Tower crane group working condition detection system for main tower construction

Abstract

The invention relates to the technical field of tower cranes, and particularly discloses a tower crane group working condition detection system for main tower construction, which comprises a task distribution module, a model creation module, a field tracking module, a weight distribution module, a tower crane state monitoring module, a tower crane anti-collision module, a collision risk analysis module and a risk early warning module, the tower crane state monitoring module is used for monitoring the operation state of the tower crane in real time and associating monitoring data to the established tower crane BIM model so as to display the operation state of the tower crane in real time, the tower crane anti-collision module is used for obtaining tower crane parameters according to a sensor on the tower crane, and the collision risk analysis module is used for analyzing the collision risk of the tower crane. The collision risk level obtaining module is used for obtaining the collision risk level of the tower crane according to the current tower crane parameters and the collision range of the tower crane, and the risk early warning module is used for sending alarm information to the tower crane according to the collision risk level and controlling starting and stopping of the damping device. According to the scheme, the problem that a safety monitoring system of a common existing tower crane is difficult to comprehensively monitor and manage a tower crane group on a whole bridge main tower construction site can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tower cranes, and in particular to a tower crane group working condition detection system used for main tower construction. Background Art

[0002] In the field of modern construction, tower cranes, as indispensable large-scale construction equipment, play a vital role in promoting urbanization and building high-rise buildings. As the city skyline continues to rise, the use of tower cranes has become more frequent and the number has increased dramatically. However, this trend is also accompanied by a series of safety challenges, especially in the complex and changing construction site environment, the operation and maintenance safety issues of tower crane groups have become particularly prominent.

[0003] Traditional tower crane safety assurance methods mainly rely on the professional skills and experience accumulation of operators, as well as regular maintenance and inspection processes. However, this method that relies on human factors has obvious shortcomings. On the one hand, the operator's mistakes or negligence may directly cause safety accidents, bringing immeasurable consequences. On the other hand, traditional maintenance and inspection methods make it difficult to achieve real-time dynamic monitoring and early warning of tower crane groups, and it is difficult to capture potential safety hazards in time, so it is impossible to effectively intervene in the budding stage of accidents.

[0004] In order to improve the service safety of tower cranes, safety monitoring systems have been applied. These systems usually integrate multiple functions such as load monitoring, height monitoring, amplitude monitoring, and tilt monitoring, and can realize real-time monitoring and early warning of a single tower crane. However, these systems still have some shortcomings in terms of the safety of tower crane groups. In bridge construction, the main tower of the bridge is as high as 200m. As the main tower is built upward, it is difficult for the human eye to judge the working condition of the tower arm. In addition, the main tower built between the peaks has a tower bottom elevation of more than 1000m, and the environment above the tower is prone to be obscured by haze. At the same time, the tower cranes on the approach bridge piers are densely distributed, close in distance, and large in number; As a result, the existing single tower crane safety monitoring system lacks comprehensive consideration of the coordinated operation and mutual influence between the tower crane group, and it is difficult to achieve unified monitoring and efficient management of the entire construction site tower crane group. How to cooperate and work efficiently and avoid mutual interference is a problem that technicians in this field urgently need to solve. Summary of the invention

[0005] The present invention provides a tower crane group working condition detection system for main tower construction to solve the problem that the general existing tower crane safety monitoring system is difficult to achieve comprehensive monitoring and management of the tower crane group at the entire bridge main tower construction site.

[0006] To solve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: a tower crane group working condition detection system for main tower construction includes a task allocation module, a model creation module, a field tracking module, and a weight allocation module;

[0007] On-site tracking module, used to obtain monitoring images of the construction area based on the monitoring and 3D cameras installed on the construction site;

[0008] A model creation module is used to obtain point cloud data based on the monitoring screen of the construction area and create a BIM model of the construction area;

[0009] The task allocation module is used to obtain the crane task information, determine the crane group that can perform the task within the range of the starting point coordinates and the ending point coordinates of a single crane task, and allocate the task to a target crane according to the load of each crane in the crane group, the number of avoidances of other cranes when performing the task, and the length of the execution path;

[0010] The crane task information includes the weight of the target cargo, the characteristics of the target cargo, the starting coordinates and the end coordinates of the target cargo; the on-site tracking module is also used to classify the target cargo according to the characteristics of the cargo images of the completed tasks, and to estimate the weight characteristics according to the classification of the target cargo; if the weight characteristics cannot be estimated, the task publisher shall input the weight characteristics;

[0011] The weight allocation module is used to assign different weights to the four types of data, namely, load, number of avoidances, execution path, and target cargo characteristics, which are used by the tower crane when allocating tasks, and apply the weight rule to the task allocation module.

