A danger warning method and system based on foundation pit construction hoisting

Abstract

The embodiment of the present invention relates to the technical field of hoisting danger warning, and specifically discloses a danger warning method and system based on hoisting during foundation pit construction. The embodiment of the present invention selects a direct monitoring drone and a follow-up monitoring drone; performs hoisting construction monitoring on the target hoisting equipment through the direct monitoring drone; issues a hoisting danger warning when there is a hoisting construction danger; performs flight follow-up monitoring on the direct monitoring drone through the follow-up monitoring drone; performs flight safety analysis on the follow-up monitoring data, and issues a flight danger warning when there is a flight monitoring danger. It is possible to select a direct monitoring drone and a follow-up monitoring drone, perform hoisting construction monitoring and hoisting danger warning through the direct monitoring drone, and perform flight follow-up monitoring and flight danger warning through the follow-up monitoring drone, thereby realizing active danger monitoring during the hoisting process during foundation pit construction, thereby further improving construction efficiency and ensuring construction quality and safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of hoisting danger warning, and in particular relates to a danger warning method and system based on hoisting in foundation pit construction. Background Art

[0002] Foundation pit is a space excavated below the ground surface, used to build underground facilities such as basements, underground garages, subway stations, etc. Foundation pit construction hoisting refers to a kind of lifting operation carried out in construction projects to install various structural components or equipment in the foundation pit. Commonly used hoisting equipment includes tower cranes, crawler cranes, truck cranes, etc.

[0003] Since there are many potential dangers in the hoisting operation during foundation pit construction, an effective monitoring and early warning mechanism is needed to ensure the safety of the operation. In the prior art, the danger warning of hoisting in foundation pit construction usually relies on the black box of the tower crane, monitoring and shooting, etc. to monitor the danger. Since the black box of the tower crane and the monitoring and shooting are fixed in position, only passive danger monitoring can be performed. It is impossible to perform active danger monitoring at different positions during the hoisting process of foundation pit construction, which cannot further improve the construction efficiency and ensure the construction quality and safety. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a danger warning method and system based on hoisting during foundation pit construction, aiming to solve the problems raised in the background technology.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] A danger warning method based on hoisting during foundation pit construction, the method specifically comprises the following steps:

[0007] Obtaining drone status data of multiple idle drones, performing endurance comparison and analysis on the multiple drone status data, and selecting a directly monitored drone and a follow-up monitored drone;

[0008] By using the direct monitoring drone, the target lifting equipment is monitored for lifting construction to obtain construction monitoring data;

[0009] Conducting construction safety analysis on the construction monitoring data to determine whether there is a danger of hoisting construction, and issuing a hoisting danger warning when there is a danger of hoisting construction;

[0010] By using the following monitoring drone, the direct monitoring drone is subjected to flight following monitoring to obtain following monitoring data;

[0011] A flight safety analysis is performed on the follow-up monitoring data to determine whether there is a flight monitoring hazard, and a flight hazard warning is issued when there is a flight monitoring hazard.

[0012] As a further limitation of the technical solution of the embodiment of the present invention, the obtaining of drone status data of multiple idle drones, performing endurance comparison and analysis on the multiple drone status data, and selecting the direct monitoring drone and the follow-up monitoring drone specifically include the following steps:

[0013] Get drone status data for multiple idle drones;

[0014] Extracting a plurality of drone endurance data from the plurality of drone status data;

[0015] Based on the preset direct monitoring endurance and follow-up monitoring endurance, compare and analyze the endurance data of the plurality of drones, and select the direct endurance data and the follow-up endurance data;

[0016] According to the direct flight time data, select to directly monitor the drone;

[0017] According to the following endurance data, select a following monitoring drone.

[0018] As a further limitation of the technical solution of the embodiment of the present invention, the direct monitoring drone is used to monitor the lifting construction of the target lifting equipment, and obtaining the construction monitoring data specifically includes the following steps:

[0019] Obtain a target hoisting position of a target hoisting device;

[0020] Obtain equipment shape data of target lifting equipment;

[0021] Planning a construction monitoring route according to the target hoisting position and the equipment shape data;

[0022] According to the construction monitoring route, controlling the direct monitoring drone to perform hoisting construction monitoring on the target hoisting equipment;

[0023] Receive the construction monitoring data fed back by the direct monitoring UAV.

[0024] As a further limitation of the technical solution of the embodiment of the present invention, the construction safety analysis of the construction monitoring data, determining whether there is a hoisting construction hazard, and issuing a hoisting hazard warning when there is a hoisting construction hazard specifically includes the following steps:

[0025] Obtain lifting safety requirement data;

[0026] According to the hoisting safety demand data, a construction safety analysis is performed on the construction monitoring data to determine whether there is a hoisting construction hazard;

[0027] When there is a danger of hoisting construction, a hoisting warning signal is generated;

[0028] According to the hoisting warning signal, a hoisting danger warning is issued.

[0029] As a further limitation of the technical solution of the embodiment of the present invention, the following monitoring drone is used to perform flight following monitoring on the direct monitoring drone, and obtaining following monitoring data specifically includes the following steps:

[0030] According to the construction monitoring route, plan a tracking monitoring route;

[0031] According to the tracking and monitoring route, control the following monitoring drone to perform flight following and monitoring on the direct monitoring drone;

[0032] Receive the following monitoring data fed back by the following monitoring UAV.

