Safety early warning system for swing area of suspension swing

Abstract

The invention discloses a suspension swing swing area safety early warning system, which comprises suspension swing equipment, a monitoring module, a data processing module, a safety evaluation module and an early warning control module, and is characterized in that an ideal suspension swing dynamic swing model is established, random environment disturbance is set, and a suspension swing dynamic model is formed; the motion data and the environment data obtained by the monitoring module are combined with the dynamic model of the suspended swing, and the dynamic state of the suspended swing is predicted; according to the stress limiting boundary and the moving track limiting boundary, establishing a comprehensive risk evaluation model, and calculating current risk state parameters; according to the set early warning level, the early warning level corresponding to the current risk state parameter is judged, and early warning is conducted according to the corresponding early warning level. According to the invention, a single module or a specific risk can be evaluated, system-level comprehensive safety evaluation is also realized, and the safety of people sitting on the suspension swing under different working conditions is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of special equipment, and particularly to a safety warning system for the swinging area of a hanging swing. Background Art

[0002] As an emerging high-altitude amusement facility, the hanging swing is widely popular among tourists for its thrilling experience and is widely used in scenic spots, high-altitude amusement parks, and theme parks. However, there are certain safety risks during the operation of the hanging swing, such as structural fatigue of the equipment, over-limit of the movement range, environmental interference (such as sudden changes in wind speed and direction), and sudden abnormal situations during use. To ensure the safety of users, relevant technologies and standards (such as "Safety Technical Requirements for Cliff Swings" (GB45069-2024)) clearly stipulate the specific safety requirements for the design structure, manufacturing, installation, and use management of the hanging swing as Figure 2 shown, manufacturing, installation, and use management. However, it is difficult to respond to the complex safety problems of the equipment during dynamic use in real time only through traditional static design and conservative estimation of safety factors.

[0003] In the prior art, the safety monitoring measures for some hanging swings mainly focus on the following aspects: Equipment status monitoring: Monitoring the operation status of the hanging swing through simple sensors such as accelerometers and displacement sensors; Manual inspection and maintenance: Relying on operators to regularly inspect the equipment operation and use environment; Overload protection and emergency braking: Emergency handling mechanisms for overloaded or abnormal movement situations.

[0004] Although the existing technical means can improve the safety of the hanging swing to a certain extent, these methods mostly rely on a single data source, lack the deep integration of multi-modal data, and are difficult to evaluate the safety risks during the operation of the equipment in real time and accurately. In addition, traditional methods usually mainly rely on manual inspections, with limited monitoring scope and frequency, and it is difficult to detect potential hidden dangers in a timely manner.

[0005] Existing problems: 1. Limited data monitoring scope: The existing technology mainly relies on a single type of sensor, making it difficult to comprehensively cover multi-dimensional information (such as displacement, speed, acceleration, stress, environmental conditions, etc.) in the operation area of the hanging swing, resulting in incomplete monitoring data.

[0006] 2. Insufficient data processing ability: Existing systems often adopt simple data processing methods and are difficult to cope with dynamic and complex operating environments, such as non-linear motion characteristics during high-frequency swinging or sudden changes in the external environment.

[0007] 3. Lack of real-time risk assessment and warning mechanism: Traditional systems mainly focus on protection and alarm after anomalies, rather than prediction and warning before anomalies occur, making it difficult to effectively reduce accident risks.

[0008] 4. Incomplete safety coverage of the movement area: In the extreme movement area where the hanging swing is located, there may be blind spots that are not covered. The dangerous situations in these areas cannot be detected in time, increasing potential safety hazards.