[0012] The basic principle of this solution is: the staff in the main control room can observe the actual situation of the on-site operation in real time based on the monitoring screen and BIM model of the construction site. During the construction work, a series of tasks are arranged in sequence and require the on-site tower crane to perform the work. The starting point and end point of the task are counted through the task allocation module, and then multiple tower cranes that can perform the task are searched near the starting point based on the cargo situation of the task. Finally, the task is assigned to a target tower crane based on the load of different tower cranes, the number of avoidance times of other tower cranes when performing the task, and the length of the execution path.

[0013] The beneficial effects of this solution are: by using information from the task execution process, different tasks can be accurately assigned to each crane in the crane group, ensuring that when tasks are assigned, the most suitable crane is selected to perform the task based on the load, number of avoidances, and execution path. By classifying the image features between different goods, the weight features are used as the basis for task allocation. This ensures that when tasks are assigned multiple times, the goods can be quickly identified and the next step of allocation can be carried out, minimizing the difficulty of operation for operators.

[0014] Further, it includes a tower crane status monitoring module, a tower crane anti-collision module, a collision risk analysis module, and a risk warning module;

[0015] The tower crane status monitoring module is used to monitor the operating status of the tower crane in real time, and associate the monitoring data with the created tower crane BIM model to display the operating status of the tower crane in real time. The operating status includes normal operation of the tower crane, full load of the tower crane, overload of the tower crane, amplitude variation exceeding the upper limit, amplitude variation exceeding the lower limit, inclination of the tower crane, and rotation angle of the tower crane;

[0016] The tower crane anti-collision module is used to obtain tower crane parameters according to sensors on the tower crane. The tower crane parameters include the height of the hook, the rotation angle of the crane arm, the inclination angle of the crane arm, the wind speed of the environment where the tower crane is located, and the position of the tower crane, and obtain the collision range between adjacent tower cranes according to the obtained tower crane parameters;

[0017] The collision risk analysis module is used to obtain the collision risk level of the tower crane according to the current tower crane parameters and collision range. The collision risk levels include level one, level two and level three. When both tower cranes are within the collision range, the risk level is level one; when one of the tower cranes is within the collision range, the risk level is level two; when both tower cranes are outside the collision range, the risk level is level three;

[0018] The risk warning module is used to send alarm information to the tower crane according to the collision risk level and control the opening and closing of the damping device, which is used to control the rotation speed of the tower crane and the pitch speed of the crane arm.

[0019] By installing the first height sensor and the second height sensor on each tower crane in the tower crane group, the collision range between adjacent tower cranes can be calculated. The collision range is calculated by taking the height difference H between the tower crane's boom and the hook and the tower crane's boom length as the radius R, and calculating the activity volume range of a cylinder with the tower crane as the axis. By performing an intersection calculation on the activity volume range of two adjacent cylinders in three-dimensional space, the coordinate range of the overlapping part of the two tower crane cylinders is obtained as the collision range. The collision range is displayed in the BIM model, and the boundary of the collision range is used as the trigger threshold of the collision risk level in the collision risk analysis module.

[0020] Generally, the existing safety monitoring system of tower cranes is difficult to achieve comprehensive monitoring and management of the tower crane group at the entire bridge main tower construction site. This solution uses sensors and collision risk analysis modules to calculate the collision range between adjacent tower cranes. It can be applicable to the existing tower crane groups with mixed use of different tower crane types. Even if the boom tower crane and the tower crane have different working modes, the collision range between the two tower cranes can be accurately obtained. Alarm information is sent in time according to the collision risk level of the tower crane, and the slewing speed and pitch speed of the tower crane are controlled by the damping device, which plays a role in timely monitoring the tower crane group to avoid collision accidents.

