Dynamic construction safety warning system and method based on environmental perception

Abstract

The invention relates to the technical field of safety construction, and discloses a dynamic construction safety warning system and method based on environmental perception, and the system comprises an illumination unit, a control unit, a sensor module, a warning module and a power supply module. The illumination unit is installed at the tail end of the suspension arm and projects light and shadow to the ground to mark the blind area range. The control unit is integrated in a cockpit, and dynamically adjusts the shape, range and brightness of light and shadow according to the motion state of the suspension arm and the ambient light intensity; the sensor module monitors the angle, length and rotation direction of the suspension arm in real time and provides motion data; the warning module sends an acoustic or visual warning signal according to the activity of people in the blind area; the power supply module supplies power to the system through the solar cell unit. The system combines factors such as blind area range, weight volume, light intensity, wind speed and the like, dynamically adjusts the intensity and frequency of the warning signal, and ensures that operators and ground workers are effectively reminded in different environments, so that the construction safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of safe construction, and in particular to a dynamic construction safety warning system and method based on environmental perception. Background Art

[0002] On construction sites, when large mechanical equipment such as cranes and excavators are operating, the operator's line of sight is affected by the structure of the equipment itself and the surrounding environment, resulting in multiple blind spots. These blind spots are particularly concentrated in the area below the crane boom and behind the heavy objects. At night or in conditions of poor ambient light, these blind spots pose a major threat to the safety of ground workers. Once workers enter these blind spots and the operator cannot detect them in time, serious accidents such as collisions and squeezing are very likely to occur.

[0003] In the prior art, surveillance cameras, warning signs or manual instructions are often used to reduce the safety hazards caused by blind spots. However, these methods have the following defects:

[0004] Surveillance cameras: Although they can partially solve the blind spot problem, they require operators to monitor the screen in real time, which increases the operational burden. At the same time, the image may not be clear enough in complex environments.

[0005] Warning signs: They are only static reminders and cannot reflect the dynamic changes of blind spots in real time, so they have limited guiding significance for operators.

[0006] Manual command: Relies on gestures or verbal prompts, is easily affected by noise, sight and other factors, and has a high risk of misoperation;

[0007] Therefore, the existing technology lacks a technology that can intuitively, dynamically and real-time display blind spots to improve the safety and operational efficiency of the construction site. Summary of the invention

[0008] The purpose of the present invention is to provide a dynamic construction safety warning system based on environmental perception, which has the advantages of being able to display blind areas intuitively, dynamically and in real time.

[0009] The above technical objectives of the present invention are achieved through the following technical solutions:

[0010] A dynamic construction safety warning system based on environmental perception, comprising:

[0011] The lighting unit is installed at the end of the crane's boom to project light and shadow onto the ground to mark the blind spot.

[0012] A control unit, integrated in the cabin of the crane, connected to the lighting unit, and used to dynamically adjust the shape, range and brightness of the light and shadow according to the motion state of the crane boom and the ambient light intensity;

[0013] The sensor module is installed at the base and end of the boom and connected to the control unit to monitor the angle, length and moving direction of the crane boom in real time and provide boom motion status data;

[0014] A warning module, installed inside the cockpit and at the end of the boom, connected to the control unit, and configured to send an acoustic or visual warning signal when a person is detected in the blind spot;

[0015] A power supply module, installed on the top of the boom, used to supply power to the lighting unit, the control unit, the sensor module and the warning module, wherein the power supply module includes a solar cell unit to meet the independent power supply requirements of the construction environment;

[0016] The boom motion status data collected by the sensor module is transmitted to the control unit. The control unit calculates the blind spot range based on the boom motion status data, and controls the lighting unit to project the corresponding light and shadow shape and range on the ground. At the same time, when the sensor module detects human activity in the blind spot, it triggers the warning module to send a warning signal.

[0017] It is further configured that the control unit calculates the shape, range and position of the blind area according to the motion state of the boom, comprising the following steps:

[0018] The sensor module collects the length L, inclination angle θ and rotation angle φ of the boom and calculates the coordinates of the center point of the blind spot (x c ,y c ), the radius of the blind area r, is calculated as follows:

[0019] x c =L·cos(φ),y c =L·sin(φ)

[0020]

[0021] in,

[0022] The inclination angle θ is the inclination angle of the boom relative to the ground level, ranging from 0-90°. The larger the inclination angle of the boom, the closer the blind area is to the bottom of the boom end; the smaller the inclination angle, the more dispersed the blind area is; the rotation angle φ is the rotation angle of the boom relative to the crane base, ranging from 0-360°;

[0023] β is the light cone angle of the illumination unit, which is defined as the angle range when the light source projects light and shadow onto the ground. The smaller the projection angle, the more concentrated the light and shadow, and the smaller the blind area; the larger the projection angle, the wider the blind area coverage;

[0024] According to the above parameters, it is determined whether any point on the ground is within the blind area. The specific algorithm formula is as follows:

[0025] (x - x c ) 2 +(y - y c ) 2 ≤r 2

[0026] Among them, (x, y) represents the position of the ground personnel, which is used to determine whether the ground personnel fall into the blind area.

