Remote control excavator surrounding personnel safety early warning system

Abstract

The invention discloses a safety early warning system for personnel around a remote control excavator, and relates to the technical field of safety of the remote control excavator, and the safety early warning system is characterized in that a signal sending module sends waveform signals to the surrounding, a signal receiving module receives the rebounded waveform signals, and a plurality of infrared radiation detection modules are installed around the excavator; infrared radiation of the surrounding environment of the excavator is detected, selective alarming is conducted through the alarming module when a worker approaches the excavator, an alarm is given to remind the surrounding worker to be away from the excavator when the worker is in a dangerous range, and the danger assessment module assesses the position where the worker approaches; the excavator can continue to work when the danger is low, the situation that operators dare not to continue to operate due to the fact that the operators pass through a low danger area, and the working efficiency is affected is avoided, when the operators approach a high danger area, the excavator is braked emergently, and the personal safety of the approaching operators is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of remote-controlled excavator safety, and in particular is a safety early warning system for personnel around a remote-controlled excavator. Background Art

[0002] A remote-controlled excavator is a remote-controlled excavator that is modified or customized with a ram door on an existing excavator, allowing the excavator to operate in dangerous environments and complex terrains. When the staff remotely controls the excavator, they only need to send remote control commands on a computer or mobile phone through the remote control software to operate the excavator to work. This can not only effectively improve work efficiency but also ensure the operator's own safety to the greatest extent.

[0003] When a remote-controlled excavator is working, the operator of the excavator is far away from the excavator and there is a blind spot in the field of vision. If other people approach the excavator while the excavator is working, they are easily injured by the working excavator, which poses a safety hazard. When in use, the remote-controlled excavator cannot automatically warn when surrounding people approach, reminding surrounding people to leave quickly and reminding the operator that there are people approaching the excavator. Therefore, a safety warning system for people around a remote-controlled excavator is provided, which reminds surrounding people to leave quickly and reminds the operator to pay attention to the operation when surrounding people approach. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art; to this end, the present invention proposes a remote-controlled excavator surrounding personnel safety warning system. To solve the above problem, the present invention adopts the following technical solution.

[0005] A remote control excavator surrounding personnel safety warning system, comprising: a data processing unit, and Signal sending module: Multiple signal sending modules are installed around the excavator to send multiple sets of waveform signals to the surrounding area. The sent signals spread to the surrounding area in a fan shape. The sent signals rebound and return after being blocked or collided. Signal receiving module: multiple signal receiving modules are installed at positions corresponding to the signal sending modules. The signal receiving modules receive the rebounded waveform signals and transmit the received waveform signals to the data processing unit; Infrared radiation detection module: multiple infrared radiation detection modules are installed around the excavator to detect infrared radiation in the environment around the excavator and convert the infrared radiation into visible light images; The data processing unit performs screening and processing on the waveform signal according to the waveform signal received by the signal receiving module; The infrared radiation detection module transmits the detected infrared radiation data to the data processing unit, and screens and analyzes the temperature information according to the signal detected by the infrared radiation detection module to determine whether the detected temperature is within the human body temperature range, and analyzes whether it is infrared radiation generated by the human body according to the visible light image; The data processing unit compares the information received by the signal receiving module with the information detected by the infrared radiation detection module, and determines the distance between the surrounding staff and the excavator through the waveform signal; Alarm module: Selectively alarm when a worker approaches the excavator, and issue an alarm when a worker is in a dangerous range to remind surrounding workers to stay away from the excavator.

[0006] As a further solution of the present invention: the data processing unit includes a data analysis module and a data calculation module: The data analysis module trains a deep learning model and uses a large number of waveform signals and infrared radiation detection modules to train a CNN model respectively, so that it can learn to extract the features of waveform signals and infrared radiation signals. The trained CNN model is used to extract features of new waveform signals and infrared radiation signals, and then PCA or other dimensionality reduction methods are used to reduce the dimensionality of the extracted features to obtain low-dimensional feature vectors. The reduced dimensionality feature vectors are used as data, and matplotlib or other drawing libraries are used to draw spider web diagrams. By training the target detection model (YOLO), the visible light image is detected to determine whether the target is a human body; Train the convolutional neural network to learn the corresponding relationship between the signals in the two spider web images. When a human body is detected around, compare the two spider web images. When it is confirmed that the infrared radiation detection module detects a human body, extract the waveform signal information at the corresponding position. The data calculation module calculates the waveform diagram of the screened human body position.

[0007] As a further solution of the present invention: the data calculation module calculates the distance between the surrounding staff and the excavator according to the data screened by the data analysis module by using the following formula: ; Among them, L is the distance between the surrounding staff and the excavator, S is the speed at which the waveform signal emitted by the signal sending module propagates in the air, and T is the time taken for the signal sending module to send the signal and for the signal receiving module to receive the signal.