[0021] Furthermore, the sensor includes a first height sensor, a second height sensor, a rotation sensor, an inclination sensor, a wind speed sensor, a high-definition camera, and a millimeter-wave radar.

[0022] Further, a first height sensor is installed on the hook to measure the height of the hook;

[0023] The second height sensor is installed at the front end of the boom and is used to measure the height of the boom;

[0024] The rotation sensor is installed at the tower crane shaft, with the tower crane shaft as the pole, to measure the polar angle coordinates of the crane arm, which is used to measure the rotation angle of the crane arm;

[0025] The tilt sensor is installed at the front end of the boom, taking the horizontal state of the boom as the pole, and measuring the polar angle coordinates of the front end of the boom, so as to measure the pitch angle of the boom;

[0026] The wind speed sensor is installed at the front end of the hook and is used to measure the ambient wind speed;

[0027] The high-definition camera is installed on the top of the tower crane and is used to collect image information near the working range of the tower crane;

[0028] The millimeter wave radar is installed at the front end of the hook and is used to actively detect obstacles entering the detection area, detect the size profile and relative position of the obstacles within the working range of the tower crane, and obtain the spatial coordinates of the obstacles.

[0029] Furthermore, the damping device can be installed on a tower crane and a boom crane. When installed on a tower crane, the damping device is located on the rotating shaft of the boom; when installed on a boom crane, the damping device is installed between the pin joints of the boom and the tower body.

[0030] Furthermore, the damping device is an eddy current damper.

[0031] Furthermore, the risk warning module includes an alarm and a display. The alarm is installed in the cab of the tower crane, and the display is movably installed in front of the seat in the cab of the tower crane. The alarm is used to play alarm information, and the display is used to display a three-dimensional image of the current tower crane and the collision range.

[0032] Furthermore, it also includes an ergonomics analysis module, which is used to store the historical work information of the tower crane and display the historical ergonomics analysis results through charts. The historical ergonomics analysis results include height change information, wind speed change information, operation mode, operator, load percentage, and boarding and disembarking information. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural block diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following is further described in detail through specific implementation methods:

[0035] The embodiment is basically as shown in the attached Figure 1 As shown:

[0036] The working condition detection system of the tower crane group used for the main tower construction includes task allocation module, model creation module, on-site tracking module, weight distribution module, tower crane status monitoring module, tower crane anti-collision module, collision risk analysis module, and risk warning module;

[0037] The on-site tracking module is used to obtain monitoring images of the construction area based on the monitoring and three-dimensional cameras installed at the construction site.

[0038] The model creation module is used to obtain point cloud data based on the monitoring screen of the construction area and create a BIM model of the construction area.

[0039] The task allocation module is used to obtain the crane task information, and assign the task to a target crane according to the starting and ending coordinates of a single crane task, the crane group that can perform the crane task within the starting coordinate range, and the load of different cranes in the crane group, the number of avoidances of other cranes when performing the task, and the length of the execution path. If the task exceeds the load of a single crane, the load is ignored to create a crane group, the task is marked, and then multi-crane collaboration is selected from the crane group.

[0040] Specifically, the crane task information includes the weight of the target cargo, the characteristics of the target cargo, the starting coordinates and the end coordinates of the target cargo; wherein the on-site tracking module is also used to identify and classify different target cargoes according to the characteristics of the target cargoes on the monitoring screen. In addition, the appearance characteristics of the target cargoes can be obtained by comparing the image information recognized by the on-site tracking module in the execution process of the previous cargoes with the characteristics of the target cargoes.

[0041] The weight allocation module is used to assign different weights to the four types of data, namely, load, avoidance times, execution path, and target cargo characteristics, which are used by the tower crane in task allocation, and apply the weight rule to the task allocation module. Specifically, in this embodiment, the weight of the load is 0.2, the weight of the avoidance times is 0.5, the weight of the execution path is 0.2, and the weight of the target cargo characteristics is 0.1.

[0042] By assigning different weights to the parameters of different task allocation bases, load weight: there are situations where both high-load tower cranes and low-load tower cranes can perform the same task. To ensure that the high-load tower crane can be fully utilized, the high-load tower crane gives priority to handling large-load target cargo, and avoids the high load being occupied due to completing small-load cargo tasks, which causes delays in large-load tasks.