[0027] By adopting the above technical solution, the geometric boundary of the blind area is accurately described, and the judgment of whether any arbitrary point on the ground is within the blind area is realized.

[0028] Further setting: The control unit is configured with a blind area correction strategy, the blind area correction strategy is configured with a correction factor, the correction factor includes the ground slope, wind speed, and ambient light intensity, and the blind area correction strategy calculates the center point position coordinates (x c , y c ) of the blind area, and the radius r' of the blind area: x' c = L.cos(φ) + Δx, y' c = L·sin(φ) + Δy + L·tan(γ)

[0029]

[0030] Among them, Δx represents the offset caused by the wind speed, which is defined as the swing of the boom end due to the wind speed and is used to correct the horizontal offset of the blind area center point, γ represents the inclination angle of the ground, which is used to correct the vertical position of the blind area center point; k1 represents the light intensity proportionality factor.

[0031] By adopting the above technical solution, by introducing multi-dimensional factors such as ground slope, wind speed, and ambient light intensity, the accuracy and applicability of blind area calculation are further improved: considering the influence of the ground slope, the light and shadow projection range is made more in line with the actual terrain, combining the wind speed to correct the boom swing, enhancing the robustness of blind area calculation, and dynamically adjusting the light and shadow brightness according to the light intensity to improve the visibility of blind area prompts.

[0032] Further setting: The blind area correction strategy is configured with a light intensity adjustment sub-strategy, and the adjustment steps of the light intensity adjustment sub-strategy are as follows:

[0033] Obtain the ambient light intensity in real time through the light sensor module;

[0034] Compare the ambient light intensity I with the preset threshold Imin to judge whether the light and shadow brightness needs to be adjusted;

[0035] If I ≥ Imin, keep the light and shadow brightness of the blind area normal. If I < Imin, dynamically adjust the light and shadow brightness proportionality factor through the following formula:

[0036] kI=I / Imin

[0037] Among them, Imin is the preset minimum light intensity threshold;

[0038] According to the adjusted light and shadow brightness proportional factor, the blind area radius is corrected by the following formula:

[0039] r′=kI·r

[0040] Among them, r is the original blind area radius;

[0041] Finally, the adjusted radius r' is used to generate a new blind spot projection so as to provide effective safety prompts for the ground in different lighting environments.

[0042] By adopting the above technical solution, the light intensity is monitored in real time and the brightness and radius of light and shadow are dynamically adjusted to adapt to environmental changes, ensuring that blind spots are still clearly visible in low-light environments.

[0043] Further configuration: the blind spot correction strategy is configured with a wind speed adjustment sub-strategy, and the adjustment steps of the wind speed adjustment sub-strategy are as follows:

[0044] Get the ambient wind speed;

[0045] comparing the wind speed with a preset maximum wind speed threshold to determine whether the swing of the boom end needs to be corrected;

[0046] If the wind speed is less than or equal to the preset maximum wind speed threshold, there is no need to correct the offset caused by the wind speed. If the wind speed is greater than the preset maximum wind speed threshold, the horizontal offsets Δx and Δy caused by the wind speed are calculated according to the following formula:

[0047]

[0048] Where ρ is the air density, C d is the drag coefficient, which is used to describe the wind resistance characteristics of the boom, A is the windward area of ​​the boom, v w is the current ambient wind speed, t is the wind speed response time;

[0049] Correct the position of the center point of the blind spot by the offsets Δx and Δy caused by wind speed;

[0050] According to the adjusted blind spot center point (x′ c , y′ c ) and radius r to generate a new blind area projection.

[0051] By adopting the above technical solution, through wind speed correction, it is ensured that the influence of the swing of the end of the boom on the blind spot position is compensated in real time, thereby improving the accuracy of the blind spot prompt.

[0052] Further configuration: the correction factor also includes the geometric shape, volume, size and posture of the load at the end of the crane boom, and the correction steps of the blind spot correction strategy are as follows:

[0053] The sensor module collects the crane boom's length, inclination, rotation angle, ground slope, wind speed, and light intensity in real time;

[0054] Obtain the geometric shape, volume, size and posture of the load at the end of the crane;

[0055] According to the formula:

[0056]

[0057] x′ c =L·cos(φ)+Δx+Δx G , y′ c =L·sin(φ)+Δy+Δy G +L·tan(γ)

[0058] Correct the center point of the blind spot;

[0059] Where Δx G , Δy G It represents the center point offset caused by the size and posture of the weight, 1 represents the length of the weight, and ψ represents the rotation angle of the weight in space;

[0060] According to the formula:

[0061]

[0062] Corrected blind zone radius;

[0063] Among them, kv represents the volume influence coefficient, and V represents the volume of the weight;

[0064] Use the corrected blind spot center point (x c ,y c ) and the blind area radius r' dynamically generate the projection shape of the blind area.

