Remote operation crane video delay detection alarm method, system and device

Abstract

The invention discloses a remote operation crane video delay detection alarm method, system and device. The method comprises the following steps: synchronizing the time of all video equipment which is connected to a remote operation system and is used for detecting the action of a crane and the time of a video equipment control device; reading the generation time of the current display frame of the video equipment and the display time corresponding to the current frame of the video equipment in the video equipment control device; calculating a deviation value between the generation time and the display time of the current display frame; and the deviation value is compared with a preset deviation threshold value, and whether the remote operation crane is detected or alarmed is determined. The system comprises a time synchronization module, a reading module, a calculation module and a comparison module, and the device comprises video equipment, a video equipment control device, a remote operation system and central control equipment. The problem that in the prior art, observation delay through naked eyes has quite long time hysteresis can be solved, and therefore the safety and reliability of remote operation of the whole crane can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of cranes, and in particular to a method, system and device for detecting and alarming video delay of a remotely operated crane. Background Art

[0002] Whether the traditional remote-operated crane video is delayed depends on the crane operator's naked eye observation without any monitoring measures. When the delay can be observed by the naked eye, the delay time is already quite long, which directly affects the safety and reliability of remote operation. Summary of the invention

[0003] In order to solve some or all of the technical problems existing in the above-mentioned prior art, the present invention provides a remote-operated crane video delay detection alarm method, system and device, which can monitor the delay time of the remote operation video image in real time. When the delay time exceeds the maximum lag time of the constraint, an alarm is issued in real time, thereby interrupting the remote operation when a lag occurs at a critical operating position, thereby ensuring the safety and reliability of the entire remote operation.

[0004] The technical solution of the present invention is as follows:

[0005] In a first aspect, the present invention provides a method for remotely operating a crane video delay detection and alarm, comprising:

[0006] Synchronize the time of all video devices connected to the remote operation system for detecting crane movements with the time of the video device control device;

[0007] Reading the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device;

[0008] Calculate the deviation between the current display frame generation time and the display time;

[0009] The deviation value is compared with a preset deviation threshold to determine whether to detect or alarm the remotely operated crane.

[0010] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, by setting an NTP time synchronization server in the server of the remote operating system, the time of all video devices connected to the remote operating system for detecting crane movements and the time of the video device control device are synchronized.

[0011] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, the video device includes a video camera.

[0012] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, the video equipment control device includes a video monitoring industrial computer.

[0013] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, calculating the deviation value between the current display frame generation time and the display time includes:

[0014] The current display frame generation time is subtracted from the display time, and the absolute value of the difference obtained by the subtraction is the deviation value.

[0015] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, the preset deviation threshold includes 0.5s-5s.

[0016] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, the preset deviation threshold includes any one of 1s, 2s or 3s.

[0017] Furthermore, in the above-mentioned remote-operated crane video delay detection and alarm method, comparing the deviation value with a preset deviation threshold value to determine whether to detect or alarm the remote-operated crane includes:

[0018] When the deviation value is greater than or equal to a preset deviation threshold, the remote-operated crane is detected or alarmed;

[0019] When the deviation value is less than the preset deviation threshold, the remote-operated crane continues to operate.

[0020] In a second aspect, the present invention provides a remote-operated crane video delay detection alarm system, comprising:

[0021] A time synchronization module, the time synchronization module is used to synchronize the time of all video devices connected to the remote operation system for detecting the crane movement and the time of the video device control device;

[0022] A reading module, the reading module is used to read the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device;

[0023] A calculation module, the calculation module is used to calculate the deviation value between the current display frame generation time and the display time;

[0024] A comparison module is used to compare the deviation value with a preset deviation threshold value to determine whether to detect or alarm the remote-operated crane.