[0043] Path length weighting: Optimize path selection and reduce unnecessary moves, saving time and resources.

[0044] Avoidance times weight: Reduce avoidance actions. When a tower crane is performing a task, other tower cranes on its rotation or moving path need to stop and avoid, so that the tower crane's task execution is smoother and the overall efficiency is improved.

[0045] The tower crane status monitoring module is used to monitor the operating status of the tower crane in real time, and associate the monitoring data with the created tower crane BIM model to display the operating status of the tower crane in real time. The operating status includes normal operation of the tower crane, full load of the tower crane, overload of the tower crane, amplitude variation exceeding the upper limit, amplitude variation exceeding the lower limit, inclination of the tower crane, and rotation angle of the tower crane;

[0046] Specifically, the tower crane itself is equipped with five major safety limit devices, including lifting height limiter, torque limiter, lifting weight limiter, slewing limiter, and luffing trolley limiter. When none of the five limit devices are triggered, the tower crane is in normal operation; when the torque limiter is triggered, the tower crane is overloaded; when the lifting weight limiter is triggered, the tower crane is overloaded; when the luffing trolley limiter is triggered, when the lower limit of the luffing trolley's moving range is touched, the tower crane's operating state is that the luffing exceeds the lower limit, and when the upper limit of the luffing trolley's moving range is touched, the tower crane's operating state is that the luffing exceeds the upper limit. The tower crane status monitoring module displays the operating state of each tower crane in the BIM model, making it convenient for the staff at the command desk to centrally monitor the real-time operating state of the tower crane group.

[0047] The lifting height limiter is used to prevent possible operational errors when the hook is raised or lowered. The lifting height limiter is usually located on the side of the balance arm winch to prevent the hook from rising beyond the limit and colliding with the arm head structure.

[0048] The torque limiter is used to limit the actual operating lifting torque of the tower crane to not exceed the rated lifting torque, which would cause the entire machine to tip over.

[0049] Lifting weight limiter: A safety device used to prevent the crane from overloading. When the lifting weight exceeds the rated lifting weight, it can automatically cut off the power supply of the lifting mechanism to stop or sound an alarm.

[0050] The rotation limiter is used to prevent excessive rotation in the same direction, which would cause the main cable to be cut at the rotation point.

[0051] The luffing trolley limiter, the luffing trolley limiter on the tower crane with horizontal arm luffing is also called the trolley travel limit switch, which is used to limit the movement range of the load trolley on the lifting arm.

[0052] The tower crane anti-collision module is used to obtain tower crane parameters according to sensors on the tower crane. The tower crane parameters include the height of the hook, the rotation angle of the crane arm, the inclination angle of the crane arm, the wind speed of the environment where the tower crane is located, and the position of the tower crane, and obtain the collision range between adjacent tower cranes according to the obtained tower crane parameters;

[0053] Specifically, the sensors include a first height sensor, a second height sensor, a rotation sensor, an inclination sensor, a wind speed sensor, a high-definition camera, and a millimeter-wave radar.

[0054] The first height sensor is installed on the hook and is used to measure the height of the hook;

[0055] The second height sensor is installed at the front end of the boom and is used to measure the height of the boom. For a horizontal luffing trolley tower crane, the height data obtained by the second sensor increases step by step as the standard section of the tower crane is raised. For a boom tower crane, the height data obtained by the second sensor changes dynamically as the boom is pitched and raised during lifting.

[0056] The slew sensor is installed at the tower crane shaft, with the tower crane shaft as the pole, to measure the polar angle coordinates of the crane arm, which is used to measure the slew angle of the crane arm; the slew data obtained by the slew sensor is displayed in the BIM model at the operating status of the tower crane - the tower crane slew angle.

[0057] The tilt sensor is installed at the front end of the boom, taking the horizontal state of the boom as the pole, and measuring the polar angle coordinates of the front end of the boom, so as to measure the pitch angle of the boom;

[0058] The wind speed sensor is installed at the front end of the hook and is used to measure the ambient wind speed;

[0059] The high-definition camera is installed on the top of the tower crane and is used to collect image information near the working range of the tower crane;

[0060] The millimeter wave radar is installed at the front end of the hook and is used to actively detect obstacles entering the detection area, detect the size profile and relative position of the obstacles within the working range of the tower crane, and obtain the spatial coordinates of the obstacles.