[0033] As a further limitation of the technical solution of the embodiment of the present invention, the performing of flight safety analysis on the following monitoring data, determining whether there is a flight monitoring hazard, and performing a flight hazard warning when there is a flight monitoring hazard specifically comprises the following steps:

[0034] Perform flight safety analysis on the following monitoring data and calculate the flight intervention distance in real time;

[0035] comparing the flight intervention distance with a preset safety intervention distance;

[0036] When the flight intervention distance is less than the safety intervention distance, determining that there is a flight monitoring hazard and generating a flight warning signal;

[0037] According to the flight warning signal, a flight hazard warning is issued.

[0038] A danger warning system based on foundation pit construction hoisting, the system includes a drone selection and analysis unit, a hoisting construction monitoring unit, a hoisting danger warning unit, a flight follow-up monitoring unit and a flight danger warning unit, wherein:

[0039] A drone selection and analysis unit is used to obtain drone status data of multiple idle drones, perform endurance comparison and analysis on the multiple drone status data, and select a direct monitoring drone and a follow-up monitoring drone;

[0040] A hoisting construction monitoring unit is used to monitor the hoisting construction of the target hoisting equipment through the direct monitoring drone and obtain construction monitoring data;

[0041] A hoisting hazard warning unit is used to perform construction safety analysis on the construction monitoring data, determine whether there is a hoisting construction hazard, and issue a hoisting hazard warning when there is a hoisting construction hazard;

[0042] A flight following monitoring unit, used to perform flight following monitoring on the direct monitoring drone through the following monitoring drone, and obtain following monitoring data;

[0043] The flight hazard warning unit is used to perform flight safety analysis on the following monitoring data, determine whether there is a flight monitoring hazard, and issue a flight hazard warning when there is a flight monitoring hazard.

[0044] As a further limitation of the technical solution of the embodiment of the present invention, the drone selection and analysis unit specifically includes:

[0045] A status acquisition module, used to obtain drone status data of multiple idle drones;

[0046] A flight endurance extraction module, used to extract a plurality of drone flight endurance data from a plurality of drone status data;

[0047] A flight endurance comparison module is used to compare and analyze the flight endurance data of the plurality of drones based on the preset direct monitoring flight endurance and follow-up monitoring flight endurance, and select the direct flight endurance data and the follow-up flight endurance data;

[0048] A direct monitoring drone selection module, used to select a direct monitoring drone based on the direct flight time data;

[0049] The following monitoring drone selection module is used to select a following monitoring drone according to the following endurance data.

[0050] As a further limitation of the technical solution of the embodiment of the present invention, the hoisting construction monitoring unit specifically includes:

[0051] A position acquisition module, used to acquire a target hoisting position of a target hoisting device;

[0052] An appearance acquisition module is used to acquire the equipment appearance data of the target lifting equipment;

[0053] A route planning module, used to plan a construction monitoring route according to the target hoisting position and the equipment shape data;

[0054] A hoisting construction monitoring module is used to control the direct monitoring drone to perform hoisting construction monitoring on the target hoisting equipment according to the construction monitoring route;

[0055] The data feedback module is used to receive the construction monitoring data fed back and transmitted by the direct monitoring drone.

[0056] As a further limitation of the technical solution of the embodiment of the present invention, the flight hazard warning unit specifically includes:

[0057] A safety analysis module, used to perform flight safety analysis on the following monitoring data and calculate the flight intervention distance in real time;

[0058] A distance comparison module, used for comparing the flight intervention distance with a preset safety intervention distance;

[0059] a signal generating module, configured to determine that there is a flight monitoring danger and generate a flight warning signal when the flight intervention distance is less than the safety intervention distance;

[0060] The flight hazard warning module is used to issue a flight hazard warning according to the flight warning signal.

[0061] Compared with the prior art, the present invention has the following beneficial effects:

[0062] The embodiment of the present invention selects direct monitoring drones and follow-up monitoring drones; performs hoisting construction monitoring on target hoisting equipment through direct monitoring drones; issues hoisting danger warnings when there is a hoisting construction hazard; performs flight follow-up monitoring on direct monitoring drones through follow-up monitoring drones; performs flight safety analysis on follow-up monitoring data, and issues flight hazard warnings when there is a flight monitoring hazard. Direct monitoring drones and follow-up monitoring drones can be selected, and hoisting construction monitoring and hoisting danger warnings can be performed through direct monitoring drones, and flight follow-up monitoring and flight danger warnings can be performed through follow-up monitoring drones, thereby realizing active hazard monitoring during foundation pit construction hoisting, thereby further improving construction efficiency and ensuring construction quality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0064] Figure 1 A flow chart of a method provided by an embodiment of the present invention is shown.

[0065] Figure 2 A flow chart of performing battery life comparison and analysis in the method provided in an embodiment of the present invention is shown.

[0066] Figure 3 A flow chart of obtaining construction monitoring data in the method provided in an embodiment of the present invention is shown.

[0067] Figure 4 A flow chart of performing a hoisting hazard warning in a method provided in an embodiment of the present invention is shown.

[0068] Figure 5 A flow chart of obtaining follow-up monitoring data in the method provided by an embodiment of the present invention is shown.

[0069] Figure 6 A flow chart of performing flight hazard warning in the method provided in an embodiment of the present invention is shown.

[0070] Figure 7 The application architecture diagram of the system provided by the embodiment of the present invention is shown.

