Method, device, electronic equipment and storage medium for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission

Abstract

The present application discloses a method, device, electronic device and storage medium for monitoring the safety of component hoisting under the condition of uninterrupted high-voltage power transmission. The method comprises the following steps: S1, obtaining the three-dimensional coordinates of the boom entering an obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area through boom path simulation construction, and then pre-storing them, wherein the three-dimensional coordinates of the boom entering and exiting the obstruction area correspond to each other one by one; S2, when the crane enters the obstruction area during actual construction, the three-dimensional coordinates of the boom entering the obstruction area are calculated, and if the calculated three-dimensional coordinates of the boom entering the obstruction area are less than the distance between any pre-stored three-dimensional coordinates of the entering and exiting the obstruction area, the tracking total station is triggered to automatically aim at the corresponding three-dimensional coordinates of the exiting obstruction area in advance, and track and scan in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station when obstruction or interference occurs, thereby improving the safety and reliability of hoisting safety monitoring when encountering obstruction, thereby ensuring construction safety.

Description

Technical Field

[0001] The present invention relates to the field of safety monitoring technology, and in particular to a method, device, electronic equipment and storage medium for safety monitoring of component hoisting under the condition of uninterrupted high-voltage power transmission. Background Art

[0002] In the field of smart manufacturing infrastructure construction, especially ultra-high voltage overhead line construction and prefabricated buildings, there are major technical challenges. Under the management of special industries, infrastructure construction can only comply with relevant regulations under normal circumstances (power transmission cannot be interrupted at will), so higher requirements are put forward for the safety of hoisting operations of prefabricated components, the reliability of equipment, and the accuracy of detection and judgment. At present, when mobile crane equipment operates around high-voltage towers and overhead lines, it realizes hoisting safety monitoring by combining GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit) and tracking total station. Among them, GNSS calculates the position of the equipment by receiving satellite signals, and the IMU unit can provide temporary position and attitude information when the GNSS signal is lost. The tracking total station directly obtains high-precision coordinate information through laser ranging and angle measurement. These technologies complement each other and jointly improve the reliability and accuracy of the integrated positioning system. However, when the tracking total station is currently used for automatic tracking, if there are immovable obstructions in the construction space, its effective operation requires optical visibility. When measuring indoors or in a confined space, you may encounter obstructions or interference, which may affect the measurement accuracy. If the target is lost during automatic measurement, the instrument will enter the "waiting for prism" state. Ideally, if the target quickly re-enters the field of view, the process of re-finding the target may only take a few seconds to a few minutes. If the target is out of the field of view for a long time, or complex environmental conditions make it difficult to re-capture, the process may take longer. For some projects that need to be closely tracked, such a waiting time is obviously unrealistic, and ultimately the real-time position of the dynamic boom cannot be obtained in a timely and accurate manner, which will bring major safety hazards to the safety monitoring of the hoisting. Summary of the invention

[0003] On the one hand, the present application provides a method for safely monitoring component hoisting under the condition of uninterrupted high-voltage power transmission, so as to solve the technical problem that the existing hoisting safety monitoring technology cannot realize timely and accurate acquisition of the real-time position of the dynamic boom when encountering obstruction or interference, thus posing a major safety hazard.

[0004] This application is implemented through the following scheme:

[0005] A method for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission, comprising the steps of:

[0006] S1. The three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area are obtained through the boom path simulation construction and then stored in advance, wherein the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area correspond to each other one by one;

[0007] S2. During actual construction, when the crane hoisting objects enter the obstruction area, the three-dimensional coordinates of the boom entering the obstruction area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the entering obstruction area is less than the set value, the corresponding three-dimensional coordinates of the exiting obstruction area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the obstruction area, and the tracking total station is triggered to automatically aim in advance at the three-dimensional coordinates of the exiting obstruction area corresponding to the calculated three-dimensional coordinates of the boom entering the obstruction area, and perform tracking scanning in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize rapid tracking and locking observation of the tracking total station.