[0025] In a third aspect, the present invention further provides a remote-operated crane video delay detection and alarm device, comprising:

[0026] A video device for detecting and acquiring video of the crane action;

[0027] A video device control device, the video device control device is connected to the video device by wire or wirelessly, and the video device control device is used to display the video detected and acquired by the video device;

[0028] A remote operating system, wherein the remote operating system is connected to the video device and the video device control device by wire or wirelessly, and an NTP time synchronization server is integrated or separately provided in the remote operating system, so that the NTP time synchronization server synchronizes the time of all video devices connected to the remote operating system for detecting crane movements with the time of the video device control device;

[0029] The central control device is used to read the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device, and calculate the deviation value between the current display frame generation time and the display time, and compare the deviation value with a preset deviation threshold stored in advance or called, so that when the deviation value is greater than or equal to the preset deviation threshold, the remote-operated crane is shut down or alarmed, and when the deviation value is less than the preset deviation threshold, the remote-operated crane is controlled to continue operating.

[0030] The main advantages of the technical solution of the present invention are as follows:

[0031] The present invention provides a method for detecting and alarming a video delay of a remote-operated crane. By separately reading the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device after the synchronization time, the deviation time between the two can be accurately determined. By comparing the deviation time with a preset deviation time threshold, the deviation time of the remote-operated crane can be determined. The remote-controlled crane can be accurately warned or shut down according to the deviation, thereby monitoring the delay time of the remote-operated video image in real time. Specifically, when the delay time exceeds the maximum lag time of the constraint, an alarm is issued in real time, thereby interrupting the remote operation when a lag occurs at a critical operating position, thereby ensuring the safety and reliability of the entire remote operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 A schematic flow chart of a method for remotely operating a crane video delay detection and alarm according to an embodiment of the present invention;

[0034] Figure 2A schematic structural diagram of a video delay detection and alarm system for a remotely operated crane provided by an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the structure of a video delay detection and alarm device for a remotely operated crane provided by one embodiment of the present invention;

[0036] Description of reference numerals:

[0037] 10. Time synchronization module; 11. Reading module; 12. Calculation module; 13. Comparison module;

[0038] 100. Video equipment; 101. Video equipment control device; 102. Remote operating system; 103. Central control equipment. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] The following is combined with Figure 1-3 , describes in detail the technical solution provided by the embodiments of the present invention.

[0041] As attached Figure 1 As shown, an embodiment of the present invention provides a method for remotely operating a crane video delay detection alarm, the method comprising the following steps S1 to S4:

[0042] Step S1: synchronizing the time of all video devices connected to the remote operation system for detecting crane movements and the time of the video device control device;

[0043] In some optional implementations of this embodiment, by setting up an NTP time synchronization server in the server of the remote operating system, the time of all video devices connected to the remote operating system for detecting crane movements and the time of the video device control device are synchronized.

[0044] In some optional implementations of this embodiment, the video device includes a video camera, and the video device control device includes a video monitoring industrial computer.

[0045] Step S2: reading the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device;

[0046] Step S3: Calculate the deviation between the current display frame generation time and the display time;

[0047] In some optional calculation methods, calculating the deviation value between the current display frame generation time and the display time includes: subtracting the current display frame generation time from the display time, and the absolute value of the difference obtained by the subtraction is the deviation value.

[0048] Step S4: Compare the deviation value with the preset deviation threshold to determine whether to detect or alarm the remote-operated crane. When the deviation value is greater than or equal to the preset deviation threshold, detect or alarm the remote-operated crane;

[0049] When the deviation value is less than the preset deviation threshold, the remote-operated crane continues to operate.

[0050] In some optional implementations of this embodiment, the preset deviation threshold may include any time between 0.5s and 5s.

[0051] In some other optional implementations of this embodiment, the preset deviation threshold includes any one of 1s, 2s or 3s, where s is the time unit, seconds.

[0052] It should be noted that the size of the above-mentioned preset deviation threshold depends on the actual application, and the above is only an exemplary description and does not limit it to its uniqueness.

[0053] Exemplarily, the above-mentioned preset deviation threshold is set to 4s. Assuming that the generation time of the current display frame of the video device used to detect the movement of the crane is 2:30:35PM (2:30:35 PM) on a certain day in a certain area, and the display time corresponding to the current frame of the video device in the video device control device is 2:30:36PM (2:30:36 PM), the deviation time between the two is 1 second, which is less than the above-mentioned preset deviation threshold of 4s (s represents seconds), and the remote-operated crane continues to operate; if the generation time of the current display frame of the video device used to detect the movement of the crane is 2:30:35PM (2:30:35 PM) on a certain day in a certain area, and the display time corresponding to the current frame of the video device in the video device control device is 2:30:40PM (2:30:40 PM), the deviation time between the two is 5 seconds, which is greater than the above-mentioned preset deviation and value of 4s (s represents seconds), the remote-operated crane stops operating and issues an alarm.