[0071] Figure 8 A structural block diagram of a drone selection and analysis unit in a system provided by an embodiment of the present invention is shown.

[0072] Fig. 9 The structure block diagram of the hoisting construction monitoring unit in the system provided by the embodiment of the present invention is shown.

[0073] Fig.10 A structural block diagram of a flight hazard warning unit in a system provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0075] It is understandable that due to the presence of multiple potential dangers in hoisting operations during foundation pit construction, effective monitoring and early warning mechanisms are needed to ensure operational safety. In the prior art, the danger warning of hoisting during foundation pit construction usually relies on tower crane black boxes, surveillance cameras, and other methods for danger monitoring. Since the tower crane black boxes and surveillance cameras are in fixed positions, only passive danger monitoring can be performed, and active danger monitoring at different positions cannot be performed during the hoisting process of foundation pit construction, which cannot further improve construction efficiency and ensure construction quality and safety.

[0076] To solve the above problems, the embodiment of the present invention obtains the drone status data of multiple idle drones, performs endurance comparison analysis on the multiple drone status data, and selects direct monitoring drones and follow-up monitoring drones; through direct monitoring drones, the target hoisting equipment is monitored for hoisting construction and construction monitoring data is obtained; construction safety analysis is performed on the construction monitoring data to determine whether there is a hoisting construction hazard, and when there is a hoisting construction hazard, a hoisting hazard warning is issued; through follow-up monitoring drones, the direct monitoring drone is subjected to flight follow-up monitoring and obtains follow-up monitoring data; flight safety analysis is performed on the follow-up monitoring data to determine whether there is a flight monitoring hazard, and when there is a flight monitoring hazard, a flight hazard warning is issued. Direct monitoring drones and follow-up monitoring drones can be selected, and hoisting construction monitoring and hoisting hazard warnings can be performed through direct monitoring drones, and flight follow-up monitoring and flight hazard warnings can be performed through follow-up monitoring drones, so as to realize active hazard monitoring in the process of foundation pit construction hoisting, thereby further improving construction efficiency and ensuring construction quality and safety.

[0077] Figure 1 A flow chart of a method provided by an embodiment of the present invention is shown.

[0078] Specifically, a danger warning method based on hoisting during foundation pit construction comprises the following steps:

[0079] Step S101, obtaining drone status data of multiple idle drones, performing endurance comparison and analysis on the multiple drone status data, and selecting a direct monitoring drone and a follow-up monitoring drone.

[0080] In an embodiment of the present invention, drone status data of multiple idle drones are obtained, and drone endurance data of multiple idle drones are extracted from the multiple drone status data, the multiple drone endurance data are compared with preset direct monitoring endurance and following monitoring endurance, and drone endurance data greater than the direct monitoring endurance is selected from the multiple drone endurance data and marked as direct endurance data, and drone endurance data greater than the following monitoring endurance is selected and marked as following endurance data, and then the idle drones corresponding to the direct endurance data are marked as direct monitoring drones, and the idle drones corresponding to the following endurance data are marked as following monitoring drones.

[0081] Specifically, Figure 2 A flow chart of performing battery life comparison and analysis in the method provided in an embodiment of the present invention is shown.

[0082] Among them, in the preferred embodiment provided by the present invention, the obtaining of drone status data of multiple idle drones, performing endurance comparison and analysis on the multiple drone status data, and selecting a directly monitored drone and a follow-up monitored drone specifically include the following steps:

[0083] Step S1011, obtaining drone status data of multiple idle drones;

[0084] Step S1012, extracting a plurality of drone endurance data from the plurality of drone status data;

[0085] Step S1013, based on the preset direct monitoring endurance and follow-up monitoring endurance, compare and analyze the endurance data of the plurality of drones, and select the direct endurance data and the follow-up endurance data;

[0086] Step S1014, selecting a drone to be directly monitored according to the direct flight time data;

[0087] Step S1015: selecting a follow-up monitoring drone according to the follow-up endurance data.

[0088] Specifically, based on the preset direct monitoring endurance and follow-up monitoring endurance, a plurality of the drone endurance data are compared and analyzed, and the direct endurance data and the follow-up endurance data are selected. The specific steps are as follows:

[0089] Obtain battery power, energy conversion efficiency, and average flight speed through drone status data;

[0090] The endurance performance index is calculated by combining battery power, energy conversion efficiency and average flight speed. The corresponding relationship is:

[0091] ;

[0092] in, Indicates The endurance performance index of the UAV, Indicates The battery power of the drone, Indicates The energy conversion efficiency of a drone, Indicates The average flight speed of the drones, Indicates the flight speed index, Indicates The flight distance of the drone, Represents the flight distance index, Indicates The battery capacity of the drone, Represents the battery capacity index, represents the time weight coefficient, Indicates The estimated mission execution time of the UAV, represents the task time index;

[0093] Obtain the load weight of the drone and the projected area of ​​the drone through the drone status data;

[0094] The comprehensive endurance index of the drone is calculated by the load weight of the drone, the projected area of ​​the drone and the endurance performance index. The corresponding relationship is:

[0095] ;

[0096] in, represents the penalty coefficient of air resistance. Indicates The load weight of the drone, Indicates The projected area of ​​the drone, Indicates The comprehensive endurance index of the UAV;

[0097] Based on the comprehensive endurance indicators of the UAV, the optimal UAV for direct endurance and follow-up endurance is determined, and then the direct endurance data and follow-up endurance data are obtained through the optimal UAV.