[0009] 5. Insufficient consideration of environmental interference factors: For example, the influence of changes in wind speed and direction on the swing amplitude and direction of the hanging swing. Existing methods fail to fully consider the dynamic impact of the external environment on the system safety. Summary of the Invention

[0010] Therefore, the purpose of the present invention is to provide a safety early warning system for the swinging area of a hanging swing. By arranging various types of sensors in the movement area of the hanging swing, multi-modal data such as motion state, environmental parameters, stress and strain are collected and fused in real time. Using a fusion-based early warning algorithm to dynamically evaluate the safety risks in the movement area, accurate early warning and safety guarantee are realized, which is applicable to the operation and management stage of the hanging swing.

[0011] To achieve the above purpose, a safety early warning system for the swinging area of a hanging swing provided by the present invention includes: The hanging swing device, in which the driving module drives the hanging module, and the hanging module drives the seat module to swing under the support of the support module; The monitoring module is used to monitor the motion data and state data in the swinging area of the hanging swing; The data processing module establishes an ideal dynamic swinging model of the hanging swing, sets random environmental disturbances to form a dynamic model of the hanging swing; combines the motion data and environmental data obtained by the monitoring module with the dynamic model of the hanging swing to predict the dynamic state of the hanging swing; The safety evaluation module establishes a comprehensive risk evaluation model according to the stress limit boundary and the running trajectory limit boundary during the movement of the hanging swing, and inputs the predicted dynamic state of the hanging swing into the comprehensive risk evaluation model to calculate the current risk state parameters; The early warning control module determines the early warning level corresponding to the current risk state parameters according to the set early warning level, and issues an early warning according to the corresponding early warning level.

[0012] Further preferably, the hanging swing device includes a driving module, a hanging module, and a support module; The support module includes two side columns and a cross beam arranged on the columns; the support module is used to bear the weight and dynamic load of the entire hanging swing device; The hanging module is installed on the cross beam of the support module, and a seat is installed below the hanging module to drive the seat to swing; The driving module is used to control the hanging module to swing within a safe range.

[0013] Further preferably, the monitoring module includes a motion state monitoring sensor and a structural state monitoring sensor; The motion state monitoring sensor is used to monitor the real-time motion parameters of the swing, and the real-time motion parameters at least include position, speed, acceleration, and angular velocity; The structural state monitoring sensor is used to monitor the structural strength and environmental parameters of the swing support module, including stress data, wind speed, wind direction, temperature and humidity, and boundary intrusion detection data.

[0014] Further preferably, an ideal dynamic swing model of the suspended swing is established, and random environmental disturbances are set to form a dynamic model of the suspended swing, which is expressed by the following formula: ; Where is the total mass of the passenger and the swing; is the length of the swing rope after adding random disturbances; is the swing angle; is the damping coefficient; is the acceleration due to gravity; is the external driving torque, is the torque generated by random disturbances, is the torque of the wind force.

[0015] Further preferably, random environmental disturbances include wind force disturbance factors, rope disturbance factors, and random disturbance factors during calculation; Wind force disturbance factor: ; L is the length of the swing rope of the suspended swing; is the swing angle; ; is the air density; is the frontal projected area of the swing; is the drag coefficient; is the wind speed; Rope disturbance factor: ; ; ; Where is the dynamic swing length of the swing, is the acceleration due to gravity; is the elastic coefficient of the rope; is the tension of the rope; is the acceleration of the swing suspension point; is the original length of the swing rope; [[ID=7%]]Random disturbance factor: <\ ; Where ; is the intensity of random disturbances; It is Gaussian white noise or a random function.

[0016] Further preferably, combining the motion data and environmental data obtained by the monitoring module with the hanging swing dynamics model, including: Adjusting the parameters of the perturbation term in real time through data fusion of multiple types of sensors: According to the wind speed sensor: measure in real time , update the wind disturbance term ; According to the tension sensor: monitor the rope tension in real time and update dynamically ; Update according to the random perturbation model trained based on environmental noise data .

