Mechanical equipment operation safety warning device based on MSF technology

Abstract

The invention provides a mechanical equipment operation safety warning device based on an MSF technology, and relates to the technical field of mechanical equipment operation safety. Determining an initial safety radius R0 corresponding to the target equipment according to the equipment type and a preset equipment type initial safety radius mapping table; according to the current corresponding movement speed of the target device, the distance between the target device and the obstacle and the working state of the device, a dynamic adjustment safety radius delta R (t) corresponding to the target device is determined; determining a comprehensive dynamic safety radius R (t) = R0 + delta R (t) corresponding to the target equipment; establishing a three-dimensional coordinate system by taking the center of the target equipment as an original point; in the three-dimensional coordinate system, defining a dynamic safety area as a rotating ellipsoid according to the R (t); if the obstacle is detected to be in contact with the rotating ball body, triggering an alarm; according to the method, the safety of mechanical equipment operation in a complex industrial scene is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment operation safety, and particularly to a safety warning device for mechanical equipment operation based on MSF technology. Background Art

[0002] In the fields of construction and industry, the efficient use of mechanical equipment has significantly improved production efficiency, but the accompanying safety hazards cannot be ignored. Traditional safety measures (such as physical barriers, warning signs, and manual monitoring) have obvious limitations: physical barriers are difficult to adapt to dynamic working environments, warning signs rely on human subjective awareness, and manual monitoring is easily affected by factors such as fatigue and negligence. In the prior art, although there are individual electronic warning devices that attempt to monitor through a single sensor (such as infrared or ultrasonic), their reliability, accuracy, and adaptability in complex environments are insufficient, and they cannot achieve multi-dimensional and dynamic safety protection. In addition, existing devices lack an intelligent data processing and real-time feedback mechanism, and it is difficult to meet the refined requirements for safety management at the construction site. Therefore, there is an urgent need for a solution that integrates multi-sensor technology, dynamic modeling, and intelligent early warning to solve the deficiencies of traditional methods and comprehensively improve the safety of mechanical equipment operation. Summary of the Invention

[0003] For the above technical problems, the technical solution adopted by the present invention is as follows: A safety warning device for mechanical equipment operation based on MSF technology provided by the present application, the device includes: a three-dimensional modeling module, and the three-dimensional modeling module is used to perform the following steps: S100, obtaining the equipment type of the target equipment where the safety warning device is installed; S200, determining the initial safety radius R0 corresponding to the target equipment according to the equipment type and the preset initial safety radius mapping table YT of equipment types; wherein, YT includes several rows, and each row corresponds to an equipment type and the corresponding initial safety radius; S300, determining the dynamically adjusted safety radius ΔR(t) corresponding to the target equipment according to the current movement speed, distance from obstacles, and equipment working state of the target equipment; where t is the current moment; S400, determining the comprehensive dynamic safety radius R(t)=R0 + ΔR(t) corresponding to the target equipment according to R0 and ΔR(t); S500, establishing a three-dimensional coordinate system with the center of the target equipment as the origin; S600, in the three-dimensional coordinate system, defining the dynamic safety area as a rotating ellipsoid according to R(t); S700, if it is detected that an obstacle touches the rotating sphere, triggering an alarm.

[0004] Further, step S300 includes the following steps: S310. Determine a motion speed correction term ΔR for the target device according to the current motion speed v(t) of the target device v = k v × v(t); where k v is a speed correction coefficient; S320. Determine an obstacle approach correction term ΔR for the target device according to the current distance d(t) between the target device and the obstacle d = k d × (1 / d(t) - 1 / d safe ); where k d is a preset obstacle sensitivity coefficient, and d safe is a preset minimum safety distance threshold; S330. Obtain the current device working state corresponding to the target device; wherein, the device working state includes: device load weight, robotic arm extension angle, and hydraulic system pressure; S340. Determine the current state level w(t) corresponding to the target device according to the current device load weight, robotic arm extension angle, and hydraulic system pressure of the target device; S350. Determine a device state correction term ΔR for the target device according to w(t) s = k s × w(t); where k s is a preset device state correction coefficient; S360. Determine ΔR(t) according to ΔR v , ΔR d and ΔR s .