[0098] Furthermore, the present invention integrates multiple key influencing factors of the drone's endurance to comprehensively reflect the advantages and disadvantages of the drone's endurance performance, rather than focusing on only a single indicator; at the same time, it quotes nonlinear combinations and power functions to better fit the actual situation.

[0099] Furthermore, the danger warning method based on foundation pit construction hoisting also includes the following steps:

[0100] Step S102: monitor the lifting construction of the target lifting equipment through the direct monitoring drone to obtain construction monitoring data.

[0101] In an embodiment of the present invention, by determining the target lifting equipment that requires a danger warning, obtaining the target lifting position of the target lifting equipment, and obtaining the equipment appearance data of the target lifting equipment, the target lifting position and the equipment appearance data are analyzed, and a construction monitoring route is planned. Then, according to the construction monitoring route, a direct monitoring UAV is controlled to perform a monitoring flight. During the monitoring flight, the lifting construction of the target lifting equipment is monitored to obtain construction monitoring data, and the construction monitoring data is fed back, so that the construction monitoring data fed back and transmitted by the direct monitoring UAV can be received.

[0102] Specifically, Figure 3 A flow chart of obtaining construction monitoring data in the method provided in an embodiment of the present invention is shown.

[0103] Among them, in the preferred embodiment provided by the present invention, the direct monitoring drone is used to monitor the lifting construction of the target lifting equipment, and obtaining the construction monitoring data specifically includes the following steps:

[0104] Step S1021, obtaining a target hoisting position of a target hoisting device;

[0105] Step S1022, obtaining equipment shape data of the target lifting equipment;

[0106] Step S1023, planning a construction monitoring route according to the target hoisting position and the equipment shape data;

[0107] Step S1024, controlling the direct monitoring drone to perform hoisting construction monitoring on the target hoisting equipment according to the construction monitoring route;

[0108] Step S1025, receiving the construction monitoring data fed back by the direct monitoring drone.

[0109] Specifically, according to the target hoisting position and the equipment shape data, a construction monitoring route is planned, and the specific steps are as follows:

[0110] Obtain the spatial coordinates of the UAV and the velocity components of the UAV by directly monitoring the UAV;

[0111] The net length of the UAV's flight path is calculated through the UAV's spatial coordinates and the UAV's velocity components. The corresponding relationship is:

[0112] ;

[0113] in, represents the net length of the drone’s flight path, represents the spatial coordinates of the drone, , and Represent the velocity components of the drone in three directions respectively. and Respectively represent the initial time and end time of the flight path, represents the time differential, , and Respectively represent the small changes in the position of the drone in the three coordinate axis directions;

[0114] The total number of obstacles on the path between the target hoist and the UAV is obtained through the target hoist position;

[0115] The actual length of the UAV flight path is calculated by the net length of the UAV flight path and the total number of obstacles. The corresponding relationship is:

[0116] ;

[0117] in, represents the actual length of the drone's flight path, represents the obstacle weight coefficient, Indicates The impact value of obstacles, Indicates the total number of obstacles;

[0118] Plan construction monitoring routes using the actual length of the drone’s flight path.

[0119] Furthermore, the present invention not only focuses on the length of the drone path, but also introduces obstacle parameters to achieve comprehensive optimization of efficiency and safety in practical applications.

[0120] Furthermore, the danger warning method based on foundation pit construction hoisting also includes the following steps:

[0121] Step S103, performing construction safety analysis on the construction monitoring data to determine whether there is a danger of hoisting construction, and issuing a hoisting danger warning when there is a danger of hoisting construction.

[0122] In an embodiment of the present invention, hoisting safety demand data is obtained, and construction safety analysis is performed on the construction monitoring data according to the hoisting safety demand data to determine whether there is a hoisting construction hazard. If it is determined that there is a hoisting construction hazard, a hoisting warning signal is generated, and then a hoisting hazard warning is issued to the target hoisting equipment according to the hoisting warning signal.

[0123] It is understandable that the dangers of lifting construction may include failure of lifting equipment, overload lifting, command errors, structural stability defects, etc.

[0124] Specifically, Figure 4 A flow chart of performing a hoisting hazard warning in a method provided in an embodiment of the present invention is shown.

[0125] Among them, in the preferred embodiment provided by the present invention, the construction safety analysis of the construction monitoring data is performed to determine whether there is a hoisting construction hazard, and when there is a hoisting construction hazard, a hoisting hazard warning is issued, which specifically includes the following steps:

[0126] Step S1031, obtaining hoisting safety requirement data;

[0127] Step S1032, performing construction safety analysis on the construction monitoring data according to the hoisting safety demand data to determine whether there is a hoisting construction hazard;

[0128] Step S1033, when there is a danger of hoisting construction, generating a hoisting warning signal;

[0129] Step S1034: issuing a hoisting danger warning according to the hoisting warning signal.