[0017] Further preferably, establishing a comprehensive risk assessment model according to the stress limit boundary and operating trajectory limit boundary of the hanging swing during movement; the comprehensive risk assessment model establishes dynamic movement trajectory assessment conditions and dynamic period and frequency assessment conditions according to the operating trajectory limit boundary, where the dynamic movement trajectory assessment conditions are expressed by the following formula: Where: is to monitor the swing position of the swing in real time (horizontal and vertical directions), is the swing position of the swing predicted by the dynamics model, is the deviation between the real-time position and the theoretical position, is the allowable maximum deviation range; is the swing angle at the current moment; is the maximum swing angle allowed by the swing design; Dynamic period and frequency assessment conditions: Dynamic period assessment condition ; Where: is the actual swing period of the swing, is the theoretical swing period calculated by the dynamics model, is the difference between the actual period and the theoretical period, is the allowable maximum period deviation range; Frequency assessment condition:

[0018] Where: is the natural frequency of the swing, is the frequency of the external excitation, is the difference between the natural frequency and the external excitation frequency, is the minimum safe frequency difference.

[0019] Further preferably, the comprehensive risk assessment model establishes structural safety assessment conditions according to the stress limit boundary, including the following process: First, compare the stress value monitored by the stress sensor with the yield strength of the structural material : Measure whether the structural system is in a normal state by determining the stress threshold; Secondly, conduct stress cycle statistics, extract the stress amplitude and stress range from the signal, use the rainflow counting method to perform cycle counting on the stress time series, extract the number of cycles corresponding to different stress amplitudes, and the stress amplitude range; Finally, perform structural fatigue damage calculation, using the Miner linear cumulative damage rule: Where: is the cumulative fatigue damage value. If , it means that the theoretical fatigue limit enters the fatigue failure boundary; if , it means that the cumulative fatigue damage of the structure exceeds the theoretical limit and it will enter the failure state; is the actual number of cycles corresponding to the th stress amplitude; n is the total number of cycles; is the fatigue life that the material can withstand at the th stress amplitude, which is calculated through the stress-life S-N curve model.

[0020] Further preferably, the comprehensive risk assessment model also includes environmental safety assessment; Based on the collected environmental data, perform real-time analysis on the operating state of the swing through the environmental assessment model, and combine the safety assessment rules to determine whether the current environment poses a risk to the swing.

[0021] The safety warning system for the swing area of the hanging swing disclosed in this application constructs a comprehensive safety assessment system from multiple perspectives of dynamic, static, and external environment based on dynamic safety assessment, structural safety assessment, and environmental safety assessment. Compared with the prior art, it can not only evaluate a single module or specific risks, but also achieve system-level comprehensive safety assessment to ensure the safety of personnel when riding the hanging swing under different working conditions.

[0022] The present invention introduces the influence of environmental disturbances (such as wind speed, vibration, rain, snow, temperature, and humidity) on the operation safety of a hanging swing. An environmental disturbance analysis model based on a rule library is innovatively introduced, which can evaluate the stability and adaptability of the swing under different environmental conditions, and effectively ensure the system safety through a hierarchical response mechanism (such as alarm, adjustment, and emergency stop). This dynamic adaptation ability significantly improves the stability and safety of the equipment in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of a safety early warning system for the swinging area of the hanging swing provided by the present invention.

[0024] Figure 2 It is a schematic structural diagram of the hanging swing proposed in the background technology of the present invention.

[0025] In the figure: 1. Hanging swing equipment; 2. Monitoring module; 3. Data processing module; 4. Safety evaluation module; 5. Early warning control module; 101. Power module; 102. Hanging module; 103. Support module; 104. Seat module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0027] As Figure 1 shown, an embodiment of the present invention provides a safety early warning system for the swinging area of a hanging swing, including: The hanging swing equipment 1, as Figure 2 shown, includes a power module 101, a hanging module 102, and a support module 103; The support module 103 includes two side columns and a cross beam arranged on the columns; the support module is used to bear the weight and dynamic load of the entire hanging swing equipment; The hanging module 102 is installed on the cross beam of the support module, and a seat is installed below the hanging module to drive the seat module 104 to swing; the hanging module 102 is mainly composed of a steel wire rope, a connecting device, and a limiting device, and is connected to support the module 103 and the seat module 104, and bears tension, vibration, and swinging force during the swinging process.