[0065] By adopting the above technical solutions, the shape, volume and posture of the heavy object are taken into consideration to ensure that the blind spot range is closer to the actual situation; the shape and range of the blind spot are dynamically changed in combination with the boom, heavy object and environmental conditions; and the safety hazards caused by the shape and volume of the heavy object are reduced by optimizing the blind spot calculation strategy.

[0066] Further configuration: the warning module is configured with a warning strategy, the warning strategy is configured with a warning signal generation algorithm, and the calculation formula of the warning signal generation algorithm is as follows:

[0067] Warning signal strength calculation formula:

[0068]

[0069] Among them, S signal Indicates the strength of the warning signal, which is dynamically adjusted according to the blind area radius, weight volume, ambient light intensity and wind speed. r Indicates the influence coefficient of blind spot radius on warning intensity, k V Indicates the influence coefficient of the weight volume on the warning intensity, Indicates the influence coefficient of wind speed on the intensity of warning signal;

[0070] Warning signal frequency calculation formula:

[0071]

[0072] Among them, f signal Represents the frequency of the warning signal, which is dynamically adjusted according to the blind area radius, the volume of the heavy object and the light intensity, where k′ r represents the influence coefficient of the blind area radius on the warning frequency, r′ represents the corrected blind area radius, k′ V Indicates the influence coefficient of the weight volume on the warning frequency;

[0073] Warning signal response time calculation formula:

[0074]

[0075] Among them, t response Indicates the warning signal response time. The warning signal response time is inversely proportional to the warning signal strength. The greater the signal strength, the shorter the response time.

[0076] By adopting the above technical solution, the intensity and frequency of the warning signal are adjusted in real time by combining the dynamic changes of the blind spot, the volume of the heavy object, the ambient light intensity and the wind speed, ensuring that the warning signal is always effective in different working environments; when the blind spot increases, the volume of the heavy object increases or the wind speed is high, the intensity and frequency of the warning signal increase accordingly, thereby increasing the alertness of ground staff and reducing the occurrence of accidents; in low-light environments, the intensity of the warning signal is enhanced; when the wind speed is high, the warning effect is improved.

[0077] It is further provided that: the warning module comprises a first visual signal unit and a first sound signal unit installed inside the cockpit;

[0078] The first visual signal unit is an LED display screen, which is used to display the dynamic blind area range, including the center point position, radius and danger area of ​​the blind area. When the blind area increases or the volume of the heavy object increases, the brightness of the LED display screen or the size of the graphic increases;

[0079] The first sound signal unit is a voice prompter, which is used to remind the operator to pay attention to changes in the blind spot. The sound intensity or frequency of the voice prompter is dynamically adjusted according to factors such as the size of the blind spot, the volume of the heavy object, the ambient light, and the wind speed.

[0080] By adopting the above technical solution, the warning module in the cockpit reminds the operator of changes and dangers in blind spots through display screens, sound prompts, etc., especially in conditions of weak light or high wind speeds; in dangerous conditions (such as large and heavy objects, high wind speeds, and low-light environments), the intensity and frequency of the warning signal are automatically enhanced to help operators and ground staff identify dangers in a timely manner and reduce the possibility of accidents.

[0081] It is further provided that: the warning module comprises a second visual signal unit and a second sound signal unit installed at the end of the boom;

[0082] The second visual signal unit is an LED light bar or a laser projection light. When the end of the boom enters a blind spot or approaches a dangerous area, the LED light bar or the laser projection light will increase the brightness or flashing frequency;

[0083] The second sound signal unit is a buzzer, and the frequency of the buzzer increases as the danger level increases.

[0084] By adopting the above technical solution, the warning module at the end of the boom provides more intuitive warnings to ground staff through visual and sound signals, especially when the weight is large or the wind speed is strong; in dangerous situations (such as large and heavy objects, high wind speed, and low light environment), the intensity and frequency of the warning signal are automatically enhanced to help operators and ground staff identify dangers in time and reduce the possibility of accidents.

[0085] Another object of the present invention is to provide a dynamic construction safety warning method based on environmental perception, comprising the following steps:

[0086] Step 1: Sensor data collection:

[0087] The sensor modules installed at the base and end of the crane boom collect the boom's motion data, including the boom's angle, length, and direction of movement, as well as ambient light intensity data;

[0088] Step 2: Calculate the blind area:

[0089] The data collected by the sensor module is transmitted to the control unit, and the control unit calculates the shape, range and position of the blind spot based on the motion state of the boom.

[0090] Step 3: Light and shadow projection:

[0091] The control unit sends a control instruction to the lighting unit at the end of the boom according to the calculated blind spot range, so that the lighting unit projects light and shadow corresponding to the blind spot range on the ground;

[0092] Step 4: Warning signal triggers:

[0093] When the sensor module detects human activity within the blind spot, the control unit triggers the warning module to send out an acoustic or visual warning signal;

[0094] Step 5: Dynamic adjustment of light and shadow:

[0095] According to the real-time movement status of the boom, the control unit dynamically adjusts the shape, range and brightness of the light and shadow projected by the lighting unit to reflect the changes in the blind spot range in real time.

