A method and system for safety early warning of operating state of a bridge crane

Abstract

The application discloses a kind of bridge crane operating state safety early warning method and system, it is related to bridge crane operation monitoring technical field, including the following steps: bridge crane operating area is monitored, and the image information of the goods suspended by bridge crane is collected in real time when operating, obtain the goods suspension state diagram;With the origin of the bridge crane suspension connection node on the collected goods suspension state diagram, establish plane coordinate system, obtain current goods corner point coordinate;Ideal goods suspension state diagram is imported in plane coordinate system, and based on the current goods center rope straight line correlation ideal goods suspension state diagram, calculate goods swing deviation angle point coordinate.The present application is based on current goods suspension state respectively obtains swing deviation value and inclination deviation value and integrates and calculates risk coefficient to evaluate, significantly improve the effect of risk early warning, improve the safety of bridge crane operation, while determining actual operation deviation situation, facilitate emergency treatment when early warning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge crane operation monitoring, in particular to a bridge crane operation state safety early warning method and system. BACKGROUND

[0002] The bridge crane is a hoisting device for hoisting materials above the workshop, warehouse and material yard. The bridge of the bridge crane runs longitudinally along the track laid on the high rack on both sides. It can fully utilize the space below the bridge to hoist materials and is not hindered by ground equipment. It is the most widely used and largest number of hoisting machinery. The bridge crane operation state safety early warning method and system is used to monitor the operation state of the crane in real time and issue an early warning when potential risks are found.

[0003] For example, the application publication no. CN112061992A, application publication date is 2020.12.11, the name is "a door type crane cable storage basket monitoring system", it specifically includes image collector, control processor, memory, display warning device, the control processor carries out gray processing to the image of the door type crane cable and the cable storage basket collected back by the image collector, judges the image of the cable exceeding the set boundary of the cable storage basket as an abnormal scene, the image collector, including but not limited to trolley frame, cab, girder, ladder and walking mechanism, one or more corresponding image collectors are installed on the walking mechanism, the image collector is used to collect the image information of the running state of the door type crane cable and the cable storage basket, and send the image information to the control processor, the control processor, in communication connection with a plurality of image collectors, used to forward the image information to the memory, and process the received image information, compare with the plan in the system, send the abnormal scene information of the cable out of the cable storage frame marked in the plan to the display warning device.

[0004] The existing technology including the above application has the following deficiencies: when monitoring and warning the operation state of the crane, the image of the suspended goods of the crane is collected, and then the monitoring and warning is carried out by comparing and analyzing the position deviation of the goods image with the preset condition. When the suspended goods of the crane move, the goods position deviation is caused by two reasons: one is the deviation caused by the swing of the goods, and the other is the deviation caused by the inclination of the suspended goods. In actual monitoring, only the risk warning is carried out based on the position deviation of the suspended goods, without distinguishing the specific risk influence of the two cases, the safety of risk monitoring is poor, and the actual situation cannot be determined for emergency treatment. SUMMARY

[0005] The purpose of the present application is to provide a bridge crane operation state safety early warning method and system to solve the above deficiencies in the prior art.

[0006] To achieve the above object, the present application provides the following technical solution: a bridge crane operation state safety early warning method, comprising the following steps:

[0007] S1: monitoring the bridge crane operation work area, and collecting image information of the suspended goods of the bridge crane in operation in real time to obtain a goods suspension state diagram;

[0008] S2: establishing a plane coordinate system with the bridge crane suspension connection node as the origin on the collected goods suspension state diagram to obtain the current goods corner point coordinates;

[0009] S3: importing an ideal goods suspension state diagram in the plane coordinate system, and calculating the goods swing deviation corner point coordinates based on the current goods center rope straight line correlation ideal goods suspension state diagram;

[0010] S4: calculating the swing deviation value and the tilt deviation value of the bridge crane hoisted goods based on the current goods corner point coordinates, the swing deviation corner point coordinates, and the ideal corner point coordinates, and storing the swing deviation value and the tilt deviation value obtained historically;

[0011] S5: calculating the bridge crane operation risk coefficient based on the swing deviation value and the tilt deviation value, and evaluating and warning the bridge crane operation state based on the bridge crane operation risk coefficient.