[0130] Specifically, according to the hoisting safety demand data, the construction monitoring data is subjected to construction safety analysis to determine whether there is a hoisting construction hazard. The specific steps are as follows:

[0131] Obtain the maximum safe load value of the lifting equipment based on the lifting safety requirement data;

[0132] Obtain real-time hoisting load fluctuation value based on monitoring data;

[0133] Based on the maximum safe load value of the hoisting equipment and the real-time hoisting load fluctuation value, the load fluctuation correction factor is calculated. The corresponding relationship in the process is:

[0134] ;

[0135] in, represents the load fluctuation correction factor, Indicates the fluctuation coefficient of the hoisting load, Indicates the maximum safe load value of the lifting equipment. Indicates the real-time hoisting load fluctuation value;

[0136] The weight of the monitoring data and the total number of monitoring data are obtained through the monitoring data. Then, the hoisting construction hazard index is obtained by weighted average calculation through the load fluctuation correction factor, the total number of monitoring data and the weight of monitoring data. The corresponding relationship in the process is:

[0137] ;

[0138] in, Indicates the hazard index of hoisting construction. Indicates the total number of monitoring data. Indicates The weight of monitoring data, It means that it has been processed by nonlinear function. Indicates monitoring data;

[0139] Finally, the hoisting construction hazard index is used to further determine whether there is a hoisting construction hazard.

[0140] Furthermore, the present invention processes the monitoring data by using nonlinear functions to fully reflect the danger of hoisting construction; and uses weight distribution to enable the present invention to distinguish the degree of influence of the monitoring data according to actual conditions during evaluation.

[0141] Furthermore, the danger warning method based on foundation pit construction hoisting also includes the following steps:

[0142] Step S104, performing flight following monitoring on the direct monitoring drone through the following monitoring drone to obtain following monitoring data.

[0143] In an embodiment of the present invention, a tracking monitoring route is planned according to the construction monitoring route and the preset tracking monitoring distance, and then according to the tracking monitoring route, the following monitoring drone is controlled to follow the direct monitoring drone, and the direct monitoring drone is subjected to flight following monitoring to obtain following monitoring data, and the following monitoring data is fed back, so that the following monitoring data fed back and transmitted by the following monitoring drone can be received.

[0144] Specifically, Figure 5 A flow chart of obtaining follow-up monitoring data in the method provided by an embodiment of the present invention is shown.

[0145] Among them, in the preferred embodiment provided by the present invention, the following monitoring drone is used to perform flight following monitoring on the direct monitoring drone, and obtaining following monitoring data specifically includes the following steps:

[0146] Step S1041, planning a tracking monitoring route according to the construction monitoring route;

[0147] Step S1042, according to the tracking monitoring route, controlling the following monitoring drone to perform flight following monitoring on the direct monitoring drone;

[0148] Step S1043, receiving the following monitoring data fed back by the following monitoring drone.

[0149] Furthermore, the danger warning method based on foundation pit construction hoisting also includes the following steps:

[0150] Step S105, performing flight safety analysis on the follow-up monitoring data to determine whether there is a flight monitoring hazard, and issuing a flight hazard warning when there is a flight monitoring hazard.

[0151] In an embodiment of the present invention, a flight safety analysis is performed on the follow-up monitoring data, the flight intervention distance is calculated in real time, and then the flight intervention distance is compared with the preset safety intervention distance to determine whether the flight intervention distance is less than the safety intervention distance. When the flight intervention distance is less than the safety intervention distance, it is determined that the directly monitored UAV has a flight monitoring hazard. At this time, a flight warning signal is generated, and a flight hazard warning is issued to the directly monitored UAV according to the flight warning signal.

[0152] It can be understood that the safe intervention distance is the minimum distance at which there is no danger of collision intervention during direct monitoring of the drone's flight.

[0153] Specifically, Figure 6 A flow chart of performing flight hazard warning in the method provided in an embodiment of the present invention is shown.

[0154] Among them, in the preferred embodiment provided by the present invention, the flight safety analysis of the following monitoring data, determining whether there is a flight monitoring hazard, and issuing a flight hazard warning when there is a flight monitoring hazard specifically includes the following steps:

[0155] Step S1051, performing flight safety analysis on the following monitoring data and calculating the flight intervention distance in real time;

[0156] Step S1052, comparing the flight intervention distance with a preset safety intervention distance;

[0157] Step S1053, when the flight intervention distance is less than the safety intervention distance, it is determined that there is a flight monitoring danger, and a flight warning signal is generated;

[0158] Step S1054: Issue a flight hazard warning according to the flight warning signal.

[0159] Specifically, the flight safety analysis is performed on the following monitoring data, and the flight intervention distance is calculated in real time. The specific steps are as follows:

[0160] Obtaining the position coordinates of the directly monitored UAV by directly monitoring the UAV;

[0161] Obtain the location coordinates of the following monitoring drone by following the monitoring drone;

[0162] Determine the relative speed of the direct monitoring UAV and the follow-up monitoring UAV;

[0163] Based on the preset safety intervention distance, the position coordinates of the direct monitoring drone, the position coordinates of the follow-up monitoring drone and the relative speed, the flight intervention distance is calculated by dynamically correcting the Euclidean space distance and speed change. The corresponding relationship is:

[0164] ;

[0165] in, Indicates the flight intervention distance, It means that after being processed by the maximum value function, Indicates the preset safety intervention distance, Indicates the position coordinates of the drone being directly monitored. Indicates the location coordinates of the following monitoring drone. represents the relative speed, Indicates the speed adjustment factor, Indicates the maximum relative speed allowed.

[0166] Furthermore, the present invention uses Euclidean spatial distance to ensure that the impact of spatial position on safety distance can be fully reflected; at the same time, dynamic correction is performed to make the present invention more practical in drone formation flight or multi-machine traffic control scenarios.