[0005] Further, ΔR(t) = R0 + α × ΔR v + β × ΔR d + γ × ΔR s ; where α, β, and γ are the preset first weight, second weight, and third weight in sequence; α + β + γ = 1.

[0006] Further, the rotating ellipsoid satisfies the following relationship: ; where x0, y0, and z0 are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the center of the target device in sequence; x, y, and z are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the obstacle in sequence; k z is a preset height correction coefficient.

[0007] Further, the device further includes: A sensor module, which integrates a lidar, an ultrasonic sensor, an infrared sensor, and a camera, and is used to collect environmental data around the device in real time; A data processing module, which is used to filter, denoise, and extract features from the sensor data, and improve the reliability of the sensor data through data fusion.

[0008] Further, the device further includes: an image recording module, which is used to monitor the environment around the device in real time and record the image data during the construction process.

[0009] Further, after step S400 and before step S500, the following steps are further included: S410, using Kalman filtering to smooth R(t) to avoid frequent adjustments caused by sensor jitter.

[0010] Further, the device further includes: A data storage and transmission module, which is used to store the processed data in a local server or in the cloud for subsequent analysis and query, and transmit the data to a remote monitoring center through a wireless network to achieve remote monitoring and management.

[0011] The present invention has at least the following beneficial effects: The mechanical equipment operation safety warning device based on the MSF technology of the present invention can automatically identify the type of the target device and quickly match the initial safety radius based on a preset initial safety radius mapping table; this mechanism ensures that the safety protection standards of different devices strictly follow the specification requirements, avoids the subjective errors in traditional manual settings, and improves the authority and consistency of the safety benchmark. By collecting the device movement speed, obstacle distance, and working status data in real time and combining with a dynamic adjustment algorithm, the intelligent correction of the safety radius is realized; significantly improves the safety protection flexibility in complex construction scenarios and solves the problem of insufficient adaptability of traditional static warning devices. By establishing a three-dimensional coordinate system and defining the dynamic safety area as a rotating ellipsoid, the safety protection is extended from a two-dimensional plane to a three-dimensional space; the three-dimensional modeling can accurately match the movement characteristics and risk distribution of the device, avoiding the "protection blind area" caused by traditional circular / rectangular warning areas; through device intelligent identification, dynamic safety modeling, and three-dimensional space protection, the present invention realizes the precision, real-time, and three-dimensional of mechanical equipment operation safety warning, and significantly improves the safety of mechanical equipment operation in complex industrial scenarios. Description of the Drawings

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0014] Figure 1 Schematic diagram of the installation of the safety warning device provided by the embodiment of the present invention; Figure 2 Flowchart of the steps executed by the three-dimensional modeling module of the mechanical equipment operation safety warning device based on the MSF technology provided by the embodiment of the present invention. Specific implementation manners

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0016] It should be noted that based on the present disclosure, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. Additionally, this device can be implemented and this method can be practiced using other structures and / or functions in addition to one or more of the aspects described herein.

[0017] The following will introduce a mechanical equipment operation safety warning device based on the MSF technology.

[0018] The device in this embodiment is generally applied to scenarios that require safety monitoring and warning of the mechanical equipment operation area to ensure the safety of personnel and equipment. In an industrial environment, especially in the heavy machinery operation area, an electronic warning device can provide additional safety protection to prevent personnel from entering dangerous areas by mistake. At a construction site, an electronic warning device can be used to mark the safety radius of mechanical equipment to protect the safety of construction workers and equipment. The electronic warning device integrates advanced multi-sensor technology, wireless communication technology, data analysis and processing technology to achieve intelligent monitoring. Combining with the development of information technology, through the inventive device, real-time monitoring and automatic warning are provided, which can not only improve the safety awareness of on-site personnel, but also effectively reduce the occurrence probability of accidents.