[0028] The power module 101 is used to control the swinging of the hanging module within a safe range; it is mainly composed of components such as a driving device, a braking device, and a control system, and provides functions such as starting, decelerating, and braking to ensure that the swing operates within the designed range; finally, the power module drives the hanging module, and the hanging module drives the seat to swing with the support of the support module.

[0029] Monitoring module 2, which is used to monitor the motion data and status data within the swinging area of the hanging swing; further preferably, the monitoring module includes a motion status monitoring sensor and a structural status monitoring sensor; The motion status monitoring sensor is used to monitor the real-time motion parameters of the swing, and the real-time motion parameters at least include position, speed, acceleration, and angular velocity.

[0030] The structural status monitoring sensor is used to monitor the structural strength and environmental parameters of the swing support module, including stress data, wind speed, wind direction, temperature and humidity, and boundary intrusion detection data.

[0031] It mainly includes: a motion status monitoring sensor, which is used to monitor the real-time motion parameters (such as position, speed, acceleration, angular velocity, etc.) of the swing and capture the key features of the swing state.

[0032] For example: an acceleration sensor, which is mainly installed in the seat module area of the swing to capture the overall linear acceleration of the swing. To monitor the changes in the swing amplitude and swing acceleration of the swing and identify whether it exceeds the safe range; An angular velocity sensor; by arranging it in the suspension module area of the swing to measure the change in the angular velocity of the swing and evaluate the extreme swing situation.

[0033] A displacement sensor (laser rangefinder), which is mainly installed at the boundary (both sides or top) of the swing area, aligned with the key points of the swing trajectory of the swing, to track the displacement and swing amplitude of the swing in real time and determine whether it exceeds the defined swing area.

[0034] The structural strength status monitoring sensor is used to monitor the structural strength of the swing support module, capture possible fatigue, cracks or deformations, and prevent accidental structural failures; it mainly includes a stress sensor; installed at the connection points of the support module of the swing (such as the connection between the suspension rod and the support structure). Stress sensors are arranged at the bottom and side walls of the support structure to monitor the distribution of the load. To detect the real-time stress state of the support structure and evaluate whether there is a risk of overload or local overload.

[0035] The environmental monitoring sensor is used to monitor the key external parameters in the operating environment of the hanging swing, such as wind speed, temperature and humidity, etc., to identify the impact of external conditions on the operating safety of the swing. For example: the wind speed and wind direction sensors are installed on the top or side (unobstructed position) of the swing support structure, and sensors are arranged to form a wind field monitoring network. To monitor the wind speed and wind direction in real time and identify the potential impact of strong wind weather on the swing amplitude; the temperature and humidity sensors are arranged near the support structure of the hanging swing. To collect environmental temperature and humidity data and provide support for the system risk assessment.

[0036] Area monitoring sensors are used to monitor the swing range of the swing, determine whether it exceeds the defined safe area, and detect whether there is any foreign object intrusion around. For example: a vision sensor (camera) is arranged at a high place in the swing area to overlook the entire swing area. It captures the overall picture of the swing operation and uses computer vision algorithms to identify dangerous actions or foreign objects in the area.

[0037] It also includes a data processing module 3, such as a centralized controller: installed in the control panel for hanging the swing, serving as the core data acquisition and processing unit, responsible for integrating various sensor data.

[0038] Wireless transmission module: A wireless transmission device (such as a LoRa or Wi-Fi module) is arranged between the sensor and the controller to achieve real-time data transmission.

[0039] Through the above sensor layout design, it is possible to comprehensively monitor the motion state, structural safety, and environmental impact of the hanging swing, provide high-quality data support for the subsequent fusion warning algorithm, and thus significantly improve the safety and reliability of the hanging swing.