[0012] As a further description of the above technical solution: the step S1 of monitoring the bridge crane operation work area further comprises:

[0013] The collected monitoring video data is analyzed intelligently by AI recognition technology to detect personnel in the video content, and when it is detected that personnel enter the bridge crane operation work area, the early warning mechanism is triggered immediately.

[0014] As a further description of the above technical solution: the step S3 of calculating the goods swing deviation corner point coordinates based on the current goods center rope straight line correlation ideal goods suspension state diagram specifically comprises:

[0015] S3.1: calculating the deviation angle P of the current goods center rope straight line and the Y-axis in the plane coordinate system;

[0016] S3.2: obtaining the straight line between the plane coordinate origin of the ideal goods suspension state diagram and the goods corner point as a reference straight line, and calculating the distance between the plane coordinate origin and the corresponding goods corner point;

[0017] S3.3: Obtain the swing straight line constraint formula by referring to the deflection angle P of the straight line, and obtain the swing circular constraint formula by taking the planar coordinate origin of the ideal cargo suspension state diagram as the center and drawing a circle with the distance between the planar coordinate origin of the ideal cargo suspension state diagram and the corresponding corner point of the cargo as the radius;

[0018] S3.4: Calculate the intersection point of the swing straight line constraint formula and the swing circular constraint formula, which is the swing deviation corner point of the cargo, and obtain the deviation corner point coordinates.

[0019] As a further description of the above technical solution: the calculation of the swing deviation value and the tilt deviation value of the bridge crane hoisting cargo in step S4 based on the current cargo corner point coordinates, the swing deviation corner point coordinates and the ideal corner point coordinates is specifically:

[0020] Calculate the distance between the swing deviation corner point and the ideal corner point to obtain the swing deviation value;

[0021] The calculation logic of the swing deviation value L d is Where X b and Y b are the X-axis and Y-axis coordinates of the swing deviation corner point in the two-dimensional coordinate system, and X O and Y O are the X-axis and Y-axis coordinates of the ideal corner point in the two-dimensional coordinate system.

[0022] Calculate the distance between the current cargo corner point and the swing deviation corner point to obtain the tilt deviation value;

[0023] The calculation logic of the tilt deviation value L q is Where X z and Y z are the X-axis and Y-axis coordinates of the current cargo corner point in the two-dimensional coordinate system.

[0024] As a further description of the above technical solution: the calculation of the running risk coefficient of the bridge crane in step S5 based on the swing deviation value and the tilt deviation value is specifically:

[0025] Calculate the swing deviation independent risk coefficient of the bridge crane operation;

[0026] Calculate the tilt deviation independent risk coefficient of the bridge crane operation;

[0027] Calculate the superimposed influence risk coefficient of the swing deviation value and the tilt deviation value on the operation of the bridge crane;

[0028] Sum the swing deviation independent risk coefficient, the tilt deviation independent risk coefficient and the superimposed influence risk coefficient to obtain the running risk coefficient of the bridge crane.

[0029] As a further description of the above technical solution: the calculation of the swing deviation independent risk coefficient of the bridge crane operation is specifically:

[0030] Based on the time sequence, a plurality of swing deviation value historical parameters are called to obtain a swing deviation value parameter set (L d1 , L d2 , L d3 ...L dn ), wherein L dn is a current swing deviation value;

[0031] The swing deviation value parameter set is made into a swing deviation value scatter plot based on the time sequence, and each data point in the swing deviation value scatter plot is sequentially connected to obtain a swing deviation value trend graph;

[0032] The data point corresponding to the current swing deviation value is marked with a grouping line in the swing deviation value trend graph, wherein the grouping line is parallel to the horizontal coordinate of the swing deviation value trend graph. The third intersection point adjacent to the grouping line and the deviation value trend graph is collected, and the horizontal coordinate corresponding to the third intersection point is obtained.