[0019] During construction, there are relatively high safety risks during the operation of mechanical equipment. Especially within the safety radius around the equipment, mechanical injury accidents are prone to occur. In order to improve the safety management level of the construction site and reduce human intervention, this project intends to collect environmental data around the equipment in real time through multi-sensor technologies (such as lidar, ultrasonic sensors, infrared sensors, cameras, etc.), automatically establish the safety radius range, and identify potential hazards through intelligent algorithms, automatically trigger the early warning mechanism, and improve the safety management efficiency and informatization level of the construction site.

[0020] As Figure 1 shown, the device in this embodiment is installed on the side wall of the mechanical equipment through a magnet. The outer shell is made of a strong, waterproof, and dustproof material to adapt to the harsh construction environment. The environmental data around the equipment is collected in real time through multi-sensor technologies (such as lidar, ultrasonic sensors, infrared sensors, cameras, etc.). Through information processing, a three-dimensional modeling module is used to automatically establish the safety radius range. Different types of mechanical equipment have different safety radius ranges. According to the corresponding specification requirements and on-site conditions, different safety radius ranges are automatically identified. During the construction process, the original data collected by the sensors is processed such as filtering, denoising, and feature extraction. Algorithms (such as Fourier transform, wavelet transform, etc.) are used to analyze the signals to identify potential hazards. Based on the processed data, the early warning mechanism (such as audible and visual alarms, equipment shutdown, etc.) is automatically triggered and the images of violators are recorded, which will effectively improve the safety awareness of construction commanders, prevent mechanical casualty accidents within the safety radius, thereby effectively improving the safety management level, enhancing the efficiency and informatization level of safety management at the construction site, realizing intelligent control of equipment operation, and reducing human intervention.

[0021] The main hardware of the device in this embodiment includes: multi-sensor fusion (such as lidar, ultrasonic sensors, infrared sensors, cameras), gyroscopes, audible and visual alarms, SD storage card slots, mobile data card slots, remote controls, solar cell power supply, etc.

[0022] The system software mainly includes the following modules: data acquisition module, data processing module, three-dimensional modeling module, hazard identification module, early warning mechanism module, impact recording module, data storage and transmission module, etc.

[0023] The overall design of this device is hemispherical (such as a wrist power ball). The outer shell is made of aluminum alloy (surface anodized treatment), filled with thermal conductive silica gel inside, and equipped with a built-in fan + heat sink fins. The operating temperature range is -30 degrees Celsius to 70 degrees Celsius. The magnet mounting base uses a strong magnet array (neodymium iron boron N52 grade) with an adsorption force ≥ 200N, which can be quickly installed on the side wall of the mechanical equipment.

[0024] The hardware part of this system needs to meet core functions such as multi-sensor data acquisition, real-time processing, communication transmission, and warning triggering, while adapting to the complex construction site environment (such as vibration, dust, temperature and humidity changes).

[0025] The software system mainly consists of the following modules: Data acquisition module: Real-time acquisition of the surrounding environment data of the equipment through multi-sensor technology.

[0026] Data processing module: Process the collected raw data, such as filtering, denoising, and feature extraction.

[0027] 3D modeling module: Automatically establish the safety radius range of the equipment according to the processed data.

[0028] Hazard identification module: Use algorithms (such as Fourier transform, wavelet transform, etc.) to analyze the signals and identify potential hazards.

[0029] Warning mechanism module: Automatically trigger the warning mechanism (such as audible and visual alarms, equipment shutdown, etc.) based on the processed data.

[0030] Image recording module: Record the image data of violators for easy accountability afterwards.

[0031] Data storage and transmission module: Store and transmit the processed data to the cloud or local server for subsequent analysis and query.

[0032] 1. Data acquisition module (multi-sensor selection): LiDAR: Used for high-precision distance measurement and environmental modeling.

[0033] Ultrasonic sensor: Used for close-range obstacle detection.

[0034] Infrared sensor: Used to detect the heat sources of humans or animals.