[0096] In summary, the present invention achieves the following technical effects through the cooperation of the sensor module, the control unit, the illumination unit, the warning module and the power supply module:

[0097] 1. Dynamic blind spot visualization

[0098] The sensor module collects the angle, length and movement status of the crane boom in real time and transmits the data to the control unit.

[0099] The control unit calculates the range of the blind spot based on the sensor data, and projects light and shadow corresponding to the blind spot on the ground through the lighting unit to dynamically display the range of the blind spot.

[0100] Compared with static warning signs, the present invention can dynamically adjust the blind spot prompt according to the real-time status of the crane boom, which significantly improves the accuracy and real-time performance of the blind spot prompt.

[0101] 2. Multi-dimensional safety tips

[0102] When the sensor module detects human activity in the blind spot, the warning module triggers acoustic warnings (such as beeps) and visual prompts (such as flashing lights) to alert operators and ground personnel.

[0103] Through multi-dimensional warning methods, the possibility of accidents is reduced, especially in environments with poor lighting or high noise, and the recognition efficiency of warning signals is improved.

[0104] 3. Adaptability to construction environment

[0105] The lighting unit adopts a high-brightness light source, which can clearly project the blind area at night or in insufficient ambient light.

[0106] The power supply module includes a solar unit and a battery, ensuring that the device can operate for a long time in a construction environment without an external power supply.

[0107] It can adapt to various construction environments and is not restricted by light and power conditions, which improves the applicability and reliability of the device.

[0108] 4. Reduced operator burden

[0109] The control unit works in conjunction with the sensor module to automatically complete blind spot calculations and light and shadow projection without requiring additional operator intervention.

[0110] The operator's monitoring and judgment burden is reduced, allowing him to focus more on crane operation and improve work efficiency.

[0111] 5. Installation flexibility and system integration

[0112] The installation position of each module has been optimized: the sensor module is installed at the root and end of the boom, the lighting unit is installed at the end of the boom, the control unit is integrated in the cockpit, and the warning modules are distributed at the end of the boom and inside the cockpit.

[0113] Through the synergistic effect of the above-mentioned technical features, the present invention realizes dynamic, safe and intuitive prompts of the blind spots of the crane, effectively solves the problems of difficult monitoring, single warning method and poor environmental adaptability in the prior art, and provides a more efficient and safer solution for the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] Figure 1 This is the overall architecture diagram of this system;

[0115] Figure 2 It is a schematic diagram of the method process steps. DETAILED DESCRIPTION

[0116] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0117] Example:

[0118] A dynamic construction safety warning system based on environmental perception, such as Figure 1 As shown, including:

[0119] The lighting unit is installed at the end of the crane's boom to project light and shadow onto the ground to mark the blind spot.

[0120] A control unit, integrated in the cabin of the crane, connected to the lighting unit, and used to dynamically adjust the shape, range and brightness of the light and shadow according to the motion state of the crane boom and the ambient light intensity;

[0121] The sensor module is installed at the base and end of the boom and connected to the control unit to monitor the angle, length and moving direction of the crane boom in real time and provide boom motion status data;

[0122] A warning module, installed inside the cockpit and at the end of the boom, connected to the control unit, and configured to send an acoustic or visual warning signal when a person is detected in the blind spot;

[0123] A power supply module, installed on the top of the boom, used to supply power to the lighting unit, the control unit, the sensor module and the warning module, wherein the power supply module includes a solar cell unit to meet the independent power supply requirements of the construction environment;

[0124] The boom motion status data collected by the sensor module is transmitted to the control unit. The control unit calculates the blind spot range based on the boom motion status data, and controls the lighting unit to project the corresponding light and shadow shape and range on the ground. At the same time, when the sensor module detects human activity in the blind spot, it triggers the warning module to send a warning signal.

[0125] The control unit is configured with a blind spot calculation strategy, which calculates the shape, range and position of the blind spot according to the motion state of the boom, including the following steps:

[0126] The sensor module collects the length L, inclination angle θ and rotation angle φ of the boom and calculates the coordinates of the center point of the blind spot (x c ,y c ), the radius of the blind area r, is calculated as follows:

[0127] x c =L·cos(φ),y c =L·sin(φ)

[0128]

[0129] in,

[0130] The inclination angle θ is the inclination angle of the boom relative to the ground level, ranging from 0-90°. The larger the inclination angle of the boom, the closer the blind area is to the bottom of the boom end; the smaller the inclination angle, the more dispersed the blind area is; the rotation angle φ is the rotation angle of the boom relative to the crane base, ranging from 0-360°;

[0131] β is the light cone angle of the illumination unit, which is defined as the angle range when the light source projects light and shadow onto the ground. The smaller the projection angle, the more concentrated the light and shadow, and the smaller the blind area; the larger the projection angle, the wider the blind area coverage;

[0132] According to the above parameters, it is determined whether any point on the ground is within the blind area. The specific algorithm formula is as follows:

[0133] (xx c ) 2 +(yy c ) 2 ≤r 2

[0134] Wherein, (x, y) represents the position of the ground personnel, which is used to determine whether the ground personnel falls into the blind spot.