[0040] The data processing module also includes establishing an ideal dynamic swing model of the hanging swing, setting random environmental disturbances, and forming a dynamic model of the hanging swing; combining the motion data and environmental data obtained by the monitoring module with the dynamic model of the hanging swing to predict the dynamic state of the hanging swing.

[0041] Safety evaluation module 4, based on the stress limit boundary and operation trajectory limit boundary of the hanging swing during movement, establishes a comprehensive risk evaluation model, inputs the predicted dynamic state of the hanging swing into the comprehensive risk evaluation model, and calculates the current risk state parameters.

[0042] Early warning control module 5, according to the set warning levels, determines the warning level corresponding to the current risk state parameters, and issues warnings according to the corresponding warning levels.

[0043] Further preferably, the establishment of an ideal dynamic swing model of the hanging swing, setting random environmental disturbances, and forming a dynamic model of the hanging swing is represented by the following formula: ; Where is the total mass of the passenger and the swing; is the length of the swing rope after adding random disturbances; is the swing angle; is the damping coefficient; is the acceleration due to gravity; is the external driving torque, is the torque generated by random disturbances, is the torque due to the action of wind.

[0044] First, according to the dynamics equation of the swing in the ideal state where: is the total mass of the passenger and the swing; is the length of the ideal swing rope; is the swing angle; is the damping coefficient (such as air resistance, internal resistance of the rope); is the acceleration due to gravity; is the external driving torque.

[0045] Introduce environmental disturbances: Add the disturbance term and the additional external disturbance torque , and the dynamics equation becomes: ; where: is the torque caused by the environmental disturbance force (such as wind force, vibration, elastic change of the rope).

[0046] The random environmental disturbance includes wind disturbance factor, rope disturbance factor, and random disturbance factor during calculation; Wind disturbance factor: Wind force acting torque ; L is the length of the rope suspending the swing; is the swing angle; ; is the air density; is the frontal projected area of the swing; is the drag coefficient; is the wind speed; Rope disturbance factor: ; ; ; where, is the dynamic pendulum length of the swing, is the acceleration due to gravity; is the elastic coefficient of the rope; is the tension of the rope; is the acceleration of the swing suspension point; is the original length of the swing rope; Random disturbance factor: ; where ; is the intensity of the random disturbance; is Gaussian white noise or a random function.

[0047] Combining the above disturbances, the extended dynamics equation of the swing is: Further preferably, combining the motion data and environmental data obtained by the monitoring module with the hanging swing dynamics model includes: Adjusting the parameters of the disturbance term in real time through data fusion of multiple types of sensors: According to the wind speed sensor: Measure in real time , and update the wind disturbance term ; According to the tension sensor: Monitor the rope tension in real time and update dynamically ; Update according to the random disturbance model trained based on environmental noise data .

[0048] Dynamic state estimation of the hanging swing Combining the theoretical calculation values and monitoring data, dynamically constructing a state model using a data fusion algorithm. Therefore, based on the state space model, the dynamic equation is regarded as the prediction equation of the system state, and the sensor data is regarded as the observation equation. Real-time state estimation is achieved through a prediction-correction cycle.

[0049] First, set as the state vector of the system, which is used to describe the complete dynamic state of the swing system at a certain moment . is a multi-dimensional vector that contains key variables of the hanging swing system, such as the swing angle, position, speed, acceleration, etc., and is used to comprehensively describe the dynamic characteristics of the system.

[0050] The state equation is: ;

[0051] Where: is the state transition matrix (obtained by discretizing the dynamic equation); is the input matrix (the influence of external inputs such as wind loads); is the input disturbance; is the system process noise.

[0052] The observation equation is: ;

[0053] Where: is the observation matrix, is the measurement noise; Prediction-correction cycle method: Prediction step: Predict the state at the next moment according to the dynamic equation ; Update step: Correct the predicted state by combining the sensor measurement data; Where: is the gain function, representing the weight distribution between the theoretical value and the observed value.