[0167] Furthermore, Figure 7 The application architecture diagram of the system provided by the embodiment of the present invention is shown.

[0168] Among them, in another preferred embodiment provided by the present invention, a danger warning system based on foundation pit construction hoisting includes:

[0169] The drone selection and analysis unit 101 is used to obtain drone status data of multiple idle drones, perform endurance comparison and analysis on the multiple drone status data, and select a direct monitoring drone and a follow-up monitoring drone.

[0170] In an embodiment of the present invention, the drone selection and analysis unit 101 obtains drone status data of multiple idle drones, and extracts drone endurance data of multiple idle drones from the multiple drone status data, compares the multiple drone endurance data with the preset direct monitoring endurance and following monitoring endurance, selects drone endurance data greater than the direct monitoring endurance from the multiple drone endurance data, marks it as direct endurance data, and selects drone endurance data greater than the following monitoring endurance, marks it as following endurance data, and then marks the idle drones corresponding to the direct endurance data as direct monitoring drones, and marks the idle drones corresponding to the following endurance data as following monitoring drones.

[0171] Specifically, Figure 8 A structural block diagram of the drone selection and analysis unit 101 in the system provided by an embodiment of the present invention is shown.

[0172] Among them, in the preferred embodiment provided by the present invention, the drone selection analysis unit 101 specifically includes:

[0173] A status acquisition module 1011 is used to acquire drone status data of multiple idle drones;

[0174] A flight endurance extraction module 1012 is used to extract a plurality of drone flight endurance data from the plurality of drone status data;

[0175] The endurance comparison module 1013 is used to compare and analyze the endurance data of the plurality of drones based on the preset direct monitoring endurance and follow-up monitoring endurance, and select the direct endurance data and the follow-up endurance data;

[0176] A direct monitoring drone selection module 1014 is used to select a direct monitoring drone according to the direct flight endurance data;

[0177] The following monitoring drone selection module 1015 is used to select a following monitoring drone according to the following endurance data.

[0178] Furthermore, the danger warning system based on foundation pit construction hoisting also includes:

[0179] The hoisting construction monitoring unit 102 is used to monitor the hoisting construction of the target hoisting equipment through the direct monitoring drone and obtain construction monitoring data.

[0180] In an embodiment of the present invention, the hoisting construction monitoring unit 102 determines the target hoisting equipment that needs to be warned of danger, obtains the target hoisting position of the target hoisting equipment, and obtains the equipment appearance data of the target hoisting equipment, and then analyzes the target hoisting position and the equipment appearance data to plan a construction monitoring route, and then controls the direct monitoring UAV to perform a monitoring flight according to the construction monitoring route. During the monitoring flight, the target hoisting equipment is monitored for hoisting construction, construction monitoring data is obtained, and the construction monitoring data is fed back, so that the construction monitoring data fed back and transmitted by the direct monitoring UAV can be received.

[0181] Specifically, Fig. 9 It shows a structural block diagram of the hoisting construction monitoring unit 102 in the system provided by the embodiment of the present invention.

[0182] Among them, in the preferred embodiment provided by the present invention, the hoisting construction monitoring unit 102 specifically includes:

[0183] The position acquisition module 1021 is used to acquire the target hoisting position of the target hoisting equipment;

[0184] The shape acquisition module 1022 is used to acquire the equipment shape data of the target lifting equipment;

[0185] A route planning module 1023 is used to plan a construction monitoring route according to the target hoisting position and the equipment shape data;

[0186] The hoisting construction monitoring module 1024 is used to control the direct monitoring drone to perform hoisting construction monitoring on the target hoisting equipment according to the construction monitoring route;

[0187] The data feedback module 1025 is used to receive the construction monitoring data fed back and transmitted by the direct monitoring drone.

[0188] Furthermore, the danger warning system based on foundation pit construction hoisting also includes:

[0189] The hoisting danger warning unit 103 is used to perform construction safety analysis on the construction monitoring data, determine whether there is a hoisting construction danger, and issue a hoisting danger warning when there is a hoisting construction danger.

[0190] In an embodiment of the present invention, the lifting hazard warning unit 103 obtains lifting safety demand data, performs construction safety analysis on the construction monitoring data according to the lifting safety demand data, determines whether there is a lifting construction hazard, and generates a lifting warning signal when it is determined that there is a lifting construction hazard, and then performs a lifting hazard warning on the target lifting equipment according to the lifting warning signal.

[0191] The flight following monitoring unit 104 is used to perform flight following monitoring on the direct monitoring UAV through the following monitoring UAV to obtain following monitoring data.

[0192] In an embodiment of the present invention, the flight following monitoring unit 104 plans a tracking monitoring route according to the construction monitoring route and the preset tracking monitoring distance, and then controls the following monitoring UAV to follow the direct monitoring UAV according to the tracking monitoring route, and performs flight following monitoring on the direct monitoring UAV to obtain following monitoring data, and feeds back the following monitoring data, so as to be able to receive the following monitoring data fed back and transmitted by the following monitoring UAV.

[0193] The flight hazard warning unit 105 is used to perform flight safety analysis on the follow-up monitoring data, determine whether there is a flight monitoring hazard, and issue a flight hazard warning when there is a flight monitoring hazard.