[0033] Based on the horizontal coordinate corresponding to the third intersection point, a swing deviation value correction interval is determined, and a swing deviation revision value is calculated based on the correction interval and the swing deviation independent risk coefficient is integrated.

[0034] As a further description of the above technical solution: based on the horizontal coordinate corresponding to the third intersection point, a swing deviation value correction interval is determined, and a swing deviation revision value is calculated based on the correction interval and the swing deviation independent risk coefficient is integrated.

[0035] The horizontal coordinate corresponding to the third intersection point on the swing deviation value trend graph and the horizontal coordinate interval corresponding to the current swing deviation value on the swing deviation value trend graph are marked as a swing deviation value correction interval;

[0036] Based on the swing deviation correction interval, the data points corresponding to the swing deviation value scatter plot are collected and marked as: L xd1 , L xd2 , L xd3 ...L xdm ;

[0037] The swing deviation independent risk coefficient F b The calculation formula is: δ1 represents the weight of the influence of the swing of the suspended goods on the safe operation;

[0038] The calculation of the tilt deviation independent risk coefficient of the bridge crane operation is specifically:

[0039] The calculation formula of the tilt deviation independent risk coefficient F q is: F q= L q δ2, δ2 represents the weight of the article suspension inclination on the safe operation, wherein δ2> δ1> 0.

[0040] As a further description of the above technical solution: the calculation of the swing deviation value and the inclination deviation value on the superimposed influence risk coefficient of the bridge crane operation is specifically:

[0041] The superimposed influence risk coefficient calculation logic is: Wherein j represents the weight of the swing deviation value and the inclination deviation value on the superimposed influence risk of the crane operation.

[0042] As a further description of the above technical solution: based on the bridge crane operation risk coefficient, the bridge crane operation state is evaluated and warned, and the specific is:

[0043] Set the risk coefficient threshold value;

[0044] Compare the current bridge crane operation risk coefficient with the risk coefficient threshold value, and when the current bridge crane operation risk coefficient is greater than the risk coefficient threshold value, alarm, and display the swing deviation value and the inclination deviation value corresponding to the current bridge crane operation risk coefficient.

[0045] A bridge crane operation state early warning system for realizing the above-mentioned bridge crane operation state safety early warning method, comprising:

[0046] The operation monitoring module is arranged in the bridge crane operation area to monitor the bridge crane operation area, and real-time acquisition of the image information of the suspended goods of the bridge crane operation to obtain the goods suspension state diagram;

[0047] The video analysis module is used for intelligent analysis of the video content by using AI recognition technology to the collected monitoring video data, and personnel identification, when someone enters the bridge crane operation area, the early warning is triggered;

[0048] The image processing module is in communication connection with the operation monitoring module, and the image processing module is used for calling the goods suspension state diagram, and establishing a plane coordinate system with the bridge crane suspension connection node as the origin on the goods suspension state diagram, and obtaining the current goods corner point coordinate;

[0049] The image analysis module is used for importing the ideal goods suspension state diagram in the plane coordinate system of the goods suspension state diagram, and calculating the swing deviation angle point coordinate of the goods;

[0050] The integration processing module is used for calculating the swing deviation value and the inclination deviation value of the bridge crane hoisting goods based on the current goods corner point coordinate, the swing deviation angle point coordinate and the ideal angle point coordinate;

[0051] An early warning processing module is used to call the swing deviation value and the tilt deviation value, integrate and calculate the bridge crane operation risk coefficient, and evaluate and early warn the bridge crane operation state based on the bridge crane operation risk coefficient.