[0008] Furthermore, the step S1 specifically includes the steps of:

[0009] S11. Use drone oblique photography and real-scene 3D monomer vectorization extraction technology to obtain high-resolution images of the construction area and construct a real-scene 3D model with real 3D coordinates;

[0010] S12. Carry out crane path simulation construction in advance with the real-life three-dimensional model to learn the obstruction area between the crane and the tracking total station installed on the ground, obtain the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area, and input the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area into the total station system in advance, wherein the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area correspond to each other one by one.

[0011] Furthermore, the step S2 specifically includes the steps of:

[0012] S201, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated;

[0013] S202, traversing the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and finding the three-dimensional coordinates of the exiting obstruction area corresponding to the three-dimensional coordinates of the current boom entering the obstruction area;

[0014] S203, triggering the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the corresponding out-of-obstruction area in advance, and performing tracking scanning around the three-dimensional coordinates of the corresponding out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0015] Furthermore, the step S2 specifically includes the steps of:

[0016] S211, when the crane enters the shielded area during actual construction, the last coordinate M( X M , Y M , Z M );

[0017] S212, traverse the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and find a three-dimensional coordinate G of the boom entering the obstruction area that is closest to the coordinate point M ( X G ，Y G ，Z G );

[0018] S213, trigger the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the out-of-obstruction area corresponding to point G in advance, and perform tracking scanning around the three-dimensional coordinates of the out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0019] Further, the method further comprises the steps of:

[0020] S3. During actual construction, when the crane enters the blocked area, the three-dimensional coordinates of the boom entering the blocked area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the blocked area and any pre-stored three-dimensional coordinates of the boom entering the blocked area is greater than the set value, the predicted orientation of the top of the boom is calculated based on the data of the IMU unit and GNSS, and the tracking total station is triggered to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0021] Furthermore, the step S3 specifically includes the steps of:

[0022] S31, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated;

[0023] S32, if the difference between the calculated three-dimensional coordinates of the current boom entering the obstruction area and the pre-stored three-dimensional coordinates of the entering the obstruction area is greater than a set value, it is determined that dynamic obstruction occurs at this time;

[0024] S33, determining the initial three-dimensional deviation value between the IMU unit installed at the boom joint and the GNSS RTK at the top of the boom through preliminary calibration;

[0025] S34. During the hoisting process, the IMU unit, GNSS RTK, and tracking total station simultaneously continuously observe the same target on the top of the boom and collect real-time position data, providing a basis for subsequent data processing;

[0026] S35, using the IMU unit and the calibrated initial three-dimensional deviation value to calculate the three-dimensional coordinates of the top of the boom, and when the GNSSRTK works normally, using the GNSS RTK data to reversely calculate and correct the position error of the IMU unit;

[0027] S36. When GNSS RTK is interfered with and cannot work normally, and the tracking total station cannot observe due to line of sight obstruction, the data calculated by the IMU unit is used to provide the predicted direction of the top of the boom, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted direction of the top of the boom in advance, and perform tracking scanning in the area where the predicted direction is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0028] On the other hand, the present application also provides a component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission, comprising:

[0029] A module for calculating the coordinates of the entry and exit obstruction areas, which is used to obtain the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area through the boom path simulation construction and then store them in advance, wherein the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area correspond to each other one by one;

[0030] The first advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstruction area when the crane hoisted objects enter the obstruction area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the entering obstruction area is less than a set value, the corresponding three-dimensional coordinates of the exiting obstruction area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the obstruction area, triggering the tracking total station to automatically aim in advance at the three-dimensional coordinates of the exiting obstruction area corresponding to the calculated three-dimensional coordinates of the boom entering the obstruction area, and perform tracking scanning in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station.

[0031] Furthermore, it also includes:

[0032] The second advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstructed area when the crane hoisted objects enter the obstructed area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstructed area and any pre-stored three-dimensional coordinates of the boom entering the obstructed area is greater than the set value, the predicted orientation of the top of the boom is calculated in combination with the data of the IMU unit and GNSS, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station.

[0033] On the other hand, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission are implemented.

[0034] On the other hand, the present application further provides a storage medium, which includes a stored program, and when the program is running, controls the device where the storage medium is located to execute the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission.

[0035] On the other hand, the present application also provides a computer program product, including a computer program or computer executable instructions, which, when executed by a processor, implement the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission.

