict 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 operating 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. By collecting the movement data of the crane arm during the preset crane operation process, as well as collecting the enclosing area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence, the system can calculate the safety status of the crane operation process and predict whether the crane arm will exceed the safety enclosure range during the movement process. At the same time, by calculating the changes in the coordinate trajectory of the crane arm 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.

[0049] The present invention will be 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] An 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 to acquire data information of objects within the electronic fence, and to generate a data set based on the acquired data information;

[0052] It should be noted that the data information of the electronic fence in this embodiment includes boundary setting information, trigger event information, device status information, and maintenance record information. The boundary setting information includes the location, length, and width parameters of the electronic fence. This information is 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 crucial for security monitoring and incident response.

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

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

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

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

[0059] Crane data information includes crane weight, arm length and maximum working radius;

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

[0061] Specifically, this embodiment obtains the enclosed area of ​​the electronic fence, obtains the coordinates of the preset crane within the enclosed area based on the enclosed area, and calculates the distance between the coordinates and the electronic fence. It also includes obtaining the coordinates of each obstacle within the electronic fence, and calculating the distance between the top of the boom and each obstacle when the boom of the preset crane is raised and / or rotated for lifting, 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 within the electronic fence at time t;

[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 time t;

[0064] Furthermore, this embodiment collects the distance change between the top of the boom and the crane during the initial, middle, and final movement of the boom, and generates a distance change function matrix as shown below:

[0065]

[0066] Wherein, R represents the coordinates of the crane preset 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 crane R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the crane R coordinate when the crane arm rotates right; and based on the crane coordinates within the electronic fence, the maximum angle value between the top end of the crane and the crane in the initial movement, middle movement and final movement when the crane arm rotates left / right is preset, and a risk threshold is preset based on the maximum angle value. When the maximum angle value between the top end of the crane and the crane exceeds the risk threshold during the crane operation, when the crane arm rotates left / right in each movement stage, the system issues an early warning and determines that the crane arm rotation range is in a dangerous state. Otherwise, no determination is made;

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

[0068]

[0069] Wherein, R represents the coordinates of the crane preset within the electronic fence, z represents the geodetic coordinates, x represents the sinusoidal function change of the coordinates when the boom is raised to the left, y represents the sinusoidal function change of the coordinates when the boom is raised to the right, and p represents the total length of the boom. Based on the coordinates of the crane within the electronic fence, the maximum coordinate distance between the top end of the boom and the crane in the initial, middle, and final stages of movement when the boom is raised and rotated to the left / right is preset. A critical threshold is also preset based on the maximum coordinate distance value. When the maximum coordinate distance between the top end of the boom and the crane exceeds the critical threshold during the crane operation and when the boom is raised to the left / right in each movement stage, the system issues an early warning and determines that the boom raising range is in a dangerous state. Otherwise, no determination is made.

[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, 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 responds to the boom movement amplitude data obtained by the data calculation module and is used to analyze the variation characteristics of the boom movement amplitude. The fusion analysis system 130 includes a distinguishing unit 1301, a data presetting unit 1302, a judging unit 1303, and a data capturing and analyzing unit 1304.

[0072] The classification unit 1301 is configured to classify the arm's movement range into an initial movement, a middle movement, and a final movement, and calculate the difference between the arm's movement range change data at different movement stages and the maximum lifting height and / or the arm's maximum rotation angle based on the maximum lifting height and / or the arm's maximum rotation angle required for lifting an object;

[0073] The data presetting unit 1302 presets 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 an object, and presets safety thresholds based on the three limit values;

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

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

[0076] It should be noted that in this embodiment, within the electronic fence, a safety distance between the crane and the electronic fence is divided based on the coordinates of the crane, and the division method includes dividing it into a low safety distance, a medium safety distance, and a high safety distance. The angle and / or direction of the lifting and / or rotation of the crane arm are monitored. When the lifting and / or rotation angle and / or direction of the crane arm is toward 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.

[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 safe distance between the boom and the electronic fence during the raising and / or rotating process based on the obtained total length of the preset crane boom within the medium safety distance. A median value is assigned to the safety distance based on the monitored boom raising and / or rotating speed. A risk threshold is also preset based on the median value. When the safe distance between the boom and the electronic fence during the raising and / or rotating process exceeds the risk threshold, the system issues an alert and determines that the operation process is in a dangerous state. Otherwise, no risk assessment is made.