[0194] In an embodiment of the present invention, the flight hazard warning unit 105 performs flight safety analysis on the follow-up monitoring data, calculates the flight intervention distance in real time, and then compares the flight intervention distance with the preset safety intervention distance to determine whether the flight intervention distance is less than the safety intervention distance. When the flight intervention distance is less than the safety intervention distance, it is determined that the directly monitored UAV has a flight monitoring hazard. At this time, a flight warning signal is generated, and a flight hazard warning is issued to the directly monitored UAV according to the flight warning signal.

[0195] Specifically, Fig.10 A structural block diagram of the flight hazard warning unit 105 in the system provided by an embodiment of the present invention is shown.

[0196] Among them, in the preferred embodiment provided by the present invention, the flight hazard warning unit 105 specifically includes:

[0197] A safety analysis module 1051 is used to perform flight safety analysis on the following monitoring data and calculate the flight intervention distance in real time;

[0198] A distance comparison module 1052 is used to compare the flight intervention distance with a preset safety intervention distance;

[0199] A signal generating module 1053, configured to determine that there is a flight monitoring danger and generate a flight warning signal when the flight intervention distance is less than the safety intervention distance;

[0200] The flight hazard warning module 1054 is used to issue a flight hazard warning according to the flight warning signal.

[0201] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0202] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0203] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0205] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A danger warning method based on foundation pit construction hoisting, characterized in that: The method specifically comprises the following steps: Obtaining drone status data of multiple idle drones, performing endurance comparison and analysis on the multiple drone status data, and selecting a directly monitored drone and a follow-up monitored drone; By using the direct monitoring drone, the target lifting equipment is monitored for lifting construction to obtain construction monitoring data; Conducting construction safety analysis on the construction monitoring data to determine whether there is a danger of hoisting construction, and issuing a hoisting danger warning when there is a danger of hoisting construction; By using the following monitoring drone, the direct monitoring drone is subjected to flight following monitoring to obtain following monitoring data; Performing flight safety analysis on the following monitoring data to determine whether there is a flight monitoring hazard, and issuing a flight hazard warning when there is a flight monitoring hazard; The obtaining of drone status data of a plurality of idle drones, performing endurance comparison and analysis on the plurality of drone status data, and selecting a directly monitored drone and a follow-up monitored drone specifically include the following steps: Get drone status data for multiple idle drones; Extracting a plurality of drone endurance data from the plurality of drone status data; Based on the preset direct monitoring endurance and follow-up monitoring endurance, compare and analyze the endurance data of the plurality of drones, and select the direct endurance data and the follow-up endurance data; According to the direct flight time data, select to directly monitor the drone; According to the following endurance data, select a following monitoring drone.

2. The danger warning method based on foundation pit construction hoisting according to claim 1 is characterized in that: Based on the preset direct monitoring endurance and follow-up monitoring endurance, the endurance data of the plurality of drones are compared and analyzed, and the direct endurance data and the follow-up endurance data are selected. The specific steps are as follows: Obtain battery power, energy conversion efficiency, and average flight speed through drone status data; The endurance performance index is calculated by combining battery power, energy conversion efficiency and average flight speed. The corresponding relationship is: ； in, Indicates The endurance performance index of the UAV, Indicates The battery power of the drone, Indicates The energy conversion efficiency of a drone, Indicates The average flight speed of the drones, Indicates the flight speed index, Indicates The flight distance of the drone, Represents the flight distance index, Indicates The battery capacity of the drone, Represents the battery capacity index, represents the time weight coefficient, Indicates The estimated mission execution time of the UAV, represents the task time index; Obtain the load weight of the drone and the projected area of ​​the drone through the drone status data; The comprehensive endurance index of the drone is calculated by the load weight of the drone, the projected area of ​​the drone and the endurance performance index. The corresponding relationship is: ； in, represents the penalty coefficient of air resistance. Indicates The load weight of the drone, Indicates The projected area of ​​the drone, Indicates The comprehensive endurance index of the UAV; Based on the comprehensive endurance indicators of the UAV, the optimal UAV for direct endurance and follow-up endurance is determined, and then the direct endurance data and follow-up endurance data are obtained through the optimal UAV.

3. The danger warning method based on foundation pit construction hoisting according to claim 2 is characterized in that: The direct monitoring drone is used to monitor the lifting construction of the target lifting equipment and obtain the construction monitoring data, which specifically includes the following steps: Obtain a target hoisting position of a target hoisting device; Obtain equipment shape data of target lifting equipment; Planning a construction monitoring route according to the target hoisting position and the equipment shape data; According to the construction monitoring route, controlling the direct monitoring drone to perform hoisting construction monitoring on the target hoisting equipment; Receive the construction monitoring data fed back by the direct monitoring UAV.

4. The danger warning method based on foundation pit construction hoisting according to claim 3 is characterized in that: According to the target hoisting position and the equipment shape data, the construction monitoring route is planned. The specific steps are as follows: Obtain the spatial coordinates of the UAV and the velocity components of the UAV by directly monitoring the UAV; The net length of the UAV's flight path is calculated through the UAV's spatial coordinates and the UAV's velocity components. The corresponding relationship is: ； in, represents the net length of the drone’s flight path, represents the spatial coordinates of the drone, , and Represent the velocity components of the drone in three directions respectively. and Respectively represent the initial time and end time of the flight path, represents the time differential, , and Respectively represent the small changes in the position of the drone in the three coordinate axis directions; The total number of obstacles on the path between the target hoist and the UAV is obtained through the target hoist position; The actual length of the UAV flight path is calculated by the net length of the UAV flight path and the total number of obstacles. The corresponding relationship is: ； in, represents the actual length of the drone's flight path, represents the obstacle weight coefficient, Indicates The impact value of obstacles, Indicates the total number of obstacles; Plan construction monitoring routes using the actual length of the drone’s flight path.