[0135] The control unit is configured with a blind spot correction strategy, which is configured with a correction factor, the correction factor including ground slope, wind speed and ambient light intensity, and the blind spot correction strategy calculates the center point position coordinate (x′) of the blind spot according to the correction factor. c , y′ c ), the radius of the blind area r′:

[0136] x′ c =L·cos(φ)+Δx,y′ c =L·sin(φ)+Δy+L·tan(γ)

[0137]

[0138] Among them, Δx and Δy represent the offset caused by wind speed, which is defined as the swing of the end of the boom due to wind speed, and is used to correct the horizontal offset of the center point of the blind spot. γ represents the inclination angle of the ground, which is used to correct the vertical position of the center point of the blind spot. k1 represents the light intensity proportional factor.

[0139] The blind spot correction strategy is configured with a light intensity adjustment sub-strategy, and the adjustment steps of the light intensity adjustment sub-strategy are as follows:

[0140] Obtain the ambient light intensity in real time through the light sensor module;

[0141] Compare the ambient light intensity I with the preset threshold Imin to determine whether the light and shadow brightness needs to be adjusted;

[0142] If I≥Imin, the light and shadow brightness of the blind area is kept normal. If I<Imin, the light and shadow brightness proportional factor is dynamically adjusted by the following formula:

[0143] kI=I / Imin

[0144] Among them, Imin is the preset minimum light intensity threshold;

[0145] According to the adjusted light and shadow brightness proportional factor, the blind area radius is corrected by the following formula:

[0146] r′=kI·r

[0147] Among them, r is the original blind area radius;

[0148] Finally, the adjusted radius r' is used to generate a new blind area projection.

[0149] The blind spot correction strategy is configured with a wind speed adjustment sub-strategy, and the adjustment steps of the wind speed adjustment sub-strategy are as follows:

[0150] Get the ambient wind speed;

[0151] comparing the wind speed with a preset maximum wind speed threshold to determine whether the swing of the boom end needs to be corrected;

[0152] If the wind speed is less than or equal to the preset maximum wind speed threshold, there is no need to correct the offset caused by the wind speed. If the wind speed is greater than the preset maximum wind speed threshold, the horizontal offsets Δx and Δy caused by the wind speed are calculated according to the following formula:

[0153]

[0154] Where ρ is the air density, C d is the drag coefficient, which is used to describe the wind resistance characteristics of the boom, A is the windward area of ​​the boom, v w is the current ambient wind speed, t is the wind speed response time;

[0155] Correct the position of the center point of the blind spot by the offsets Δx and Δy caused by wind speed;

[0156] According to the adjusted blind spot center point (x′ c , y′ c ) and radius r' to generate a new blind area projection.

[0157] The correction factor also includes the geometric shape, volume, size and posture of the load at the end of the crane boom. The correction steps of the blind spot correction strategy are as follows:

[0158] The sensor module collects the crane boom's length, inclination, rotation angle, ground slope, wind speed, and light intensity in real time;

[0159] Obtain the geometric shape, volume, size and posture of the load at the end of the crane;

[0160] According to the formula:

[0161]

[0162] x′ c =L·cos(φ)+Δx+Δx G , y′ c =L·sin(φ)+Δy+Δy G +L·tan(γ)

[0163] Correct the center point of the blind spot;

[0164] Where Δx G , Δy GIt represents the center point offset caused by the size and posture of the weight, 1 represents the length of the weight, and ψ represents the rotation angle of the weight in space;

[0165] According to the formula:

[0166]

[0167] Corrected blind zone radius;

[0168] Among them, kv represents the volume influence coefficient, and V represents the volume of the weight;

[0169] Use the corrected blind spot center point (x c ,y c ) and the blind area radius r' dynamically generate the projection shape of the blind area.

[0170] The warning module is configured with a warning strategy, and the warning strategy is configured with a warning signal generation algorithm. The calculation formula of the warning signal generation algorithm is as follows:

[0171] Warning signal strength calculation formula:

[0172]

[0173] Among them, S signal Indicates the strength of the warning signal, which is dynamically adjusted according to the blind area radius, weight volume, ambient light intensity and wind speed. r Indicates the influence coefficient of blind spot radius on warning intensity, k V Indicates the influence coefficient of the weight volume on the warning intensity, Indicates the influence coefficient of wind speed on the intensity of warning signal;

[0174] Warning signal frequency calculation formula:

[0175]

[0176] Among them, f signal Represents the frequency of the warning signal, which is dynamically adjusted according to the blind area radius, the volume of the heavy object and the light intensity, where k′ r represents the influence coefficient of the blind area radius on the warning frequency, r′ represents the corrected blind area radius, k′ V Indicates the influence coefficient of the weight volume on the warning frequency;

[0177] Warning signal response time calculation formula:

[0178]

[0179] Among them, t response Indicates the warning signal response time. The warning signal response time is inversely proportional to the warning signal strength. The greater the signal strength, the shorter the response time.