[0054] Through the above method, a real-time dynamic state model is output, and finally the state of the system is obtained through the fusion algorithm. : Among them, is the estimated value of the swing angle obtained after prediction-correction, where the swing angle is the angle of the swing relative to the vertical line; is the estimated value of the angular velocity of the swing angle, that is, the angular velocity of the swing, reflecting the speed of swinging; is the estimated value of the angular acceleration, that is, the swing acceleration, which is the core driving term of the dynamic model; , , respectively represent the estimated values of the displacement, velocity, and acceleration of the swing suspension point after perturbation in the horizontal direction; this state vector can reflect the complete dynamic characteristics of the system, especially suitable for the swing system scenario considering the influence of external perturbations or flexible connections, providing real-time state support for subsequent control design and health monitoring.

[0055] Furthermore, preferably, a comprehensive risk assessment model is established according to the stress limit boundary and the operating trajectory limit boundary of the suspended swing during movement; the comprehensive risk assessment model establishes dynamic movement trajectory assessment conditions and dynamic period and frequency assessment conditions according to the operating trajectory limit boundary, where the dynamic movement trajectory assessment conditions are expressed by the following formula: Where: is to real-time monitor the swing position (horizontal and vertical directions) of the swing, is the swing position predicted by the dynamic model, is the deviation between the real-time position and the theoretical position, is the allowable maximum deviation range; is the swing angle at the current moment; is the maximum swing angle allowed by the swing design, usually 70°; Dynamic period and frequency assessment conditions: Dynamic period assessment conditions ; Where: is the actual swing period of the swing, is the theoretical swing period calculated by the dynamic model, is the difference between the actual period and the theoretical period, is the allowable maximum period deviation range; Frequency judgment conditions: ; Wherein: is the natural frequency of the swing, is the frequency of the external excitation, is the difference between the natural frequency and the external excitation frequency, is the minimum safe frequency difference.

[0056] Further preferably, the comprehensive risk judgment model establishes structural safety judgment conditions according to the stress limit boundary, including the following process: First, compare the stress value monitored by the stress sensor with the yield strength of the structural material: Judge whether the structural system is in a normal state by determining the stress threshold; Secondly, conduct stress cycle statistics, extract the stress amplitude and stress range from the signal, use the rainflow counting method to conduct cycle counting on the stress time series, extract the number of cycles corresponding to different stress amplitudes, and the stress amplitude range; Finally, conduct structural fatigue damage calculation, using the Miner linear cumulative damage rule: Where: is the cumulative fatigue damage value. If , it means that the theoretical fatigue limit enters the fatigue failure boundary; if , it means that the cumulative fatigue damage of the structure exceeds the theoretical limit and it will enter the failure state; is the actual number of cycles corresponding to the th stress amplitude; n is the total number of cycles; is the fatigue life that the material can withstand at the th stress amplitude, calculated through the stress-life S-N curve model.

[0057] Further preferably, the comprehensive risk judgment model also includes environmental safety judgment; Based on the collected environmental data, conduct real-time analysis of the swing operation state through the environmental assessment model, and combine with the safety judgment rules to judge whether the current environment poses a risk to the swing.

[0058] Because GB 45069-2024 stipulates that when encountering or forecasting thunder, lightning, heavy rain, snow, frost, haze, freezing and bad weather with wind speed greater than 15m / s, the use should be stopped; the number of operators equipped during the operation of the cliff swing should be no less than the number of running cabins; during the operation of the cliff swing, people should not enter the operation area Therefore, to further ensure the personal safety of personnel during use, it is necessary to further monitor the environment and area. Based on the collected environmental data, the running state of the swing is analyzed in real time using an environmental assessment model, and combined with a safety judgment rule base to determine whether the current environment poses a risk to the swing.