[0036] Compared with the prior art, this application has the following beneficial effects:

[0037] The present application provides a method, device, electronic device and storage medium for monitoring the safety of component hoisting under the condition of uninterrupted high-voltage power transmission. The method for monitoring the safety of component hoisting under the condition of uninterrupted high-voltage power transmission guides the tracking total station by obtaining the three-dimensional coordinate information of the entry and exit of the obstructed area in advance, and triggers the tracking total station to automatically aim at the three-dimensional coordinates of the exit area corresponding to the three-dimensional coordinates of the boom entering the obstructed area as the predicted position when there is no line of sight with the total reflection prism, skips the obstructed position for advance waiting tracking, avoids the problem of blind search leading to difficulty in re-capture and long capture time, effectively solves the problems of low efficiency, increased error, operation complexity and energy consumption of the tracking total station when the tracking target such as the tracking prism is lost, and can greatly improve the robustness of tracking, reduce the manpower and material resources required for the project, and realize the rapid tracking and locking observation of the tracking total station when there is obstruction or interference, thereby improving the safety and reliability of hoisting safety monitoring when encountering obstruction, thereby ensuring construction safety.

[0038] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0040] Figure 1 It is a flow chart of a component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission in a preferred embodiment of the present application;

[0041] Figure 2 It is a schematic diagram of the structure of the component lifting equipment under the condition of uninterrupted high-voltage power transmission;

[0042] Figure 3 It is a schematic diagram of the sub-step flow of step S1 of the preferred embodiment of the present application;

[0043] Figure 4 It is a schematic diagram of the sub-step flow of step S2 of the preferred embodiment of the present application;

[0044] Figure 5 is a schematic flow chart of sub-steps of step S2 of another preferred embodiment of the present application;

[0045] Figure 6 It is a flow chart of a component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission in another preferred embodiment of the present application;

[0046] Figure 7 It is a schematic diagram of the sub-step flow of step S3 of the preferred embodiment of the present application;

[0047] Figure 8 It is a schematic diagram of a module of a component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission in a preferred embodiment of the present application;

[0048] Fig. 9 It is a schematic diagram of a module of a component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission in another preferred embodiment of the present application;

[0049] Fig.10 is a schematic block diagram of an electronic device entity in a preferred embodiment of the present application;

[0050] Fig.11 It is a diagram of the internal structure of a computer device of a preferred embodiment of the present application.

[0051] In the figure: 1. boom; 2. IMU unit; 3. component; 4. GNSS RTK receiver; 5. total reflection prism; 6. tracking total station. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described in detail below in conjunction with the accompanying drawings, but the present application can be implemented in a variety of different ways defined and covered below.

[0053] like Figure 1 As shown, the preferred embodiment of the present application provides a method for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission, comprising the steps of:

[0054] S1. The three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area are obtained through the boom path simulation construction and then stored in advance, wherein the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area correspond to each other one by one;

[0055] S2. During actual construction, when the crane hoisting objects enter the obstruction area, the three-dimensional coordinates of the boom entering the obstruction area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the entering obstruction area is less than the set value, the corresponding three-dimensional coordinates of the exiting obstruction area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the obstruction area, and the tracking total station is triggered to automatically aim in advance at the three-dimensional coordinates of the exiting obstruction area corresponding to the calculated three-dimensional coordinates of the boom entering the obstruction area, and perform tracking scanning in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize rapid tracking and locking observation of the tracking total station.

[0056] like Figure 2 As shown, before implementing the component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission, GNSS RTK receivers 4 are first installed on the top and bottom of the boom 1, a total reflection prism 5 is installed on the top, an IMU unit 2 composed of a gyro-accelerometer is installed at the boom joint or connection, and GNSS RTK receivers 4 are installed at both ends of the component 3; the drone extracts the vector data of all dangerous obstacles such as high-voltage towers and transmission lines in the operating area in three dimensions; a tracking total station 6 is set up at a known point in the operating area that is in sight with the top of the boom 1, and the total reflection prism 5 at this position is measured and tracked throughout the process.