[0052] In the above technical solution, the bridge crane operation state safety early warning method and system provided by the application, when monitoring and early warning the bridge crane operation state, the safety risk of the swing of the goods and the safety risk of the tilt of the goods suspension are different when the bridge crane suspends and hoists the goods, the prior art only evaluates the risk by a single goods position deviation, and the accuracy and safety are poor, the application evaluates by integrating and calculating the risk coefficient based on the swing deviation value and the tilt deviation value obtained based on the current goods suspension state, significantly improves the effect of risk early warning, improves the safety of the bridge crane operation, and determines the actual operation deviation, so that emergency treatment can be performed during early warning. BRIEF DESCRIPTION OF DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the application, and other drawings can be obtained by those skilled in the art based on these drawings.

[0054] Figure 1 A flow diagram of a bridge crane operation state safety early warning method provided by the embodiment of the application is shown.

[0055] Figure 2 A schematic diagram of a bridge crane operation state safety early warning system provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the technical solutions of the application, the application will be further described in detail below with reference to the drawings.

[0057] Embodiment one

[0058] Please refer to Figure 1 The embodiment of the application provides a technical solution: a bridge crane operation state safety early warning method, including the following steps:

[0059] S1: Monitor the operation area of the bridge crane and collect image information of the suspended goods when the bridge crane is running in real time to obtain a goods suspension state diagram. The collection of image information of the suspended goods when the bridge crane is running is prior art, and the current monitoring equipment all has the function of taking screenshots. The user sets the screenshot frequency and the saving path, and then takes the screenshot of the monitoring video to obtain the goods suspension state diagram. The specific process is not described here.

[0060] S2: Establish a plane coordinate system with the bridge crane suspension connection node as the origin on the collected goods suspension state diagram to obtain the current goods corner point coordinates. The goods corner point is the position point of the goods edge corner, and the bridge crane suspension connection node as the origin is the steel node connected by the hoisting rope and the bridge crane.

[0061] S3: Import an ideal goods suspension state diagram in the plane coordinate system. The ideal goods suspension state diagram is a goods suspension state diagram in which the goods do not swing and tilt in the current suspension state. Calculate the goods swing deviation corner point coordinates based on the current goods center rope straight line associated with the ideal goods suspension state diagram.

[0062] S4: Based on the current goods corner point coordinates, swing deviation corner point coordinates and ideal corner point coordinates, calculate the swing deviation value and tilt deviation value of the bridge crane hoisting goods, and store the swing deviation value and tilt deviation value obtained in history.

[0063] S5: Based on the swing deviation value and the tilt deviation value, the bridge crane running risk coefficient is calculated and integrated, and the bridge crane running state is evaluated and warned based on the bridge crane running risk coefficient.

[0064] When monitoring and warning the running state of the bridge crane, it is obvious that the safety risk of goods swinging and the safety risk of goods suspension tilting are different when the bridge crane is running. The prior art only evaluates the risk by a single goods position deviation, which has poor accuracy and safety. The present application calculates the bridge crane running risk coefficient by obtaining the swing deviation value and the tilt deviation value based on the current goods suspension state and integrating them, to evaluate and analyze the calculation of the bridge crane running safety, significantly improve the effect of risk warning, improve the safety of the bridge crane running, and determine the actual running deviation, which is convenient for emergency treatment when warning.

[0065] Further, the monitoring of the operation area of the bridge crane in step S1 further includes: using AI recognition technology to intelligently analyze the video content of the collected monitoring video data, and triggering a warning mechanism when it is detected that a person enters the operation area of the bridge crane. Real-time monitoring of the operation area of the bridge crane and personnel intrusion detection are realized, which significantly improves the safety of the workplace and reduces the probability of accidents.