[0008] As a further embodiment of the present invention: comprising: Hazard assessment module: The data calculation module transmits the distance data between the staff and the excavator to the risk assessment module. The risk assessment module assesses the safety of the surrounding staff based on the moving speed of the excavator and the distance between the staff and the excavator.

[0009] As a further solution of the present invention: the hazard assessment module assesses the safety of the positions of the surrounding workers by the following formula: ; Among them, Q is the safety assessment value of the surrounding workers’ location, V max is the maximum moving speed of the excavator when it is traveling horizontally, M is the time it takes for the excavator to move within a safe range, which is 10 seconds, and V max ×M is the distance that the excavator moves within the specified safety time, and K is the arm span length of the excavator.

[0010] As a further solution of the present invention: when Q ≥ 0, it is a safe distance, and the risk assessment module will not send a signal to the alarm module; when ≤Q≤ , and M is 10, which indicates low risk. The risk assessment module sends a signal to the alarm module. After receiving the signal, the alarm module sends a low risk alarm to remind surrounding staff to stay away from the excavator and to remind the excavator operator to pay attention.

[0011] As a further solution of the present invention: when Q< , and when M is 10, it is a high risk. The risk assessment module sends a signal to the alarm module. At this time, the alarm module will issue a high-risk alarm to remind the surrounding staff to stay away from the excavator and remind the excavator operator to pay attention.

[0012] As a further embodiment of the present invention: comprising: Control module: The control module is connected to the emergency fuel switch of the excavator, and the control module controls the opening and closing of the emergency fuel switch according to the evaluation result of the risk evaluation module; When Q< , and M is 10, the hazard assessment module sends a signal to the control module, which controls the emergency fuel switch to be closed, forcing the excavator to stop working.

[0013] When the risk assessment module re-evaluates and Q> When the emergency fuel switch is turned on, the control module will control the emergency fuel switch to open again. At this time, the excavator operator can start the excavator to work again.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The environment around the excavator is detected. When a worker approaches the excavator, an alarm is sounded to alert the nearby personnel and the operator, and the location of the nearby personnel is evaluated. When the risk is low, the excavator will continue to work to avoid the operator's fear of continuing to operate due to personnel passing through the low-risk area, which affects work efficiency. When a worker approaches a high-risk area, the excavator is emergency braked to stop working and ensure the personal safety of the nearby workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the system framework of the present invention; Figure 2 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1 - Figure 2 The first embodiment of the present invention provides a remote control excavator surrounding personnel safety warning system, including: a data processing unit, the data processing unit is installed inside the excavator, and Signal sending module: Multiple signal sending modules are installed around the excavator to send multiple sets of waveform signals to the surrounding area. The sent signals spread to the surrounding area in a fan shape. After being blocked and collided, the sent signals rebound and return. The signal sending module is installed around the outer wall of the excavator through bolts and protected by a hollow protective cover to avoid being damaged by external flying stones. Signal receiving module: multiple signal receiving modules are installed at positions corresponding to the signal sending modules. The signal receiving modules receive the rebounded waveform signal and transmit the received waveform signal to the data processing unit. The signal receiving module is fixed around the outer wall of the excavator body in the same installation method as the signal sending module, and is also protected by a hollow protective cover. The signal receiving module is installed on the upper or lower side of the signal sending module. The number of signal receiving modules is the same as that of the signal sending modules, and they are installed in a one-to-one correspondence.

[0019] Infrared radiation detection module: multiple infrared radiation detection modules are installed around the excavator to detect infrared radiation in the environment around the excavator and convert the infrared radiation into visible light images. The number of infrared radiation detection modules is the same as the number of signal receiving modules and signal sending modules, which are also installed around the outer wall of the excavator body and protected by a hollow protective cover. The infrared radiation detection module can be a thermal imager, which collects and saves the surrounding infrared radiation signals.

[0020] The data processing unit performs screening and processing on the waveform signal according to the waveform signal received by the signal receiving module; The infrared radiation detection module transmits the detected infrared radiation data to the data processing unit, and screens and analyzes the temperature information according to the signal detected by the infrared radiation detection module to determine whether the detected temperature is within the human body temperature range, and analyzes whether it is infrared radiation generated by the human body according to the visible light image; Alarm module: emits alarm sounds and alarm signals to remind surrounding personnel to stay away, and also reminds the operator that there are people approaching the excavator.