[0057] The present embodiment provides a method for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission. The method for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission obtains the three-dimensional coordinate information of the entry and exit of the obstructed area in advance, guides the tracking total station to automatically aim at the three-dimensional coordinates of the exit area corresponding to the calculated three-dimensional coordinates of the boom entry area according to the three-dimensional coordinates of the exit area as the predicted position when there is no line of sight with the total reflection prism, skips the obstructed position and waits for tracking in advance at the specified coordinates, i.e., the corresponding three-dimensional coordinates of the exit area, avoids the problem of blind search leading to difficulty in re-capture and long capture time, effectively solves the problems of low efficiency, increased error, operation complexity and energy consumption of the tracking total station when the tracking target such as the tracking prism is lost, and can greatly improve the robustness of tracking, reduce the manpower and material resources required for the project, and realize the rapid tracking and locking observation of the tracking total station when there is obstruction or interference, thereby improving the safety and reliability of hoisting safety monitoring when encountering obstruction, thereby ensuring construction safety.

[0058] like Figure 3 As shown, in a preferred embodiment of the present application, step S1 specifically includes the steps of:

[0059] S11. Use drone oblique photography and real-scene 3D monomer vectorization extraction technology to obtain high-resolution images of the construction area and construct a real-scene 3D model with real 3D coordinates;

[0060] S12. Carry out crane path simulation construction in advance with the real-life three-dimensional model to learn the obstruction area between the crane and the tracking total station installed on the ground, obtain the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area, and input the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area into the total station system in advance, wherein the three-dimensional coordinates of the crane entering the obstruction area and the three-dimensional coordinates of the crane exiting the obstruction area correspond to each other one by one.

[0061] This embodiment uses drone oblique photography technology to collect information on the construction site when obtaining the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area and inputting the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area into the total station system in advance, so that high-resolution images of the construction area can be obtained, providing accurate and reliable basic data for subsequent data processing and model construction. This embodiment uses the collected real-scene images to perform three-dimensional monomer vectorization and refinement, accurately constructs the models of high-voltage overhead lines and power towers, and then simulates the boom path in advance in combination with the real-scene three-dimensional model, which can ensure that point cloud data accurate to the centimeter level in the outdoor environment is obtained, thereby greatly improving the accuracy and reliability of the model, making the simulated three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area more accurate and closer to the actual working conditions, ensuring the accuracy of the subsequent automatic aiming of the tracking total station in advance.

[0062] like Figure 4 As shown, in a preferred embodiment of the present application, step S2 specifically includes the steps of:

[0063] S201, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated;

[0064] S202, traversing the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and finding the three-dimensional coordinates of the exiting obstruction area corresponding to the three-dimensional coordinates of the current boom entering the obstruction area;

[0065] S203, triggering the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the corresponding out-of-obstruction area in advance, and performing tracking scanning around the three-dimensional coordinates of the corresponding out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0066] In this embodiment, when the crane hoisting objects enter the obstruction area, the three-dimensional coordinates of the current boom entering the obstruction area obtained by the tracking total station are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the boom entering the obstruction area is less than a set value, and the calculated three-dimensional coordinates of the current boom entering the obstruction area just directly match the pre-stored three-dimensional coordinates of the boom entering the obstruction area, the three-dimensional coordinates of the exiting obstruction area corresponding to the three-dimensional coordinates of the current boom entering the obstruction area are found in the pre-stored data, which can trigger the tracking total station to automatically move its telescope aiming device to aim at the corresponding three-dimensional coordinates of the exiting obstruction area in advance, and perform tracking scanning around the corresponding three-dimensional coordinates of the exiting obstruction area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station when obstructed or interfered, avoid blind search, and effectively solve the problems of low efficiency, increased error, operation complexity and energy consumption of the tracking total station when the tracking target is lost, and can greatly improve the robustness of tracking, reduce the manpower and material resources required for the project, and improve the safety and reliability of hoisting safety monitoring when encountering obstruction, thereby ensuring construction safety.