[0035] Camera: Used for real-time monitoring and image recording.

[0036] Sensor layout: The sensors are evenly arranged on the side walls of the mechanical equipment to ensure that the surrounding environment of the equipment can be fully covered.

[0037] Data acquisition frequency: Set a reasonable data acquisition frequency (such as 10 times per second) according to the equipment type and construction environment 2. Data processing module: Filtering and denoising: Use digital filtering technology (such as Kalman filtering) to filter the raw data collected by the sensors and remove noise interference.

[0038] Feature extraction: Extract useful feature information from the raw data through feature extraction algorithms (such as edge detection, contour extraction, etc.).

[0039] Data fusion: Fuse data from different sensors to improve the accuracy and reliability of the data.

[0040] As Figure 2 shown, the 3D modeling module is used to perform the following steps: S100, obtain the device type of the target device where the safety warning device is installed.

[0041] In this embodiment, the device type can be input manually; Establishment of the safety radius range: According to different types of mechanical equipment, combined with corresponding specification requirements, automatically establish the safety radius range.

[0042] Dynamic adjustment: Dynamically adjust the safety radius range according to changes in the construction environment (such as equipment movement, increase in obstacles, etc.).

[0043] Because different working environments and different mechanical equipment will have different safety radius ranges. Regarding the formula, the safety radius needs to be divided into two parts: the initial safety radius and the dynamically adjusted safety radius. The initial safety radius is determined according to the device type and specifications, and the dynamically adjusted safety radius is calculated based on real-time environmental data; that is, the comprehensive dynamic safety radius = initial safety radius + dynamically adjusted safety radius.

[0044] The dynamically adjusted safety radius depends on factors such as the equipment movement speed and the distance to obstacles. Some parameters are needed to represent these factors, such as speed v and obstacle distance d, and then the adjustment amount is calculated through a function. In addition, when dynamically adjusting the safety radius, the weights of different factors need to be considered. For example, the influence of speed may be greater than that of the obstacle distance, or a certain weighting method is used in combination.

[0045] A time variable needs to be introduced because the environment changes in real time, so the formula needs to include a time parameter. In addition, the modeling in three-dimensional space needs to be considered, so the formula needs to calculate the distance in three-dimensional coordinates, and the safety area is represented as an ellipsoid. (The ellipsoid has flexibility and can adjust the semi-axis lengths in each direction according to the equipment movement characteristics and risk distribution. At the same time, it can better accurately match equipment with asymmetric movement ranges (such as cranes and tower cranes). The ellipsoid can better match the actual safety requirements and can optimize the safety area for high-altitude falling objects or ground equipment).

[0046] In the 3D modeling module, the dynamic adjustment of the safety radius needs to combine the device type, motion state, and real-time data of environmental obstacles to realize the intelligent definition of the safety boundary through a mathematical model.

[0047] S200. Determine the initial safety radius R0 corresponding to the target device according to the device type and the preset initial safety radius mapping table YT of device types; where YT includes several rows, and each row corresponds to a device type and the corresponding initial safety radius.

[0048] In this embodiment, in combination with relevant specifications, the initial safety radius corresponding to each device type can be established by means of exhaustion, so as to obtain YT.

[0049] S300. Determine the dynamically adjusted safety radius ΔR(t) corresponding to the target device according to the current movement speed, distance from the obstacle, and device working state of the target device; where t is the current moment.

[0050] Further, step S300 includes the following steps: S310. Determine the movement speed correction term ΔR corresponding to the target device according to the current movement speed v(t) of the target device v =k v ×v(t); where k v is the speed correction coefficient.

[0051] In this embodiment, it can be understood that the faster the movement speed v(t) of the target device, the longer the braking distance needs to be reserved; K v is an empirical value. For example: k v =0.5S; when the device moves at 2 m / s, the dynamic radius expands by 1 m. v(t) can be obtained through GPS or an inertial sensor.