[0059] Combined with the climate environment of the local area, risk thresholds are set for environmental variables such as wind speed, temperature and humidity, rainfall, and snow accumulation. The different types of environmental data are comprehensively evaluated to provide a multi-dimensional decision-making basis for the safety of the swing.

[0060] For different environmental factors, weights are assigned to them, and combined with the threshold rules of various sensing modules, a risk index of the environment is established to judge the safety state under complex environments.

[0061] 6. Warning and Control Module for the Swinging Area The warning and control system for the swinging area of the suspended swing combines the above real-time monitoring, data processing, and intelligent control to ensure safety during use.

[0062] In the data processing module and the safety judgment module, a comprehensive risk judgment model is constructed by combining multiple sensor data and model calculations.

[0063] When the system calculates the current risk state, this model will evaluate the current risk level by means of weighted combination of dynamic safety judgment, structural safety judgment, and environmental safety judgment; and divide the warning levels into three levels: low, medium, and high, and input them into the warning and control module: Low risk: Acoustic and optical alarm. By feeding back to the centralized controller, acoustic and optical prompts are given to improve the safety of the facility area; Medium risk: Automatic braking. By feeding back to the centralized controller and braking the power unit of the suspended swing based on the controller, so that the equipment administrator can make a rescue in time; High risk: Start prohibited. When the large model detects that the values of multiple parameters are abnormal, not only automatic braking should be performed at this time, but also the start operation should be urgently locked to avoid danger to personnel caused by misoperation.

[0064] In summary, the present invention patent proposes a safety warning and control system for hanging swings based on real-time monitoring and intelligent evaluation. Combining three types of sensors for motion state, structural strength, and environmental monitoring, it comprehensively monitors the support module, suspension module, seat module, and power module of the hanging swing. The system dynamically evaluates the operating state of the swing by constructing a dynamic model and a multi-sensor fusion algorithm, and based on a preset safety rule library, conducts a comprehensive evaluation from three dimensions: dynamic safety, structural safety, and environmental safety, issues graded warnings, and takes intelligent control measures. This invention significantly improves the safety and intelligence level of hanging swings, has the ability of dynamic adjustment and reliability guarantee for long-term use, and is applicable to the operation management of swing devices in various scenarios.

[0065] Obviously, the above embodiments are only examples given for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A safety warning system for the swinging area of a hanging swing, characterized in that, Including: A hanging swing device, in which a driving module drives a hanging module, and under the support of a support module, the hanging module drives a seat module to swing; A monitoring module for monitoring the motion data and status data within the swinging area of the hanging swing; A data processing module, which establishes an ideal dynamic swinging model of the hanging swing, sets random environmental disturbances, and forms a dynamic model of the hanging swing; combines the motion data and environmental data obtained by the monitoring module with the dynamic model of the hanging swing to predict the dynamic state of the hanging swing; A safety evaluation module, which establishes a comprehensive risk evaluation model based on the stress limit boundary and the operating trajectory limit boundary during the movement of the hanging swing, inputs the predicted dynamic state of the hanging swing into the comprehensive risk evaluation model, and calculates the current risk state parameters; An early warning control module, which determines the early warning level corresponding to the current risk state parameters according to the set early warning level, and issues an early warning according to the corresponding early warning level.

2. The safety warning system for the swing area of a hanging swing according to claim 1, wherein The hanging swing device includes a driving module, a hanging module, and a support module; The support module includes two side columns and a cross beam arranged on the columns; the support module is used to bear the weight and dynamic load of the entire hanging swing device; The hanging module is installed on the cross beam of the support module, and a seat module is installed below the hanging module to drive the seat module to swing; The driving module is used to control the swinging of the hanging module within a safe range.

3. The safety warning system for the swing area of the hanging swing according to claim 1, characterized in that The monitoring module includes a motion state monitoring sensor and a structure state monitoring sensor; the motion state monitoring sensor is used to monitor the real-time motion parameters of the swing, and the real-time motion parameters at least include position, speed, acceleration, and angular velocity; The structure state monitoring sensor is used to monitor the structural strength and environmental parameters of the swing support module, including stress data, wind speed, wind direction, temperature and humidity, and boundary intrusion detection data.