[0067] like Figure 5 As shown, in a preferred embodiment of the present application, step S2 specifically includes the steps of:

[0068] S211, when the crane enters the shielded area during actual construction, the last coordinate M( X M , Y M , Z M );

[0069] S212, traverse the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and find a three-dimensional coordinate G of the boom entering the obstruction area that is closest to the coordinate point M ( X G ，Y G ，Z G );

[0070] S213, trigger the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the out-of-obstruction area corresponding to point G in advance, and perform tracking scanning around the three-dimensional coordinates of the out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0071] Different from the above-mentioned embodiment, in this embodiment, when the crane hoisted object enters the obstruction area, the three-dimensional coordinates of the current boom entering the obstruction area obtained by the tracking type total station are calculated. Although the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the obstruction area is less than the set value, the calculated three-dimensional coordinates of the current boom entering the obstruction area and the pre-stored three-dimensional coordinates of the boom entering the obstruction area are not exactly directly matched, and there is still a certain distance, such as the certain distance between point G and point M described in this embodiment, which is calculated as follows:

[0072] ;

[0073] At this time, the completely identical three-dimensional coordinates of the entry and exit areas cannot be found in the pre-stored data, and the tracking total station cannot be directly triggered to automatically move its telescope aiming device to aim at the corresponding three-dimensional coordinates of the exit area in advance and then scan to achieve rapid tracking and locking observation of the tracking total station. At this time, from the perspective of efficiency and cost, this embodiment traverses the pre-stored three-dimensional coordinates of the boom entry area, and selects one of the many three-dimensional coordinates of the boom entry area that is consistent with the last coordinate M( X M , Y M , Z M ) The three-dimensional coordinate G of the nearest boom entering the occlusion area is then used to replace the coordinate M( X M , Y M , Z M), find the corresponding three-dimensional coordinates of the out-of-obstruction area in the pre-stored data, and finally trigger the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the out-of-obstruction area corresponding to point G in advance, and perform tracking scanning around the three-dimensional coordinates of the out-of-obstruction area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station, avoid blind search, and effectively solve the problems of low efficiency, increased error, operation complexity and energy consumption of the tracking total station when the tracking target is lost, and can greatly improve the robustness of tracking and reduce the manpower and material resources required for the project. This embodiment can also realize the rapid tracking and locking observation of the tracking total station when it is blocked or interfered, improve the safety and reliability of hoisting safety monitoring when encountering blockage, thereby ensuring construction safety.

[0074] like Figure 6 As shown, in a preferred embodiment of the present application, the component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission also includes the steps of:

[0075] S3. During actual construction, when the crane enters the blocked area, the three-dimensional coordinates of the boom entering the blocked area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the blocked area and any pre-stored three-dimensional coordinates of the boom entering the blocked area is greater than the set value, the predicted orientation of the top of the boom is calculated based on the data of the IMU unit and GNSS, and the tracking total station is triggered to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0076] What is different from the aforementioned embodiment is that during actual construction, when the crane hoisted objects enter the obstructed area, if the distance between the calculated three-dimensional coordinates of the boom entering the obstructed area and any pre-stored three-dimensional coordinates of the boom entering the obstructed area is greater than the set value, that is, if the calculated position showing the entry into the obstruction is far away from the three-dimensional coordinates pre-input into the total station system during the construction simulation, then it can be determined that a construction vehicle or other dynamic obstructions have occurred at this time. To solve this problem, the technical solution adopted in this embodiment is to integrate the data of the GNSS RTK receiver and the IMU unit, combined with the information assisted by the total reflection prism and the tracking total station. In an environment where the GNSS signal is weak or completely lost, the IMU unit, the total reflection prism and the tracking total station can continue to provide position and attitude information. When there is no line of sight between the crane hoisted objects and the total station, the GNSS The RTK receiver and IMU unit perform positioning supplementation, calculate the predicted azimuth of the top of the boom, ensure that positioning is not interrupted, thereby triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted azimuth of the top of the boom in advance, and perform tracking scanning in the area where the predicted azimuth is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station, avoid blind search, and effectively solve the problems of low efficiency, increased error, operational complexity and energy consumption of the tracking total station when the tracking target is lost, and can greatly improve the robustness of tracking and reduce the manpower and material resources required for the project. This embodiment can also achieve rapid tracking and locking observation of the tracking total station when it is blocked or interfered, improve the safety and reliability of hoisting safety monitoring when blocked, thereby ensuring construction safety.