[0052] S320. Determine the obstacle approach correction term ΔR corresponding to the target device according to the current distance d(t) between the target device and the obstacle d =k d ×(1 / d(t) - 1 / d safe ); where k d is the preset obstacle sensitivity coefficient, and d safe is the preset minimum safety distance threshold.

[0053] In this embodiment, it can be understood that the smaller the distance d(t) to the nearest obstacle, the greater the safety radius needs to be dynamically expanded; k d and d safe are empirical values. For example: k d =2m 2 , d safe =3m; d(t) can be obtained by a lidar or an ultrasonic sensor; when the obstacle approaches to d(t)=2m, the correction term ΔR d =2×(1 / 2 - 1 / 3)=0.33 m.

[0054] S330, Obtain the current device working state corresponding to the target device; wherein, the device working state includes: device load weight, robotic arm extension angle, and hydraulic system pressure.

[0055] In this embodiment, the device load weight, robotic arm extension angle, and hydraulic system pressure corresponding to the target device can be obtained through the control system of the target device.

[0056] S340, Determine the current state level w(t) corresponding to the target device according to the device load weight, robotic arm extension angle, and hydraulic system pressure corresponding to the target device currently.

[0057] In this embodiment, by fitting a large amount of data, the functional relationship between the device load weight, robotic arm extension angle, and hydraulic system pressure and the state level can be obtained, and through this functional relationship, w(t) can be obtained; it should be noted that those skilled in the art can use existing data fitting methods according to actual needs to obtain the functional relationship, which will not be elaborated here.

[0058] S350, Determine the device state correction term ΔR corresponding to the target device according to w(t) s =k s ×w(t); where k s is the preset device state correction coefficient.

[0059] In this embodiment, k s is an empirical value and can be obtained through a large number of tests; when the state level of the target device is larger, the safety radius to be corrected is also larger.

[0060] S360, Determine ΔR(t) according to ΔR v , ΔR d and ΔR s .

[0061] Further, ΔR(t)=R0 + α×ΔR v +β×ΔR d +γ×ΔR s ; where α, β, and γ are the preset first weight, second weight, and third weight in sequence; α + β + γ = 1.

[0062] In this embodiment, α + β + γ = 1 can be achieved through machine learning or on-site calibration optimization.

[0063] S400, Determine the comprehensive dynamic safety radius R(t)=R0 + ΔR(t) corresponding to the target device according to R0 and ΔR(t).

[0064] Further, after step S400 and before step S500, the following steps are further included: S410, Smooth R(t) using Kalman filtering to avoid frequent adjustments caused by sensor jitter.

[0065] S500, Establish a three-dimensional coordinate system with the center of the target device as the origin.

[0066] It should be noted that those skilled in the art can use existing three-dimensional coordinate system establishment methods according to actual needs to establish a three-dimensional coordinate system with the center of the target device as the origin, which will not be elaborated here.

[0067] S600, In the three-dimensional coordinate system, define the dynamic safety region as a rotational ellipsoid according to R(t).

[0068] In this embodiment, in the three-dimensional coordinate system, with the device center (x0, y0, z0) as the origin, the dynamic safety region is defined as a rotational ellipsoid, and the rotational ellipsoid satisfies the following relationship: ; where x0, y0, and z0 are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the center of the target device in sequence; x, y, and z are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the obstacle in sequence; k z is a preset height correction coefficient, for example: k z = 0.5; k z For the risk of high-altitude falling objects.

[0069] In this embodiment, by establishing a three-dimensional coordinate system and defining the dynamic safety region as a rotational ellipsoid, full-space all-round protection is achieved. For high-altitude equipment (such as tower cranes), the interception of falling objects at the top is strengthened, and for ground equipment (such as excavators), the horizontal coverage range is optimized to adapt to asymmetric movement trajectories, solving the blind area problem of traditional two-dimensional warning, and the protection coverage rate is increased by more than 40%.

[0070] S700, If it is detected that the obstacle touches the rotational sphere, trigger an alarm.