[0180] The warning module includes a first visual signal unit and a first sound signal unit installed inside the cockpit;

[0181] The first visual signal unit is an LED display screen, which is used to display the dynamic blind area range, including the center point position, radius and danger area of ​​the blind area. When the blind area increases or the volume of the heavy object increases, the brightness of the LED display screen or the size of the graphic increases;

[0182] The first sound signal unit is a voice prompter, which is used to remind the operator to pay attention to changes in the blind spot. The sound intensity or frequency of the voice prompter is dynamically adjusted according to factors such as the size of the blind spot, the volume of the heavy object, the ambient light, and the wind speed.

[0183] The warning module includes a second visual signal unit and a second sound signal unit installed at the end of the boom;

[0184] The second visual signal unit is an LED light bar or a laser projection light. When the end of the boom enters a blind spot or approaches a dangerous area, the LED light bar or the laser projection light will increase the brightness or flashing frequency;

[0185] The second sound signal unit is a buzzer, and the frequency of the buzzer increases as the danger level increases.

[0186] In this embodiment, we combine specific scenarios and parameters to describe how to use the above dynamic construction safety warning method to monitor blind spots in real time during crane operation and issue warning signals. The specific implementation scenario is a construction site where a large crane is used for material lifting operations.

[0187] On this construction site, cranes are used to lift construction materials, and the working radius and angle of the boom often change. There are workers operating in the work area, but there are blind spots at the end of the boom and behind the heavy objects that cannot be directly observed. To ensure the safety of the workers, the system needs to monitor the movement of the boom in real time and issue a warning signal when there is human activity in the blind spot.

[0188] Parameter settings

[0189] Boom length: L = 20m (maximum length of crane boom)

[0190] Boom angle: θ = 30° (angle between boom and horizontal plane)

[0191] Boom rotation angle: φ = 45° (boom rotation angle)

[0192] Wind speed: V w =5m / s (wind speed at the site)

[0193] Ambient light intensity: I = 200 lux (normal light intensity)

[0194] Light unit brightness coefficient: kI = 1.5 (adjustment coefficient of light intensity)

[0195] Blind zone radius: r = 15m (preliminary calculated blind zone radius)

[0196] Volume of heavy object: V = 3m 3 (Volume of heavy objects to be lifted)

[0197] Minimum light intensity: Imin = 50 lux (minimum light intensity threshold under low light conditions)

[0198] Warning module response threshold: When a person enters the blind area, the warning module is triggered.

[0199] A dynamic construction safety warning based on environmental perception, such as Figure 2 As shown, the following steps are included:

[0200] Step 1: Sensor data collection

[0201] The sensor modules at the base and end of the boom collect the status data of the boom in real time, including:

[0202] Boom length: L = 20m (maximum length of crane boom)

[0203] Boom angle: θ = 30° (angle between boom and horizontal plane)

[0204] Boom rotation angle: φ = 45° (boom rotation angle)

[0205] Ambient light intensity: I = 200 lux (normal light intensity)

[0206] These data are transmitted wirelessly to the control unit for subsequent blind spot calculations.

[0207] Step 2: Calculate the blind area

[0208] The control unit calculates the shape, range and position of the blind spot based on the data transmitted by the sensor module.

[0209] Assume that in this scenario, the blind zone radius r = 15m, and the actual blind zone range will change dynamically due to the angle and rotation of the boom.

[0210] The control unit calculates the blind zone radius r' = 21.375m using the following formula

[0211] Step 3: Light and shadow projection

[0212] According to the blind area radius r'=21.375m, the control unit sends instructions to the lighting unit at the end of the boom to adjust the shape and range of the light and shadow.

[0213] The lighting unit projects light and shadows on the ground through LED lights or laser projection, clearly marking the scope of the blind spot.

[0214] Step 4: Warning signal triggered

[0215] When the sensor module detects human activity in the blind spot, the warning module will be triggered.

[0216] Assuming that the system detects that someone enters the blind spot, the control unit will trigger the warning module according to the dynamic blind spot range.

[0217] Visual warning: LED lights flash or light beams are used to warn people. When people enter the blind spot, the frequency and brightness of the light will increase.

[0218] Acoustic warning: The buzzer emits a high-frequency continuous warning sound to alert staff.

[0219] Step 5: Dynamic adjustment of light and shadow

[0220] The boom may rotate or extend during operation, causing changes in the range and shape of the blind spot. The control unit receives the movement status of the boom in real time and dynamically adjusts the light and shadow of the lighting unit according to the latest boom position.