[0066] The step S3 of calculating the swing deviation angle point coordinates of the goods based on the current goods center rope straight line associated ideal goods suspension state diagram is specifically:

[0067] S3.1: Calculate the deviation angle P of the current goods center rope straight line and the Y axis in the plane coordinate system. It should be noted that the center rope of the ideal goods suspension state diagram coincides with the Y axis in the plane coordinate system. When calculating the deviation angle P of the current goods center rope and the Y axis in the plane coordinate system, the deviation angle of the current goods center rope and the center rope in the ideal goods suspension state diagram is obtained, that is, the swing deviation angle of the current bridge crane operation state goods is obtained.

[0068] S3.2: Obtain a straight line between the plane coordinate origin of the ideal goods suspension state diagram and the goods corner point as a reference straight line, and calculate the distance between the plane coordinate origin and the corresponding corner point of the goods.

[0069] S3.3: Obtain the swing straight line constraint formula by deflecting the reference straight line by angle P, and obtain the swing circular constraint formula by taking the plane coordinate origin of the ideal goods suspension state diagram as the center and taking the distance between the plane coordinate origin of the ideal goods suspension state diagram and the corresponding corner point of the goods as the radius.

[0070] S3.4: Calculate the intersection point of the swing straight line constraint formula and the swing circular constraint formula, which is the swing deviation angle point, and obtain the swing deviation angle point coordinates. The swing deviation angle point is the corner point coordinates of the goods only in the swing condition. When the bridge crane is running, the suspended goods are inclined, and at this time the swing deviation angle point coordinates are the same as the current goods intersection point coordinates.

[0071] The step S4 of calculating the swing deviation value and the inclination deviation value of the goods hoisted by the bridge crane based on the current goods corner point coordinates, the swing deviation angle point coordinates and the ideal corner point coordinates is specifically:

[0072] Calculate the distance between the swing deviation angle point and the ideal corner point to obtain the swing deviation value;

[0073] The calculation logic of the swing deviation value L d is where X b , Y bX O , Y O are respectively X-axis coordinate and Y-axis coordinate of the ideal angle point on the two-dimensional coordinate system;

[0074] Calculate the distance between the current cargo angle point and the swing deviation angle point to obtain the tilt deviation value;

[0075] The calculation logic of the tilt deviation value L q is Wherein X z , Y z are respectively X-axis coordinate and Y-axis coordinate of the current cargo angle point on the two-dimensional coordinate system.

[0076] The step S5 based on the swing deviation value and the tilt deviation value is integrated to calculate the bridge crane operation risk coefficient, specifically:

[0077] Calculate the swing deviation independent risk coefficient of the bridge crane operation;

[0078] Calculate the tilt deviation independent risk coefficient of the bridge crane operation;

[0079] Calculate the superimposed influence risk coefficient of the swing deviation value and the tilt deviation value on the bridge crane operation;

[0080] Sum the swing deviation independent risk coefficient, the tilt deviation independent risk coefficient and the superimposed influence risk coefficient to obtain the bridge crane operation risk coefficient.

[0081] The calculation of the swing deviation independent risk coefficient of the bridge crane operation is specifically:

[0082] Based on the time series, a plurality of swing deviation value historical parameters are called to obtain a swing deviation value parameter set (L d1 , L d2 , L d3 ...L dn ), wherein L dn is the current swing deviation value;

[0083] Make a swing deviation value scatter plot based on the time series of the swing deviation value parameter set, and connect each data point in the swing deviation value scatter plot in turn to obtain a swing deviation value trend graph;

[0084] Make a grouping mark line on the swing deviation value trend graph with the data point corresponding to the current swing deviation value, wherein the grouping mark line and the horizontal coordinate of the swing deviation value trend graph are parallel to each other, collect the third intersection point between the grouping mark line and the deviation value trend graph, and obtain the horizontal coordinate corresponding to the third intersection point;

[0085] Determine the swing deviation value correction interval based on the horizontal axis coordinate corresponding to the third intersection, and calculate the swing deviation revision value based on the correction interval and integrate to calculate the swing deviation independent risk coefficient.