[0077] like Figure 7 As shown, in a preferred embodiment of the present application, step S3 specifically includes the steps of:

[0078] S31, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated;

[0079] S32, if the difference between the calculated three-dimensional coordinates of the current boom entering the obstruction area and the pre-stored three-dimensional coordinates of the entering the obstruction area is greater than a set value, it is determined that dynamic obstruction occurs at this time;

[0080] S33, determining the initial three-dimensional deviation value between the IMU unit installed at the boom joint and the GNSS RTK at the top of the boom through preliminary calibration;

[0081] S34. During the hoisting process, the IMU unit, GNSS RTK, and tracking total station simultaneously continuously observe the same target on the top of the boom and collect real-time position data, providing a basis for subsequent data processing;

[0082] S35, using the IMU unit and the calibrated initial three-dimensional deviation value to calculate the three-dimensional coordinates of the top of the boom, and when the GNSSRTK works normally, using the GNSS RTK data to reversely calculate and correct the position error of the IMU unit;

[0083] S36. When GNSS RTK is interfered with and cannot work normally, and the tracking total station cannot observe due to line of sight obstruction, the data calculated by the IMU unit is used to provide the predicted direction of the top of the boom, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted direction of the top of the boom in advance, and perform tracking scanning in the area where the predicted direction is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0084] In this embodiment, when a construction vehicle or other dynamic obstruction occurs, resulting in the calculated three-dimensional coordinates of the boom entering the obstruction area being greater than the set value from any pre-stored three-dimensional coordinates of the boom entering the obstruction area, that is, if the calculation shows that the position entering the obstruction is at a large distance from the three-dimensional coordinates pre-input into the total station system during the construction simulation, in an environment where the GNSS signal is weak or completely lost, the three-dimensional deviation value between the IMU unit and the GNSS RTK at the top of the boom is fully utilized to infer the three-dimensional coordinates of the top of the boom. Therefore, when the GNSS RTK is interfered with and cannot work normally and the tracking total station cannot observe due to line of sight obstruction, the IMU unit can be used to indirectly infer the predicted azimuth of the top of the boom as the target coordinates that the tracking total station automatically moves its telescope aiming device to aim at in advance when obstructed, and then performs tracking scanning in the area where the predicted azimuth is located until the total reflection prism is re-aimed, so as to realize rapid tracking and locking observation of the tracking total station, avoid blind search, effectively solve the problems of low efficiency, increased error, operation complexity and energy consumption of the tracking total station when the tracking target is lost, and can greatly improve the robustness of tracking, reducing the manpower and material resources required for the project. This embodiment can also achieve fast tracking and locking observation of the tracking total station when there is occlusion or interference, which improves the safety and reliability of hoisting safety monitoring when there is occlusion, thereby ensuring construction safety. In addition, in view of the inevitable accumulation error defect of the IMU unit, this embodiment also has a self-correction measure, that is, when the GNSS RTK is working normally, the GNSS RTK data is used to reverse and correct the position error of the IMU unit, realize the mutual correction of satellite positioning data and inertial navigation data, and avoid the accumulated error of the IMU unit affecting the accuracy of subsequent calculation results.

[0085] like Figure 8 As shown, another preferred embodiment of the present application also provides a component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission, comprising:

[0086] A module for calculating the coordinates of the entry and exit obstruction areas, which is used to obtain the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area through the boom path simulation construction and then store them in advance, wherein the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area correspond to each other one by one;

[0087] The first advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstruction area when the crane hoisted objects enter the obstruction area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the entering obstruction area is less than a set value, the corresponding three-dimensional coordinates of the exiting obstruction area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the obstruction area, triggering the tracking total station to automatically aim in advance at the three-dimensional coordinates of the exiting obstruction area corresponding to the calculated three-dimensional coordinates of the boom entering the obstruction area, and perform tracking scanning in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station.

[0088] like Fig. 9 As shown, in a preferred embodiment of the present application, the component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission also includes:

[0089] The second advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstructed area when the crane enters the obstructed area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstructed area and any pre-stored three-dimensional coordinates of the boom entering the obstructed area is greater than a set value, the predicted orientation of the top of the boom is calculated based on the data of the IMU unit and GNSS, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

[0090] like Fig.10 As shown, a preferred embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission in the above-mentioned embodiment when executing the computer program.