[0061] The collision risk analysis module is used to obtain the collision risk level of the tower crane according to the current tower crane parameters and collision range. The collision risk levels include level one, level two and level three. When both tower cranes are within the collision range, the risk level is level one; when one of the tower cranes is within the collision range, the risk level is level two; when both tower cranes are outside the collision range, the risk level is level three;

[0062] The specific collision range is calculated by taking the height difference H between the tower crane's boom and hook and the tower crane's boom length as the radius R, and calculating the activity volume range of a cylinder with the tower crane as the axis. The activity volume range of two adjacent cylinders is intersected in three-dimensional space to obtain the coordinate range of the overlapping part of the two tower crane cylinders as the collision range. The collision range is displayed in the BIM model, and the boundary of the collision range is used as the trigger threshold of the collision risk level in the collision risk analysis module.

[0063] Specifically, the radius of the activity volume range is adjusted according to the ambient wind speed obtained by the wind speed sensor. Operations need to be stopped at a wind speed of level 5. When the wind speed is from level 1 to level 4, the activity volume range is calculated based on the sum of the activity radius r of the hook and the radius R of the tower crane's boom. Specifically, r=0.01h, r=0.02h, r=0.04h, and r=0.05h when the wind speed is from level 1 to level 4.

[0064] The risk warning module is used to send alarm information to the tower crane according to the collision risk level and control the opening and closing of the damping device, which is used to control the rotation speed of the tower crane and the pitch speed of the crane arm.

[0065] Specifically, the collision risk levels include low risk, medium risk, and high risk. The low risk means that the coordinate positions of the first height sensors and the second height sensors of the two tower cranes are both outside the collision range; the medium risk means that the first height sensor or the second height sensor of one of the tower cranes is within the collision range; the high risk means that the coordinate positions of the first height sensors or the second height sensors of the two tower cranes are within the collision range.

[0066] When the risk level is low risk, medium risk, or high risk, the risk warning module sends an alarm message. When the risk level is high risk, the risk warning module also activates the damping device. Specifically, the damping device is an eddy current damper, which can limit the slewing speed of the slewing mechanism of the tower crane and the pitch speed of the boom of the boom crane. The damping device can be installed on a tower crane and a boom crane. When installed on a tower crane, the damping device is located on the slewing shaft of the boom; when installed on a boom crane, the damping device is installed between the pin joints of the boom and the tower body.

[0067] The risk warning module includes an alarm and a display. The alarm is installed in the cab of each tower crane, and the display is movably installed in front of the seat in the cab of the tower crane. The alarm is used to play the alarm information, and the display is used to display the three-dimensional image of the current tower crane and the collision range, as well as the three-dimensional image of the tower crane near the collision range. Specifically, the coordinates of the first height sensor and the second height sensor of each tower crane can be used to construct a digital twin image of the tower crane.

[0068] It also includes an ergonomics analysis module, which is used to store the historical work information of the tower crane and display the historical ergonomics analysis results through charts. The historical ergonomics analysis results include height change information, wind speed change information, operating mode, operator, load percentage, and boarding and disembarking information.

[0069] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. The tower crane group working condition detection system used for main tower construction is characterized by: It includes task assignment module, model creation module, on-site tracking module and weight assignment module; On-site tracking module, used to obtain monitoring images of the construction area based on the monitoring and 3D cameras installed on the construction site; A model creation module is used to obtain point cloud data based on the monitoring screen of the construction area and create a BIM model of the construction area; The task allocation module is used to obtain the crane task information, determine the crane group that can perform the task within the range of the starting point coordinates and the ending point coordinates of a single crane task, and allocate the task to a target crane according to the load of each crane in the crane group, the number of avoidances of other cranes when performing the task, and the length of the execution path; The crane task information includes the weight of the target cargo, the characteristics of the target cargo, the starting coordinates and the end coordinates of the target cargo; the on-site tracking module is also used to classify the target cargo according to the characteristics of the cargo images of the completed tasks, and to estimate the weight characteristics according to the classification of the target cargo; if the weight characteristics cannot be estimated, the task publisher shall input the weight characteristics; The weight allocation module is used to assign different weights to the four types of data, namely, load, number of avoidances, execution path, and target cargo characteristics, which are used by the tower crane when allocating tasks, and apply the weight rule to the task allocation module.