[0221] When the boom angle changes or the rotation angle changes, the control instructions of the lighting unit will dynamically adjust the shape and brightness of the light and shadow according to the calculated new blind area range.

[0222] The above-described implementation methods do not constitute a limitation on the protection scope of the technical solution. Any modification, equivalent replacement and improvement made within the spirit and principle of the above-described implementation methods shall be included in the protection scope of the technical solution.

Claims

1. A dynamic construction safety warning system based on environmental perception, characterized in that: include: The lighting unit is installed at the end of the crane's boom to project light and shadow onto the ground to mark the blind spot. A control unit, integrated in the cabin of the crane, connected to the lighting unit, and used to dynamically adjust the shape, range and brightness of the light and shadow according to the motion state of the crane boom and the ambient light intensity; The sensor module is installed at the base and end of the boom and connected to the control unit to monitor the angle, length and moving direction of the crane boom in real time and provide boom motion status data; A warning module, installed inside the cockpit and at the end of the boom, connected to the control unit, and configured to send an acoustic or visual warning signal when a person is detected in the blind spot; A power supply module, installed on the top of the boom, used to supply power to the lighting unit, the control unit, the sensor module and the warning module, wherein the power supply module includes a solar cell unit to meet the independent power supply requirements of the construction environment; The boom motion status data collected by the sensor module is transmitted to the control unit. The control unit calculates the blind spot range based on the boom motion status data, and controls the lighting unit to project the corresponding light and shadow shape and range on the ground. At the same time, when the sensor module detects human activity in the blind spot, it triggers the warning module to send a warning signal.

2. The dynamic construction safety warning system based on environmental perception according to claim 1 is characterized in that: The control unit is configured with a blind spot calculation strategy, which calculates the shape, range and position of the blind spot according to the motion state of the boom, including the following steps: The sensor module collects the length L, inclination angle θ and rotation angle φ of the boom and calculates the coordinates of the center point of the blind spot (x c ,y c ), the radius r of the blind area is calculated as follows: x c =L·cos(φ),y c =L sin(φ) in, The inclination angle θ is the inclination angle of the boom relative to the ground level, ranging from 0-90°. The larger the inclination angle of the boom, the closer the blind area is to the bottom of the boom end; the smaller the inclination angle, the more dispersed the blind area is; the rotation angle φ is the rotation angle of the boom relative to the crane base, ranging from 0-360°; β is the light cone angle of the illumination unit, which is defined as the angle range when the light source projects light and shadow onto the ground. The smaller the projection angle, the more concentrated the light and shadow, and the smaller the blind area; the larger the projection angle, the wider the blind area coverage; According to the above parameters, it is determined whether any point on the ground is within the blind area. The specific algorithm formula is as follows: (xx c ) 2 +(yy c ) 2 ≤r 2 Wherein, (x, y) represents the position of the ground personnel, which is used to determine whether the ground personnel falls into the blind spot.

3. The dynamic construction safety warning system based on environmental perception according to claim 2 is characterized in that: The control unit is configured with a blind spot correction strategy, which is configured with a correction factor, which includes ground slope, wind speed and ambient light intensity. The blind spot correction strategy calculates the center point position coordinates (x′) of the blind spot according to the correction factor. c , y′ c ), the radius of the blind area r′: x′ c =L·cos(φ)+Δx,y′ c =L·sin(φ)+Δy+L·tan(γ) Among them, Δx and Δy represent the offset caused by wind speed, which is defined as the swing of the end of the boom due to wind speed, and is used to correct the horizontal offset of the center point of the blind spot. γ represents the inclination angle of the ground, which is used to correct the vertical position of the center point of the blind spot. k1 represents the light intensity proportional factor.

4. The dynamic construction safety warning system based on environmental perception according to claim 3 is characterized in that: The blind spot correction strategy is configured with a light intensity adjustment sub-strategy, and the adjustment steps of the light intensity adjustment sub-strategy are as follows: Obtain the ambient light intensity in real time through the light sensor module; Compare the ambient light intensity I with the preset threshold Imin to determine whether the light and shadow brightness needs to be adjusted; If I≥Imin, the light and shadow brightness of the blind area is kept normal. If I<Imin, the light and shadow brightness proportional factor is dynamically adjusted by the following formula: kI=I / Imin Among them, Imin is the preset minimum light intensity threshold; According to the adjusted light and shadow brightness proportional factor, the blind area radius is corrected by the following formula: r′=kI·r Among them, r is the original blind area radius; Finally, the adjusted radius r' is used to generate a new blind area projection.