[0086] When the bridge crane is running, the suspended cargo will swing. At this time, the swing deviation value calculated based on the real-time collected cargo suspension state diagram has a large difference due to the different positions in the swing period, that is, the swing deviation value calculated based on the current single moment of the cargo swing cannot accurately evaluate the swing deviation independent risk coefficient. The application prepares a swing deviation value trend chart by retrieving the historically associated swing deviation values, determines the swing deviation value correction interval through the grouping marker line, and integrates the swing deviation value data points corresponding to the determined swing deviation value correction interval to obtain the swing deviation revision value and integrate to calculate the swing deviation independent risk coefficient, thereby significantly improving the accuracy and rationality of the evaluation of the swing deviation independent risk coefficient and improving the effect of the safety warning of the bridge crane running state.

[0087] Determine the swing deviation value correction interval based on the horizontal axis coordinate corresponding to the third intersection, and calculate the swing deviation revision value based on the correction interval and integrate to calculate the swing deviation independent risk coefficient specifically as follows:

[0088] Mark the horizontal axis coordinate corresponding to the third intersection on the swing deviation value trend chart and the horizontal axis coordinate interval corresponding to the current swing deviation value on the swing deviation value trend chart as the swing deviation value correction interval;

[0089] Collect the data points corresponding to the swing deviation value scatter diagram based on the swing deviation correction interval and mark them as: L xd1 , L xd2 , L xd3 ...L xdm ;

[0090] The swing deviation independent risk coefficient F b is calculated as follows: δ1 represents the influence weight of the suspended swing of the goods on the safe operation;

[0091] The calculation of the bridge crane running tilt deviation independent risk coefficient is specifically as follows:

[0092] The calculation formula of the tilt deviation independent risk coefficient F q is as follows: F q =L q *δ2, δ2 represents the weight of the suspended tilt of the goods on the safe operation, and δ2> δ1> 0. δ1 and δ2 are determined according to the actual situation, for example, through expert scoring, historical data analysis or experimental measurement, etc. These weight values reflect the actual influence degree of the swing deviation and the tilt deviation on the safe operation of the bridge crane.

[0093] The risk coefficient of superimposed influence of the swing deviation value and the tilt deviation value on the operation of the bridge crane is specifically:

[0094] The logic for calculating the risk coefficient of superimposed influence is: Wherein j represents the weight of the swing deviation value and the tilt deviation value on the risk of the operation of the crane.

[0095] The operation state of the bridge crane is evaluated and warned based on the risk coefficient of the operation of the bridge crane, and the specific process is as follows:

[0096] A risk coefficient threshold is set.

[0097] The current risk coefficient of the operation of the bridge crane is compared with the risk coefficient threshold, and when the current risk coefficient of the operation of the bridge crane is greater than the risk coefficient threshold, an alarm is given, and the swing deviation value and the tilt deviation value corresponding to the current risk coefficient of the operation of the bridge crane are displayed.

[0098] The embodiment provides a bridge crane operation state safety warning method, which independently analyzes and obtains a swing deviation independent risk coefficient, a tilt deviation independent risk coefficient and a superimposed influence risk coefficient based on a current cargo suspension state, integrates and evaluates a bridge crane operation risk coefficient, significantly improves the effect of risk warning, improves the safety of the operation of the bridge crane, and determines the actual operation deviation condition, facilitating emergency treatment when warning.

[0099] Embodiment two:

[0100] Please refer to Figure 2 The embodiment of the present application provides another technical solution, a bridge crane operation state warning system for realizing the above-mentioned bridge crane operation state safety warning method, wherein the bridge crane operation state warning system comprises:

[0101] An operation monitoring module is arranged in the operation area of the bridge crane to monitor the operation area of the bridge crane and collect image information of the suspended cargo during the operation of the bridge crane to obtain a cargo suspension state diagram in real time;

[0102] A video analysis module is used to intelligently analyze the video content by using AI recognition technology to identify people in the collected monitoring video data, and triggers a warning when a person enters the operation area of the bridge crane;

[0103] An image processing module is in communication connection with the operation monitoring module, and the image processing module is used to call the cargo suspension state diagram, and establish a plane coordinate system with the suspension connection node of the bridge crane as the origin on the cargo suspension state diagram to obtain the current cargo corner point coordinates.