[0071] In this embodiment, the coordinates of the point corresponding to the minimum distance between the obstacle and the center of the target device can be detected in real time, and by comparing the relationship between the coordinates of this point and the contour coordinates of the rotational sphere, it is determined whether the obstacle touches the rotational sphere.

[0072] Furthermore, the device further includes: a danger recognition module for implementing the following functions: Signal analysis: Analyze the sensor signals using algorithms such as Fourier transform and wavelet transform to identify potential danger signals (such as personnel entering the safety radius range, obstacles approaching, etc.).

[0073] Pattern recognition: Classify and recognize the danger signals through machine learning algorithms (such as support vector machines, neural networks, etc.).

[0074] Further, the device further includes: a warning mechanism module for implementing the following functions: Acoustic and optical alarm: When the system identifies a potential danger, it automatically triggers an acoustic and optical alarm to remind construction workers to pay attention to safety.

[0075] Equipment shutdown: In case of an emergency (such as a person entering a dangerous area), the system can automatically trigger equipment shutdown to prevent accidents.

[0076] Warning level: Different warning levels (such as first-level warning, second-level warning, etc.) are set according to the degree of danger, and corresponding measures are taken.

[0077] Further, the device further includes: an image recording module for implementing the following functions: Real-time monitoring: The surrounding environment of the device is monitored in real time through a camera, and image data during the construction process is recorded.

[0078] Violation record: When the system detects a violation (such as a person entering the safety radius range), it automatically records the image data of the violator for easy accountability afterwards.

[0079] Further, the device further includes: a data storage and transmission module for implementing the following functions: Data storage: The processed data is stored in a local server or in the cloud for subsequent analysis and query.

[0080] Data transmission: The data is transmitted to a remote monitoring center through a wireless network (such as 4G / 5G) to achieve remote monitoring and management.

[0081] In this embodiment, the type of the target device can be automatically identified, and the initial safety radius can be quickly matched based on a preset initial safety radius mapping table; this mechanism ensures that the safety protection standards of different devices strictly follow the specification requirements, avoids the subjective errors in traditional manual setting, and improves the authority and consistency of the safety benchmark. By collecting real-time data on the movement speed, obstacle distance, and working status of the device, and combining with a dynamic adjustment algorithm, the intelligent correction of the safety radius is realized; significantly improves the flexibility of safety protection in complex construction scenarios and solves the problem of insufficient adaptability of traditional static warning devices. By establishing a three-dimensional coordinate system and defining the dynamic safety area as a rotating ellipsoid, the safety protection is extended from a two-dimensional plane to a three-dimensional space; the three-dimensional modeling can accurately match the movement characteristics and risk distribution of the device, avoiding the "protection blind area" caused by traditional circular / rectangular warning areas; through device intelligent identification, dynamic safety modeling, and three-dimensional space protection, the present invention realizes the precision, real-time, and three-dimensional of the safety warning for mechanical equipment operations, and significantly improves the safety of mechanical equipment operations in complex industrial scenarios.

[0082] In addition, although the steps of the methods in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that these steps must be performed in that specific order, or that all of the shown steps must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution, etc.

[0083] Embodiments of the present invention also provide a non-transitory computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one segment of a program related to a method in a method embodiment. The at least one instruction or the at least one segment of the program is loaded and executed by the processor to implement the method provided in the above embodiments.

[0084] The program product may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0085] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the above.

[0087] The program code for performing the operations of this application can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0088] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0089] The electronic device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0090] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: at least one of the aforementioned processors, at least one of the aforementioned memories, and a bus connecting different system components (including the memory and the processor).

[0091] Among them, the memory stores program code, and the program code can be executed by the processor, so that the processor executes the steps in various embodiments described in this specification.

[0092] The memory may include a readable medium in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read-only memory (ROM).

[0093] The memory may also include a program / utility having a set (at least one) of program modules, and such program modules include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. The implementation of a network environment may be included in each or some combination of these examples.

[0094] The bus may represent one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure in a variety of bus structures.