[0021] Hazard assessment module: Assess the danger of the location of surrounding workers: Hazard assessment module: The data calculation module transmits the distance data between the workers and the excavator to the risk assessment module. The risk assessment module assesses the safety of surrounding workers based on the moving speed of the excavator and the distance between the workers and the excavator.

[0022] The hazard assessment module evaluates the safety of the surrounding workers' positions using the following formula: ; Among them, Q is the safety assessment value of the surrounding workers’ location, V max is the maximum moving speed of the excavator when it is traveling horizontally, M is the time it takes for the excavator to move within a safe range, which can be 10 seconds, and V max×M is the distance that the excavator moves within the specified safety time, K is the arm span length of the excavator, where M can be manually changed. When it is inconvenient for people around to walk on the road, the value of M can be increased to expand the warning range and give people around more time to stay away. When the excavator is working on an inclined slope, V max ×M can be set to , a is the maximum acceleration of the excavator when it moves downward on the slope.

[0023] When Q≥0, it is a safe distance and the risk assessment module will not send a signal to the alarm module to make it alarm. when ≤Q≤ , and M is 10, which indicates low risk. The risk assessment module sends a signal to the alarm module. After receiving the signal, the alarm module sends a low risk alarm to remind surrounding staff to stay away from the excavator and to remind the excavator operator to pay attention.

[0024] The data processing unit includes a data analysis module and a data calculation module: The data analysis module trains a deep learning model and uses a large number of waveform signals and infrared radiation detection modules to train a CNN model respectively, so that it can learn to extract the features of waveform signals and infrared radiation signals. The trained CNN model is used to extract features of new waveform signals and infrared radiation signals, and then PCA or other dimensionality reduction methods are used to reduce the dimensionality of the extracted features to obtain low-dimensional feature vectors. The reduced dimensionality feature vectors are used as data, and matplotlib or other drawing libraries are used to draw spider web diagrams. By training the target detection model (YOLO), the visible light image is detected to determine whether the target is a human body; Train the convolutional neural network to learn the corresponding relationship between the signals in the two spider web images. When a human body is detected around, compare the two spider web images. When it is confirmed that the infrared radiation detection module detects a human body, extract the waveform signal information at the corresponding position. The data calculation module calculates the waveform diagram of the screened human body position.

[0025] The data calculation module calculates the distance between the surrounding staff and the excavator using the following formula based on the data filtered by the data analysis module: ; Among them, L is the distance between the surrounding staff and the excavator, S is the speed at which the waveform signal emitted by the signal sending module propagates in the air, and T is the time taken for the signal sending module to send the signal and for the signal receiving module to receive the signal.

[0026] Specifically, in this embodiment, the distance between the surrounding workers and the excavator is judged by the rebound of the waveform signal and the human body information detected by the infrared radiation detection module. When there are workers approaching the excavator, or the excavator is approaching nearby workers, when the distance reaches a dangerous distance, the alarm module will promptly issue an alarm to remind the workers around the excavator to quickly move away from the excavator, and at the same time remind the excavator operator that there are workers in the dangerous area around the excavator, and they should pay attention to the operation to ensure the safety of the surrounding workers.

[0027] Among them, when Q< , and when M is 10, it is a high risk. The risk assessment module sends a signal to the alarm module. At this time, the alarm module will issue a high-risk alarm to remind the surrounding staff to stay away from the excavator and remind the excavator operator to pay attention.

[0028] Control module: The control module is connected to the emergency fuel switch of the excavator, and the control module controls the opening and closing of the emergency fuel switch according to the evaluation result of the risk evaluation module; When Q< , and M is 10, the hazard assessment module sends a signal to the control module, which controls the emergency fuel switch to be closed, forcing the excavator to stop working.

[0029] When the risk assessment module re-evaluates and Q> When the emergency fuel switch is turned on, the control module will control the emergency fuel switch to open again. At this time, the excavator operator can start the excavator to work again.

[0030] In this embodiment, the safety of the positions of the workers around the excavator is evaluated through the hazard assessment module. When the positions of the workers around the excavator are in low-risk, the excavator can continue to work normally, maintain the working state to ensure work efficiency, and will not be affected by the movement of passing workers. When the positions of the workers around the excavator are in high-risk, the alarm module sends a high-risk signal to alarm, and the hazard assessment module sends a signal to the control module, thereby controlling the emergency fuel switch of the excavator to be turned off through the control module, forcing the excavator to stop working, and preventing the excavator from continuing to work and threatening the safety of the surrounding workers.