[0104] an image analysis module for importing an ideal cargo suspension state graph into a plane coordinate system of the cargo suspension state graph and calculating a cargo swing deviation angle point coordinate;

[0105] an integration processing module for calculating a swing deviation value and a tilt deviation value of the bridge crane hoisting cargo based on the current cargo angle point coordinate, the swing deviation angle point coordinate and the ideal angle point coordinate;

[0106] an early warning processing module for retrieving the swing deviation value and the tilt deviation value to jointly and integrally calculate a bridge crane operation risk coefficient and evaluating and early warning the bridge crane operation state based on the bridge crane operation risk coefficient. The specific early warning processing module comprises: a distributed risk calculation module for distributedly calculating a bridge crane operation swing deviation independent risk coefficient, a bridge crane operation tilt deviation independent risk coefficient and a swing deviation value and a tilt deviation value superimposed influence risk coefficient on the bridge crane operation, and summing to obtain the bridge crane operation risk coefficient; a comparison alarm module for comparing the bridge crane operation risk coefficient with a risk coefficient threshold value, and alarming when the bridge crane operation risk coefficient is greater than the risk coefficient threshold value.

[0107] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the present application for those skilled in the art. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. A method for safe early warning of the operating state of a bridge crane, characterized in that The method comprises the following steps: S1: monitoring the operation area of the bridge crane and collecting image information of the suspended goods in real time when the bridge crane is running, and obtaining a suspended state diagram of the goods; S2: establishing a plane coordinate system with the bridge crane suspension connection node as the origin on the collected suspended state diagram of the goods, and obtaining the current goods corner point coordinates; S3: importing an ideal goods suspended state diagram in the plane coordinate system, and calculating the goods swing deviation corner point coordinates based on the ideal goods suspended state diagram associated with the straight line of the current goods center rope; S4: calculating the swing deviation value and the tilt deviation value of the goods hoisted by the bridge crane based on the current goods corner point coordinates, the swing deviation corner point coordinates and the ideal corner point coordinates, and storing the swing deviation value and the tilt deviation value obtained in history; S5: calculating the running risk coefficient of the bridge crane based on the swing deviation value and the tilt deviation value, and evaluating and warning the running state of the bridge crane based on the running risk coefficient of the bridge crane.

2. A method of safe early warning of the operating state of a bridge crane according to claim 1, characterized in that, The step S1 of monitoring the operation area of the bridge crane further comprises: using AI recognition technology to intelligently analyze the video content for personnel identification when detecting that personnel have entered the operation area of the bridge crane, and triggering a warning mechanism immediately.

3. A method of safe early warning of the operating state of a bridge crane according to claim 1, characterized in that, The step S3 of calculating the goods swing deviation corner point coordinates based on the ideal goods suspended state diagram associated with the straight line of the current goods center rope specifically comprises: S3.1: calculating the deviation angle P of the straight line of the current goods center rope and the Y axis in the plane coordinate system; S3.2: marking the straight line between the plane coordinate origin of the ideal goods suspended state diagram and the goods corner point as a reference straight line, and calculating the distance between the plane coordinate origin and the corresponding goods corner point; S3.3: obtaining the swing straight line constraint formula by deflecting the reference straight line by angle P, and obtaining the swing circular constraint formula by drawing a circle with the plane coordinate origin of the ideal goods suspended state diagram as the center and the distance between the plane coordinate origin of the ideal goods suspended state diagram and the corresponding goods corner point as the radius; S3.4: calculating the intersection point of the swing straight line constraint formula and the swing circular constraint formula, which is the goods swing deviation corner point, and obtaining the deviation corner point coordinates.