[0095] The electronic device can also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device, and / or communicate with any device that enables the electronic device to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface. Moreover, the electronic device can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0096] From the description of the above embodiments, those skilled in the art can easily understand that the exemplary embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0097] An embodiment of the present invention also provides a computer program product, which includes program code. When the program product runs on an electronic device, the program code is used to enable the electronic device to execute the steps in the methods according to various exemplary embodiments of the present invention described above in this specification.

[0098] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for the purpose of illustration and not for the purpose of limiting the scope of the present invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present invention.

Claims

1. A mechanical equipment operation safety warning device based on the MSF technology, characterized in that, The device includes: a 3D modeling module, and the 3D modeling module is used to perform the following steps: S100. Obtain the device type of the target device where the safety warning device is installed; S200. Determine the initial safety radius R0 corresponding to the target device according to the device type and the preset initial safety radius mapping table YT of device types; wherein, YT includes several rows, and each row corresponds to a device type and the corresponding initial safety radius; S300. Determine the dynamically adjusted safety radius ΔR(t) corresponding to the target device according to the current movement speed, distance from the obstacle, and device working state of the target device; wherein, t is the current moment; S400. Determine the comprehensive dynamic safety radius R(t)=R0 + ΔR(t) corresponding to the target device according to R0 and ΔR(t); S500. Establish a 3D coordinate system with the center of the target device as the origin; S600. In the 3D coordinate system, define the dynamic safety area as a rotating ellipsoid according to R(t); S700. If it is detected that the obstacle touches the rotating sphere, trigger an alarm.

2. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, wherein, Step S300 includes the following steps: S310. Determine the motion speed correction term ΔR corresponding to the target device according to the current motion speed v(t) of the target device v =k v ×v(t); where k v is the speed correction coefficient; S320. Determine the obstacle approach correction term ΔR corresponding to the target device according to the current distance d(t) between the target device and the obstacle. d =k d × (1 / d(t) - 1 / d safe ); where k d is the preset obstacle sensitivity coefficient, and d safe is the preset minimum safety distance threshold. S330. Obtain the current device working state corresponding to the target device; wherein, the device working state includes: device load weight, robotic arm extension angle, and hydraulic system pressure; S340. Determine the current state level w(t) corresponding to the target device according to the current device load weight, robotic arm extension angle, and hydraulic system pressure of the target device; S350. Determine the device status correction term ΔR corresponding to the target device according to w(t). s =k s ×w(t); where k s is a preset device status correction coefficient. S360, determine ΔR(t) based on ΔR v , ΔR d and ΔR s .

3. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 2, characterized in that, ΔR(t) = R0 + α×ΔR v + β×ΔR d + γ×ΔR s ; where α, β, and γ are the preset first weight, second weight, and third weight, respectively; α + β + γ = 1.

4. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, characterized in that, The rotating ellipsoid satisfies the following relationship: ； Among them, x0, y0, and z0 are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the center of the target device in sequence; x, y, and z are the X-axis coordinate, Y-axis coordinate, and Z-axis coordinate of the obstacle in sequence; k z is a preset height correction coefficient.

5. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, characterized in that, The device further includes: A sensor module, which integrates a lidar, an ultrasonic sensor, an infrared sensor, and a camera, and is used to collect real-time data on the surrounding environment of the device; A data processing module, which is used to filter, denoise, and extract features from the sensor data, and improve the reliability of the sensor data through data fusion.

6. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, wherein, The device further includes: an image recording module, which is used to monitor the surrounding environment of the device in real time and record the image data during the construction process.

7. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, characterized in that, After step S400 and before step S500, the following steps are further included: S410. Use Kalman filtering to smooth R(t) to avoid frequent adjustment caused by sensor jitter.

8. The safety warning device for mechanical equipment operation based on the MSF technology according to claim 1, wherein The device further includes: A data storage and transmission module, which is used to store the processed data in a local server or in the cloud for subsequent analysis and query, and transmit the data to a remote monitoring center through a wireless network to achieve remote monitoring and management.

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