5. The danger warning method based on foundation pit construction hoisting according to claim 4 is characterized in that: The construction safety analysis of the construction monitoring data to determine whether there is a danger of hoisting construction and issuing a hoisting danger warning when there is a danger of hoisting construction specifically includes the following steps: Obtain lifting safety requirement data; According to the hoisting safety demand data, a construction safety analysis is performed on the construction monitoring data to determine whether there is a hoisting construction hazard; When there is a danger of hoisting construction, a hoisting warning signal is generated; According to the hoisting warning signal, a hoisting danger warning is issued.

6. The danger warning method based on foundation pit construction hoisting according to claim 5 is characterized in that: According to the hoisting safety demand data, the construction monitoring data is subjected to construction safety analysis to determine whether there is a hoisting construction hazard. The specific steps are as follows: Based on the lifting safety demand data, obtain the maximum safe load value of the lifting equipment; Obtain real-time hoisting load fluctuation value based on monitoring data; Based on the maximum safe load value of the hoisting equipment and the real-time hoisting load fluctuation value, the load fluctuation correction factor is calculated. The corresponding relationship in the process is: ； in, represents the load fluctuation correction factor, Indicates the lifting load fluctuation coefficient, Indicates the maximum safe load value of the lifting equipment. Indicates the real-time hoisting load fluctuation value; The weight of the monitoring data and the total number of monitoring data are obtained through the monitoring data. Then, the hoisting construction hazard index is obtained by weighted average calculation through the load fluctuation correction factor, the total number of monitoring data and the weight of monitoring data. The corresponding relationship in the process is: ； in, Indicates the hazard index of hoisting construction. Indicates the total number of monitoring data. Indicates The weight of monitoring data, It means that after nonlinear function processing, Indicates monitoring data; Finally, the hoisting construction hazard index is used to further determine whether there is a hoisting construction hazard.

7. The danger warning method based on foundation pit construction hoisting according to claim 6 is characterized in that: The following monitoring drone is used to perform flight following monitoring on the direct monitoring drone, and obtaining following monitoring data specifically includes the following steps: According to the construction monitoring route, plan a tracking monitoring route; According to the tracking and monitoring route, control the following monitoring drone to perform flight following and monitoring on the direct monitoring drone; Receive the following monitoring data fed back by the following monitoring UAV.

8. The danger warning method based on foundation pit construction hoisting according to claim 7 is characterized in that: The performing of flight safety analysis on the following monitoring data to determine whether there is a flight monitoring hazard, and issuing a flight hazard warning when there is a flight monitoring hazard specifically comprises the following steps: Perform flight safety analysis on the following monitoring data and calculate the flight intervention distance in real time; comparing the flight intervention distance with a preset safety intervention distance; When the flight intervention distance is less than the safety intervention distance, determining that there is a flight monitoring hazard and generating a flight warning signal; According to the flight warning signal, a flight hazard warning is issued.

9. The danger warning method based on foundation pit construction hoisting according to claim 8 is characterized in that: The step of performing flight safety analysis on the following monitoring data and calculating the flight intervention distance in real time specifically includes the following sub-steps: Obtaining the position coordinates of the directly monitored UAV by directly monitoring the UAV; Obtain the location coordinates of the following monitoring drone by following the monitoring drone; Determine the relative speed of the direct monitoring UAV and the follow-up monitoring UAV; Based on the preset safety intervention distance, the position coordinates of the direct monitoring drone, the position coordinates of the follow-up monitoring drone and the relative speed, the flight intervention distance is calculated by dynamically correcting the Euclidean space distance and speed change. The corresponding relationship is: ； in, Indicates the flight intervention distance, It means that after being processed by the maximum value function, Indicates the preset safety intervention distance, Indicates the position coordinates of the drone being directly monitored. Indicates the location coordinates of the following monitoring drone. represents the relative speed, Indicates the speed adjustment factor, Indicates the maximum relative speed allowed.

10. A danger warning system based on foundation pit construction hoisting, characterized in that: The system applies the danger warning method based on foundation pit construction hoisting as described in any one of claims 1 to 9, and the system includes a drone selection and analysis unit, a hoisting construction monitoring unit, a hoisting danger warning unit, a flight follow-up monitoring unit and a flight danger warning unit, wherein: A drone selection and analysis unit is used to obtain drone status data of multiple idle drones, perform endurance comparison and analysis on the multiple drone status data, and select a direct monitoring drone and a follow-up monitoring drone; A hoisting construction monitoring unit is used to monitor the hoisting construction of the target hoisting equipment through the direct monitoring drone and obtain construction monitoring data; A hoisting hazard warning unit is used to perform construction safety analysis on the construction monitoring data, determine whether there is a hoisting construction hazard, and issue a hoisting hazard warning when there is a hoisting construction hazard; A flight following monitoring unit, used to perform flight following monitoring on the direct monitoring drone through the following monitoring drone, and obtain following monitoring data; The flight hazard warning unit is used to perform flight safety analysis on the following monitoring data, determine whether there is a flight monitoring hazard, and issue a flight hazard warning when there is a flight monitoring hazard.

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