[0079] In this embodiment, when calculating the safe distance between the boom and the electronic fence during the lifting and / or rotation process at a medium safety distance, 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, and by collecting the enclosed area of ​​the electronic fence and the coordinates of the preset crane within the electronic fence. It can also predict whether the crane boom 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, so as to ensure 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 the work site, including data information of objects within the electronic fence, and generating a data set based on the acquired data information;

[0084] S20: Calculating 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, and calculating the distance between the boom and the electronic fence based on the maximum movement range data obtained by calculation;

[0085] S30: Analyze the variation characteristics of the arm movement amplitude, divide the arm movement amplitude into initial movement, middle movement, and final movement, and calculate 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 for 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 for 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 determination unit determines that the difference 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 operation, and predict whether the boom of the crane will exceed the safety enclosure range 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. 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 and are not intended to limit the present invention. 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 is used to acquire data information of a preset crane and data information of an electronic fence at a work site, and is 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 for calculating the movement range of the crane boom during the lifting process based on the preset lifting height required by the crane and / or the rotation angle of the boom, and calculating the distance between the boom and the electronic fence based on the maximum movement range data obtained by the calculation; A fusion analysis system, wherein the fusion analysis system responds to the boom movement amplitude data calculated and obtained by the data calculation module and is used to analyze the variation characteristics of the boom movement amplitude. The fusion analysis system includes a differentiation unit, a data preset unit, a judgment unit, and a data capture and analysis unit; The classification unit is used to divide the movement range of the boom into an initial movement, a middle movement, and a 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; The data presetting unit 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 presetting the safety threshold value based on the three limit values; The judging unit is configured to judge whether the difference between the movement amplitude change data of the boom at different movement stages and the maximum hoisting height and / or the maximum rotation angle of the boom exceeds the safety threshold in response to the difference between the movement amplitude change data and the maximum hoisting height and / or the maximum rotation angle of the boom calculated by the distinguishing unit; 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 the change pattern of different static grasping data in the same moving stage with the change of grasping time point is analyzed; The remote monitoring terminal is used to record the communication party that matches the preset crane, receive on-site data uploaded by the 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, repair 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: Obtaining the enclosed area of ​​the electronic fence, and based on the enclosed area, obtaining the coordinates of the preset crane within the enclosed area, and calculating the distance between the coordinates and the electronic fence. The method also includes obtaining the coordinates of each obstacle within the electronic fence, and calculating the distance between the top of the boom and each obstacle when the boom of the preset crane is raised and / or rotated for lifting, and the calculation is based on the following formula: m t =β*m t +(β×g t ); where m t represents the coordinate data collected for the obstacle within the electronic fence at time t; 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 during the boom's rotation movement is collected during the initial, middle, and final movement 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 crane R coordinate when the crane arm rotates left, and sin represents the sine function of the angle between the crane arm and the crane R coordinate when the crane arm rotates right; and based on the crane coordinates within the electronic fence, when the crane arm rotates left / right, the maximum angle value between its top end 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 crane arm rotates left / right in each movement stage, if the maximum angle value between its top end and the crane exceeds the risk threshold, the system will issue an early warning and determine that the crane arm rotation amplitude is in a dangerous state. Otherwise, it will not be determined.

5. The crane operation risk detection system based on virtual electronic fence according to claim 1, characterized in that: The distance change between the top of the boom and the crane 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 when the boom is raised to the left, y represents the sinusoidal 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 within the electronic fence, the maximum coordinate distance value between the top end 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 end 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, no determination will be made.

6. A crane operation risk detection system based on virtual electronic fence as claimed in claim 1, characterized in that: 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 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, no judgment 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 lifting and / or rotation process is calculated, and based on the monitored boom lifting and / or rotation speed, 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.

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 raising and / or rotating 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 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 lifting height and / or the rotation angle of the boom, the movement range of the crane boom during the lifting process is calculated, and based on the maximum movement range data obtained by the calculation, the distance between the boom and the electronic fence is calculated; Analyze the variation characteristics of the boom's movement amplitude, divide the boom's movement amplitude into initial movement, middle movement, and final movement, and calculate the difference between the boom's movement amplitude 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 to lift the object; 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 an object, and presetting 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 that matches the preset crane.

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