[0031] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A remote control excavator surrounding personnel safety warning system, characterized in that: include: data processing unit, and Signal sending module: Multiple signal sending modules are installed around the excavator to send multiple sets of waveform signals to the surrounding area. The sent signals spread to the surrounding area in a fan shape. The sent signals rebound and return after being blocked or collided. Signal receiving module: multiple signal receiving modules are installed at positions corresponding to the signal sending modules. The signal receiving modules receive the rebounded waveform signals and transmit the received waveform signals to the data processing unit; Infrared radiation detection module: multiple infrared radiation detection modules are installed around the excavator to detect infrared radiation in the environment around the excavator and convert the infrared radiation into visible light images; The data processing unit performs screening and processing on the waveform signal according to the waveform signal received by the signal receiving module; The infrared radiation detection module transmits the detected infrared radiation data to the data processing unit, and screens and analyzes the temperature information according to the signal detected by the infrared radiation detection module to determine whether the detected temperature is within the human body temperature range, and analyzes whether it is infrared radiation generated by the human body according to the visible light image; The data processing unit compares the information received by the signal receiving module with the information detected by the infrared radiation detection module, and determines the distance between the surrounding staff and the excavator through the waveform signal; Alarm module: Selectively alarm when a worker approaches the excavator, and issue an alarm when a worker is in a dangerous range to remind surrounding workers to stay away from the excavator.

2. A remote control excavator surrounding personnel safety warning system according to claim 1, characterized in that: The data processing unit includes a data analysis module and a data calculation module: The data analysis module trains a deep learning model, uses a large number of waveform signals and infrared radiation detection modules to train a CNN model respectively, so that it can learn to extract the features of waveform signals and infrared radiation signals, uses the trained CNN model to extract features of new waveform signals and infrared radiation signals, and then uses PCA or other dimensionality reduction methods to reduce the dimension of the extracted features to obtain low-dimensional feature vectors. The reduced feature vectors are used as data, and matplotlib or other drawing libraries are used to draw spider web diagrams; By training the target detection model (YOLO), the visible light image is detected to determine whether the target is a human body; Train the convolutional neural network to learn the corresponding relationship between the signals in the two spider web images. When a human body is detected around, compare the two spider web images. When it is confirmed that the infrared radiation detection module detects a human body, extract the waveform signal information at the corresponding position. The data calculation module calculates the waveform diagram of the screened human body position.

3. A remote control excavator surrounding personnel safety warning system according to claim 2, characterized in that: The data calculation module calculates the distance between the surrounding staff and the excavator based on the data filtered by the data analysis module using the following formula: ; Among them, L is the distance between the surrounding workers and the excavator, S is the speed at which the waveform signal emitted by the signal sending module propagates in the air, and T is the time taken for the signal sending module to send the signal and for the signal receiving module to receive the signal.

4. A remote control excavator surrounding personnel safety warning system according to claim 3, characterized in that: include, Hazard assessment module: The data calculation module transmits the distance data between the staff and the excavator to the hazard assessment module. The hazard assessment module assesses the safety of the surrounding staff based on the moving speed of the excavator and the distance between the staff and the excavator.

5. A remote control excavator surrounding personnel safety warning system according to claim 4, characterized in that: The hazard assessment module evaluates the safety of the surrounding workers' positions using the following formula: ; Among them, Q is the safety assessment value of the surrounding workers’ location, V max is the maximum moving speed of the excavator when it is traveling horizontally, M is the time it takes for the excavator to move within a safe range, which is 10 seconds, and V max ×M is the distance that the excavator moves within the specified safety time, and K is the arm span length of the excavator.

6. A remote control excavator surrounding personnel safety warning system according to claim 5, characterized in that: When Q≥0, it is a safe distance and the hazard assessment module will not send a signal to the alarm module; when ≤Q≤ , and when M is 10, it is low risk. The risk assessment module sends a signal to the alarm module. After receiving the signal, the alarm module sends a low risk alarm to remind the surrounding staff to stay away from the excavator and to remind the excavator operator to pay attention.

7. A remote control excavator surrounding personnel safety warning system according to claim 6, characterized in that: When Q< , and when M is 10, it is a high risk. The risk assessment module sends a signal to the alarm module. At this time, the alarm module will issue a high-risk alarm to remind the surrounding staff to stay away from the excavator and remind the excavator operator to pay attention.

8. A remote control excavator surrounding personnel safety warning system according to claim 7, characterized in that: include, Control module: The control module is connected to the emergency fuel switch of the excavator, and the control module controls the opening and closing of the emergency fuel switch according to the evaluation result of the risk evaluation module; When Q< , and M is 10, the hazard assessment module sends a signal to the control module, which controls the emergency fuel switch to be closed, forcing the excavator to stop working.

9. When the risk assessment module re-evaluates and Q> When the emergency fuel switch is turned on, the control module will control the emergency fuel switch to open again. At this time, the excavator operator can start the excavator to work again.

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