[0091] like Fig.11 As shown, the preferred embodiment of the present application also provides a computer device, which can be a terminal or a liveness detection server, and its internal structure diagram can be as shown in Fig.11As shown. The computer device includes a processor, a memory and a network interface connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with other external computer devices via a network connection. When the computer program is executed by the processor, the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission are implemented.

[0092] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0093] A preferred embodiment of the present application also provides a storage medium, which includes a stored program. When the program is running, the device where the storage medium is located is controlled to execute the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission in the above embodiment.

[0094] In summary, the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission in this application can effectively assist in detecting whether the boom components enter the danger zone of the overhead line based on the movement of the mobile crane boom, and issue an alarm to the construction personnel once the top of the boom enters the danger warning area.

[0095] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0096] If the functions described in the method of this embodiment are implemented in the form of software functional units and sold or used as independent products, they can be stored in one or more computing devices readable storage media. Based on this understanding, the part of the embodiment of the present application that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computing device (which can be a personal computer, server, mobile computing device or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0098] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0102] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for monitoring component hoisting safety under the condition of uninterrupted high-voltage power transmission, characterized in that: Includes steps: S1, obtaining the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area through the boom path simulation construction and pre-storing them, wherein the three-dimensional coordinates of the boom entering the obstruction area and the three-dimensional coordinates of the boom exiting the obstruction area correspond to each other one by one, specifically comprising the steps of: S11. Obtain high-resolution images of the construction area through drone oblique photography and real-scene 3D monomer vectorization and extraction technology to construct a real-scene 3D model with real 3D coordinates; S12, combining the real-scene three-dimensional model to simulate the construction of the boom path in advance to obtain the shielding area between the boom and the tracking total station set up on the ground, obtain the three-dimensional coordinates of the boom entering the shielding area and the three-dimensional coordinates of the boom exiting the shielding area, and input the three-dimensional coordinates of the boom entering the shielding area and the three-dimensional coordinates of the boom exiting the shielding area into the total station system in advance, wherein the three-dimensional coordinates of the boom entering the shielding area and the three-dimensional coordinates of the boom exiting the shielding area correspond to each other one by one; S2. When the crane enters the shielded area during actual construction, the three-dimensional coordinates of the boom entering the shielded area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the shielded area and any pre-stored three-dimensional coordinates of the boom entering the shielded area is less than a set value, the corresponding three-dimensional coordinates of the exiting shielded area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the shielded area, and the tracking total station is triggered to automatically aim at the three-dimensional coordinates of the exiting shielded area corresponding to the calculated three-dimensional coordinates of the boom entering the shielded area in advance, and track and scan in the corresponding exiting shielded area until the total reflection prism is re-aimed, so as to realize the rapid tracking and locking observation of the tracking total station; S3. During actual construction, when the crane enters the blocked area, the three-dimensional coordinates of the boom entering the blocked area are calculated. If the distance between the calculated three-dimensional coordinates of the boom entering the blocked area and any pre-stored three-dimensional coordinates of the boom entering the blocked area is greater than the set value, the predicted orientation of the top of the boom is calculated based on the data of the IMU unit and GNSS, and the tracking total station is triggered to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

2. The component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission according to claim 1 is characterized in that: The step S2 specifically includes the following steps: S201, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated; S202, traversing the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and finding the three-dimensional coordinates of the exiting obstruction area corresponding to the three-dimensional coordinates of the current boom entering the obstruction area; S203, triggering the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the corresponding out-of-obstruction area in advance, and performing tracking scanning around the three-dimensional coordinates of the corresponding out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

3. The component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission according to claim 1 is characterized in that: The step S2 specifically includes the following steps: S211, when the crane enters the shielded area during actual construction, the last coordinate M( X M , Y M , Z M ); S212, traverse the pre-stored three-dimensional coordinates of the boom entering the obstruction area, and find a three-dimensional coordinate G of the boom entering the obstruction area that is closest to the coordinate point M ( X G ，Y G ，Z G ); S213, trigger the tracking total station to automatically move its telescope aiming device to aim at the three-dimensional coordinates of the out-of-obstruction area corresponding to point G in advance, and perform tracking scanning around the three-dimensional coordinates of the out-of-obstruction area until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