4. A method of safe early warning of the operating state of a bridge crane according to claim 3, characterized in that, The step S4 of calculating the swing deviation value and the tilt deviation value of the goods hoisted by the bridge crane based on the current goods corner point coordinates, the swing deviation corner point coordinates and the ideal corner point coordinates specifically comprises: calculating the distance between the swing deviation corner point and the ideal corner point to obtain the swing deviation value; Swing deviation value L d The calculation logic is Where X b , Y b are the X-axis coordinate and Y-axis coordinate of the swing deviation angle point on the two-dimensional coordinate system, respectively, wherein X O , Y O are the X-axis coordinate and Y-axis coordinate of the ideal angle point on the two-dimensional coordinate system, respectively; calculating the distance between the current goods corner point and the swing deviation corner point to obtain the tilt deviation value; The tilt deviation value L q The calculation logic is Wherein X z , Y z are the X-axis coordinate and Y-axis coordinate of the current cargo corner point in the two-dimensional coordinate system, respectively.

5. A method of safe early warning of the operating state of a bridge crane according to claim 4, characterized in that, The step S5 of calculating the running risk coefficient of the bridge crane based on the swing deviation value and the tilt deviation value specifically comprises: calculating the running swing deviation independent risk coefficient of the bridge crane; calculating the running tilt deviation independent risk coefficient of the bridge crane; calculating the superimposed influence risk coefficient of the swing deviation value and the tilt deviation value on the running of the bridge crane; summing the swing deviation independent risk coefficient, the tilt deviation independent risk coefficient and the superimposed influence risk coefficient to obtain the running risk coefficient of the bridge crane.

6. A method of safe early warning of the operating state of a bridge crane according to claim 5, characterized in that, The calculation of the running swing deviation independent risk coefficient of the bridge crane specifically comprises: Based on the time series, a plurality of swing deviation value historical parameters are called to obtain a swing deviation value parameter set (L d1 , L d2 , L d3 ...L dn ), wherein L dn is a current swing deviation value; The swing deviation value parameter set is made into a swing deviation value scatter plot based on a time sequence, and each data point in the swing deviation value scatter plot is sequentially connected to obtain a swing deviation value trend graph; A grouping marker line is drawn on the swing deviation value trend graph at the data point corresponding to the current swing deviation value, wherein the grouping marker line is parallel to the horizontal coordinate of the swing deviation value trend graph, and a third intersection point between the grouping marker line and the swing deviation value trend graph is collected to obtain the horizontal coordinate corresponding to the third intersection point; The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient.

7. A method of safe early warning of the operating state of a bridge crane according to claim 6, characterized in that The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. Based on the swing deviation correction interval, the swing deviation value scatter plot is collected and the corresponding data points are marked as: L xd1 , L xd2 , L xd3 ...L xdm ; Swing deviation independent risk coefficient F b The calculation formula is: δ1 represents the weight of the influence of the swing of the suspended article on safe operation; The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The tilt deviation independent risk coefficient F q The calculation formula is F q = L q *δ2, δ2 represents the weight of the suspension tilt of the article on the safe operation, wherein δ2>δ1>0.

8. A method of safe early warning of operating conditions of a bridge crane according to claim 7, characterized in that, The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The superimposed influence risk coefficient calculation logic is: wherein j represents the weight of the swing deviation value and the tilt deviation value on the superimposed influence of the crane operation risk.

9. A method of safe early warning of the operating state of a bridge crane according to claim 1, characterized in that, The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient.

10. A bridge crane operating state early warning system for implementing the bridge crane operating state safety early warning method of any one of claims 1-9, characterized in that, The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate the swing deviation independent risk coefficient. The third intersection point corresponding to the horizontal coordinate is used to determine a swing deviation value correction interval, and a swing deviation revision value is calculated based on the correction interval to integrate and calculate

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