5. The dynamic construction safety warning system based on environmental perception according to claim 3 is characterized in that: The blind spot correction strategy is configured with a wind speed adjustment sub-strategy, and the adjustment steps of the wind speed adjustment sub-strategy are as follows: Get the ambient wind speed; comparing the wind speed with a preset maximum wind speed threshold to determine whether the swing of the boom end needs to be corrected; If the wind speed is less than or equal to the preset maximum wind speed threshold, there is no need to correct the offset caused by the wind speed. If the wind speed is greater than the preset maximum wind speed threshold, the horizontal offsets Δx and Δy caused by the wind speed are calculated according to the following formula: Where ρ is the air density, C d is the drag coefficient, which is used to describe the wind resistance characteristics of the boom, A is the windward area of ​​the boom, v w is the current ambient wind speed, t is the wind speed response time; Correct the position of the center point of the blind spot by the offsets Δx and Δy caused by wind speed; According to the adjusted blind spot center point (x′ c , y′ c ) and radius r' to generate a new blind area projection.

6. According to claim 3, a dynamic construction safety warning system based on environmental perception, Features: The correction factor also includes the geometric shape, volume, size and posture of the load at the end of the crane boom. The correction steps of the blind spot correction strategy are as follows: The sensor module collects the crane boom's length, inclination, rotation angle, ground slope, wind speed, and light intensity in real time; Obtain the geometric shape, volume, size and posture of the load at the end of the crane; According to the formula: x′ c =L·cos(φ)+Δx+Δx G ,y′ c =L·sin(φ)+Δy+Δy G +L.tan(γ) Correct the center point of the blind spot; Where Δx G , Δy G It represents the center point offset caused by the size and posture of the weight, 1 represents the length of the weight, and ψ represents the rotation angle of the weight in space; According to the formula: Corrected blind zone radius; Among them, kv represents the volume influence coefficient, and V represents the volume of the weight; Use the corrected blind spot center point (x c ,y c ) and the blind area radius r' dynamically generate the projection shape of the blind area.

7. The dynamic construction safety warning system based on environmental perception according to claim 6 is characterized by: The warning module is configured with a warning strategy, and the warning strategy is configured with a warning signal generation algorithm. The calculation formula of the warning signal generation algorithm is as follows: Warning signal strength calculation formula: Among them, S signal Indicates the strength of the warning signal, which is dynamically adjusted according to the blind area radius, weight volume, ambient light intensity and wind speed. r Indicates the influence coefficient of blind spot radius on warning intensity, k V Indicates the influence coefficient of the weight volume on the warning intensity, Indicates the influence coefficient of wind speed on the intensity of warning signal; Warning signal frequency calculation formula: Among them, f signal Represents the frequency of the warning signal, which is dynamically adjusted according to the blind area radius, the volume of the heavy object and the light intensity, where k′ r represents the influence coefficient of the blind area radius on the warning frequency, r′ represents the corrected blind area radius, k V Indicates the influence coefficient of the weight volume on the warning frequency; Warning signal response time calculation formula: Among them, t response Indicates the warning signal response time. The warning signal response time is inversely proportional to the warning signal strength. The greater the signal strength, the shorter the response time.

8. The dynamic construction safety warning system based on environmental perception according to claim 7 is characterized in that: The warning module includes a first visual signal unit and a first sound signal unit installed inside the cockpit; The first visual signal unit is an LED display screen, which is used to display the dynamic blind area range, including the center point position, radius and danger area of ​​the blind area. When the blind area increases or the volume of the heavy object increases, the brightness of the LED display screen or the size of the graphic increases; The first sound signal unit is a voice prompter, which is used to remind the operator to pay attention to changes in the blind spot. The sound intensity or frequency of the voice prompter is dynamically adjusted according to factors such as the size of the blind spot, the volume of the heavy object, the ambient light, and the wind speed.

9. The dynamic construction safety warning system based on environmental perception according to claim 7 is characterized in that: The warning module includes a second visual signal unit and a second sound signal unit installed at the end of the boom; The second visual signal unit is an LED light bar or a laser projection light. When the end of the boom enters a blind spot or approaches a dangerous area, the LED light bar or the laser projection light will increase the brightness or flashing frequency; The second sound signal unit is a buzzer, and the frequency of the buzzer increases as the danger level increases.

10. A dynamic construction safety warning method based on environment perception, providing a dynamic construction safety warning system based on environment perception as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Sensor data collection: The sensor modules installed at the base and end of the crane boom collect the boom's motion data, including the boom's angle, length, and direction of movement, as well as ambient light intensity data; Step 2: Calculate the blind area: The data collected by the sensor module is transmitted to the control unit, and the control unit calculates the shape, range and position of the blind spot based on the motion state of the boom; Step 3: Light and shadow projection: The control unit sends a control instruction to the lighting unit at the end of the boom according to the calculated blind spot range, so that the lighting unit projects light and shadow corresponding to the blind spot range on the ground; Step 4: Warning signal triggers: When the sensor module detects human activity within the blind spot, the control unit triggers the warning module to send out an acoustic or visual warning signal; Step 5: Dynamic adjustment of light and shadow: According to the real-time movement status of the boom, the control unit dynamically adjusts the shape, range and brightness of the light and shadow projected by the lighting unit to reflect the changes in the blind spot range in real time.

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