4. The component hoisting safety monitoring method under the condition of uninterrupted high-voltage power transmission according to claim 1 is characterized in that: The step S3 specifically comprises the following steps: S31, when the crane hoisting objects enter the shielding area during actual construction, the three-dimensional coordinates of the current boom entering the shielding area obtained by the tracking total station are calculated; S32, if the difference between the calculated three-dimensional coordinates of the current boom entering the obstruction area and the pre-stored three-dimensional coordinates of the entering the obstruction area is greater than a set value, it is determined that dynamic obstruction occurs at this time; S33, determining the initial three-dimensional deviation value between the IMU unit installed at the boom joint and the GNSS RTK at the top of the boom through preliminary calibration; S34. During the hoisting process, the IMU unit, GNSS RTK, and tracking total station simultaneously continuously observe the same target on the top of the boom and collect real-time position data, providing a basis for subsequent data processing; S35, using the IMU unit and the calibrated initial three-dimensional deviation value to calculate the three-dimensional coordinates of the top of the boom, and when the GNSS RTK is working normally, using the GNSS RTK data to reversely calculate and correct the position error of the IMU unit; S36. When GNSS RTK is interfered with and cannot work normally, and the tracking total station cannot observe due to line of sight obstruction, the data calculated by the IMU unit is used to provide the predicted direction of the top of the boom, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted direction of the top of the boom in advance, and perform tracking scanning in the area where the predicted direction is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

5. A component hoisting safety monitoring device under the condition of uninterrupted high-voltage power transmission, characterized in that: include: The module for calculating the coordinates of the entry and exit obstruction areas is used to obtain the three-dimensional coordinates of the arm entering the obstruction area and the three-dimensional coordinates of the arm exiting the obstruction area through the arm path simulation construction and then store them in advance, wherein the three-dimensional coordinates of the arm entering the obstruction area and the three-dimensional coordinates of the arm exiting the obstruction area correspond to each other one by one, and is specifically used for: Through drone oblique photography and real-scene 3D monomer vectorization and extraction technology, high-resolution images of the construction area are obtained to build a real-scene 3D model with real 3D coordinates; Combined with the real-scene three-dimensional model, the crane path simulation construction is carried out in advance to obtain the shielding area between the crane and the tracking total station set up on the ground, and the three-dimensional coordinates of the crane entering the shielding area and the three-dimensional coordinates of the crane exiting the shielding area are obtained, and the three-dimensional coordinates of the crane entering the shielding area and the three-dimensional coordinates of the crane exiting the shielding area are input into the total station system in advance, wherein the three-dimensional coordinates of the crane entering the shielding area and the three-dimensional coordinates of the crane exiting the shielding area correspond to each other one by one; The first advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstruction area when the crane hoisted objects enter the obstruction area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstruction area and any pre-stored three-dimensional coordinates of the entering obstruction area is less than a set value, the corresponding three-dimensional coordinates of the exiting obstruction area are found from the pre-stored three-dimensional coordinates according to the calculated three-dimensional coordinates of the boom entering the obstruction area, and the tracking type total station is triggered to automatically aim in advance at the three-dimensional coordinates of the exiting obstruction area corresponding to the calculated three-dimensional coordinates of the boom entering the obstruction area, and perform tracking scanning in the corresponding exiting obstruction area until the total reflection prism is re-aimed, so as to realize rapid tracking and locking observation of the tracking type total station; The second advance waiting tracking module is used for calculating the three-dimensional coordinates of the boom entering the obstructed area when the crane enters the obstructed area during actual construction. If the distance between the calculated three-dimensional coordinates of the boom entering the obstructed area and any pre-stored three-dimensional coordinates of the boom entering the obstructed area is greater than a set value, the predicted orientation of the top of the boom is calculated based on the data of the IMU unit and GNSS, triggering the tracking total station to automatically move its telescope aiming device to aim at the predicted orientation of the top of the boom in advance, and perform tracking scanning in the area where the predicted orientation is located until the total reflection prism is re-aimed, so as to achieve rapid tracking and locking observation of the tracking total station.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission are implemented as described in any one of claims 1 to 4.

7. A storage medium comprising a stored program, characterized in that: When the program is running, the device where the storage medium is located is controlled to execute the steps of the component lifting safety monitoring method under the condition of uninterrupted high-voltage power transmission as described in any one of claims 1 to 4.

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