[0054] In order to distinguish between alarms and detections of a remotely operated crane and improve the operation efficiency of the crane, the above-mentioned preset deviation threshold may be set to multiple values.

[0055] As an example, the above-mentioned preset deviation threshold is set to two, namely, a first preset deviation threshold and a second preset deviation threshold, the first preset deviation threshold corresponds to an alarm for the remote-operated crane, and the second preset deviation threshold corresponds to a shutdown of the remote-operated crane.

[0056] Specifically, if the above-mentioned first preset deviation threshold and second preset deviation threshold are adopted, it is necessary to set the time of the above-mentioned second preset deviation threshold to a time greater than the first preset deviation threshold, and start timing after reaching the first preset deviation threshold. If the second preset threshold is reached within the preset time after reaching the first preset deviation threshold, the machine will be shut down. If the second preset threshold is not reached within the preset time, or the alarm is automatically released within the preset time, the remote operation system and the crane will be closely monitored or detected.

[0057] It should be noted that the above-mentioned preset time is set according to actual operation needs.

[0058] It should also be noted that in order to ensure the safety and reliability of the entire crane remote operation, maintenance operations of different levels and degrees are carried out after the above-mentioned alarms and shutdowns.

[0059] Therefore, the method of the present invention sets an NTP time synchronization server in the remote operation server, synchronizes the time of all video cameras connected to the remote operation system and the time of the video monitoring industrial computer through NTP, and sets a video monitoring software in the remote operation video monitoring industrial computer, the video monitoring software can read the generation time of the current display frame of the camera and the display time in the video monitoring industrial computer in real time, calculate the deviation value between the generation time and the display time of the current display frame, so that the comparison accuracy is milliseconds. When the two time deviations exceed the alarm threshold currently set according to relevant standards, an alarm can be issued and sent to the remote operation server. After receiving the alarm, the remote operation server can safely terminate the remote operation, thereby solving the problem of considerable long-term lag in the prior art of using the crane operator to observe the delay through the naked eye, thereby ensuring the safety and reliability of the entire crane remote operation.

[0060] Second, as Figure 2 As shown, the present invention provides a remote-operated crane video delay detection and alarm system, which includes: a time synchronization module 10, a reading module 11, a calculation module 12 and a comparison module 13, wherein:

[0061] The time synchronization module 10 is used to synchronize the time of all video devices connected to the remote operating system for detecting crane movements and the time of the video device control device; the reading module 11 is used to read the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device; the calculation module 12 is used to calculate the deviation value between the current display frame generation time and the display time; the comparison module 13 is used to compare the deviation value with the preset deviation threshold to determine whether to detect or alarm the remotely operated crane.

[0062] Therefore, the system of the present invention can solve the problem of long time delay in observation by naked eyes in the prior art, thereby ensuring the safety and reliability of the entire crane remote operation.

[0063] Thirdly, Figure 3 As shown, the present invention also provides a remote-operated crane video delay detection and alarm device, the device comprising: a video device 100, a video device control device 101, a remote operating system 102 and a central control device 103, wherein:

[0064] The video device 100 is used to detect and obtain the video of the crane action; the video device control device 101 is connected to the video device 100 by wire or wireless, and the video device control device 101 is used to display the video detected and obtained by the video device 100; the remote operation system 102 is connected to the video device 100 and the video device control device 101 by wire or wireless, and an NTP time synchronization server is integrated or separately set in the remote operation system 102, so that the NTP time synchronization server synchronizes the time of all video devices 100 connected to the remote operation system 102 for detecting the crane action with the time of the video device control device 101; the central control device 103 is used to read the generation time of the current display frame of the video device 100 and the display time corresponding to the current frame of the video device 100 in the video device control device 101, and calculate the deviation value between the current display frame generation time and the display time, and compare the deviation value with a preset deviation threshold value stored or called in advance, so that when the deviation value is greater than or equal to the preset deviation threshold value, the remote-operated crane is shut down or alarmed, and when the deviation value is less than the preset deviation threshold value, the remote-operated crane is controlled to continue to operate.