2. The tower crane group working condition detection system for main tower construction according to claim 1 is characterized in that: It also includes a tower crane status monitoring module, a tower crane anti-collision module, a collision risk analysis module, and a risk warning module; The tower crane status monitoring module is used to monitor the operating status of the tower crane in real time, and associate the monitoring data with the created tower crane BIM model to display the operating status of the tower crane in real time. The operating status includes normal operation of the tower crane, full load of the tower crane, overload of the tower crane, amplitude variation exceeding the upper limit, amplitude variation exceeding the lower limit, inclination of the tower crane, and rotation angle of the tower crane; The tower crane anti-collision module is used to obtain tower crane parameters according to sensors on the tower crane. The tower crane parameters include the height of the hook, the rotation angle of the crane arm, the inclination angle of the crane arm, the wind speed of the environment where the tower crane is located, and the position of the tower crane, and obtain the collision range between adjacent tower cranes according to the obtained tower crane parameters; The collision risk analysis module is used to obtain the collision risk level of the tower crane according to the current tower crane parameters and collision range. The collision risk levels include level one, level two and level three. When both tower cranes are within the collision range, the risk level is level one; when one of the tower cranes is within the collision range, the risk level is level two; when both tower cranes are outside the collision range, the risk level is level three; The risk warning module is used to send alarm information to the tower crane according to the collision risk level and control the opening and closing of the damping device, which is used to control the rotation speed of the tower crane and the pitch speed of the crane arm.

3. The tower crane group working condition detection system for main tower construction according to claim 2 is characterized in that: The sensors include a first height sensor, a second height sensor, a rotation sensor, an inclination sensor, a wind speed sensor, a high-definition camera, and a millimeter-wave radar.

4. The tower crane group working condition detection system for main tower construction according to claim 3 is characterized in that: The first height sensor is installed on the hook and is used to measure the height of the hook; The second height sensor is installed at the front end of the boom and is used to measure the height of the boom; The rotation sensor is installed at the tower crane shaft, with the tower crane shaft as the pole, to measure the polar angle coordinates of the crane arm, which is used to measure the rotation angle of the crane arm; The tilt sensor is installed at the front end of the boom, taking the horizontal state of the boom as the pole, and measuring the polar angle coordinates of the front end of the boom, so as to measure the pitch angle of the boom; The wind speed sensor is installed at the front end of the hook and is used to measure the ambient wind speed; The high-definition camera is installed on the top of the tower crane and is used to collect image information near the working range of the tower crane; The millimeter wave radar is installed at the front end of the hook and is used to actively detect obstacles entering the detection area, detect the size profile and relative position of the obstacles within the working range of the tower crane, and obtain the spatial coordinates of the obstacles.

5. The tower crane group working condition detection system for main tower construction according to claim 4 is characterized in that: The damping device can be installed on a tower crane and a boom crane. When installed on a tower crane, the damping device is located on the rotary shaft of the boom; when installed on a boom crane, the damping device is installed between the pin joints of the boom and the tower body.

6. The tower crane group working condition detection system for main tower construction according to claim 5 is characterized in that: The damping device is an eddy current damper.

7. The tower crane group working condition detection system for main tower construction according to claim 6 is characterized in that: The risk warning module includes an alarm and a display. The alarm is installed in the cab of the tower crane, and the display is movably installed in front of the seat in the cab of the tower crane. The alarm is used to play alarm information, and the display is used to display a three-dimensional image of the current tower crane and the collision range.

8. The tower crane group working condition detection system for main tower construction according to claim 7 is characterized in that: It also includes an ergonomics analysis module, which is used to store the historical work information of the tower crane and display the historical ergonomics analysis results through charts. The historical ergonomics analysis results include height change information, wind speed change information, operating mode, operator, load percentage, and boarding and disembarking information.

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