[0065] In some optional implementations of this embodiment, the above-mentioned video device 100 includes a video camera, the video device control device 101 includes a video monitoring industrial computer, the remote operation system 102 includes a modular integrated unit or device, and the central control device 103 includes various controllers and / or computers with the above-mentioned functions.

[0066] In summary, through the remote-operated crane video delay detection and alarm device of the present invention, by comparing the deviation time with the preset deviation time threshold, the deviation time of the remote-operated crane can be determined, and the delay time of the remote-operated video image can be monitored in real time. When the delay time exceeds the maximum lag time constraint, an alarm is issued in real time, thereby interrupting the remote operation when a lag occurs at a critical operating position, thereby ensuring the safety and reliability of the entire remote operation.

[0067] In addition, as an optional implementation of the present invention, the present invention can also provide a crane, which includes the remote-operated crane video delay detection alarm system or the remote-operated crane video delay detection alarm device described in any of the above embodiments.

[0068] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote-operated crane video delay detection and alarm method, characterized in that: include: Synchronize the time of all video devices connected to the remote operation system for detecting crane movements with the time of the video device control device; Reading the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device; Calculate the deviation between the current display frame generation time and the display time; The deviation value is compared with a preset deviation threshold to determine whether to detect or alarm the remotely operated crane.

2. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: By setting up an NTP time synchronization server in the server of the remote operation system, the time of all video devices connected to the remote operation system for detecting crane movements and the time of the video device control device are synchronized.

3. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: The video device includes a video camera.

4. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: The video equipment control device includes a video monitoring industrial computer.

5. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: Calculating the deviation between the current display frame generation time and the display time includes: The current display frame generation time is subtracted from the display time, and the absolute value of the difference obtained by the subtraction is the deviation value.

6. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: The preset deviation threshold includes 0.5s-5s.

7. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: The preset deviation threshold includes any one of 1s, 2s or 3s.

8. A remote-operated crane video delay detection and alarm method according to claim 1, characterized in that: Comparing the deviation value with the preset deviation threshold to determine whether to detect or alarm the remotely operated crane includes: When the deviation value is greater than or equal to a preset deviation threshold, the remote-operated crane is detected or alarmed; When the deviation value is less than the preset deviation threshold, the remote-operated crane continues to operate.

9. A remote-operated crane video delay detection alarm system, characterized in that: include: A time synchronization module, the time synchronization module is used to synchronize the time of all video devices connected to the remote operation system for detecting the crane movement and the time of the video device control device; A reading module, the reading module is used to read the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device; A calculation module, the calculation module is used to calculate the deviation value between the current display frame generation time and the display time; A comparison module is used to compare the deviation value with a preset deviation threshold value to determine whether to detect or alarm the remote-operated crane.

10. A remote-operated crane video delay detection and alarm device, characterized in that: include: A video device for detecting and acquiring video of the crane action; A video device control device, the video device control device is connected to the video device by wire or wirelessly, and the video device control device is used to display the video detected and acquired by the video device; A remote operating system, wherein the remote operating system is connected to the video device and the video device control device by wire or wirelessly, and an NTP time synchronization server is integrated or separately provided in the remote operating system, so that the NTP time synchronization server synchronizes the time of all video devices connected to the remote operating system for detecting crane movements with the time of the video device control device; The central control device is used to read the generation time of the current display frame of the video device and the display time corresponding to the current frame of the video device in the video device control device, and calculate the deviation value between the current display frame generation time and the display time, and compare the deviation value with a preset deviation threshold stored in advance or called, so that when the deviation value is greater than or equal to the preset deviation threshold, the remote-operated crane is shut down or alarmed, and when the deviation value is less than the preset deviation threshold, the remote-operated crane is controlled to continue operating.

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