4. The safety early warning system for the swinging area of the hanging swing according to claim 1, characterized in that The establishment of the ideal dynamic swinging model of the hanging swing, setting random environmental disturbances, and forming the dynamic model of the hanging swing are expressed by the following formula: Among them, is the total mass of the passenger and the swing; is the length of the swing rope after adding random disturbances; is the swing angle; is the damping coefficient; is the acceleration due to gravity; is the external driving torque, is the torque generated by random disturbances, is the torque of the wind force.

5. The safety early warning system for the swinging area of the hanging swing according to claim 4, characterized in that The random environmental disturbances include wind disturbance factors, rope disturbance factors, and random disturbance factors during calculation; Wind disturbance factor: wind acting moment ; L is the length of the rope suspending the swing; is the swing angle; ; is the air density; is the frontal projected area of the swing; is the drag coefficient; is the wind speed; Rope disturbance factors: ; ; ; Among them, is the dynamic swing length of the swing, is the acceleration due to gravity; is the elastic coefficient of the rope; is the tension of the rope; is the acceleration of the swing suspension point; is the original length of the swing rope; Random disturbance factor: ; among which ; is the intensity of random disturbance; is Gaussian white noise or a random function.

6. The safety warning system for the swinging area of a hanging swing according to claim 4, characterized in that Combining the motion data and environmental data obtained by the monitoring module with the dynamic model of the hanging swing includes: Real-time adjustment of the parameters of the disturbance term through data fusion of multiple types of sensors: According to the wind speed sensor: measure in real time , update the wind disturbance term ; According to the tension sensor: real-time monitoring of the rope tension and dynamic update ; Update according to the random perturbation model trained based on environmental noise data .

7. The safety warning system for the swinging area of a hanging swing according to claim 1, wherein Establishing a comprehensive risk evaluation model according to the stress limit boundary and the operating trajectory limit boundary during the movement of the hanging swing; the comprehensive risk evaluation model establishes a dynamic motion trajectory evaluation condition and a dynamic period and frequency evaluation condition according to the operating trajectory limit boundary, and the dynamic motion trajectory evaluation condition is expressed by the following formula: Wherein: is for real-time monitoring of the swing position of the swing, is the swing position of the swing predicted by the dynamic model, is the deviation between the real-time position and the theoretical position, is the maximum allowable deviation range; is the swing angle at the current moment; is the maximum swing angle allowed by the swing design Dynamic period and frequency evaluation condition: Dynamic periodic evaluation conditions ; Wherein: is the actual swing period of the swing, is the theoretical swing period calculated by the dynamic model, is the difference between the actual period and the theoretical period, is the allowable maximum period deviation range; Frequency evaluation conditions: ; Wherein: is the natural frequency of the swing, is the frequency of the external excitation, is the difference between the natural frequency and the external excitation frequency, is the minimum safe frequency difference.

8. The safety warning system for the swinging area of a hanging swing according to claim 7, characterized in that The comprehensive risk evaluation model establishes a structural safety evaluation condition according to the stress limit boundary, including the following process: First, compare the stress value monitored by the stress sensor with the yield strength of the structural material : Judging whether the structural system is in a normal state by determining the stress threshold; Secondly, perform stress cycle statistics. Extract the stress amplitude and stress range from the signal, use the rainflow counting method to perform cycle counting on the stress time series, extract the number of cycles corresponding to different stress amplitudes, and the stress amplitude range. Finally, perform structural fatigue damage calculation, adopting the Miner linear cumulative damage rule: Wherein: is the cumulative fatigue damage value. If , it means that the theoretical fatigue limit enters the fatigue failure boundary; if , it means that the cumulative fatigue damage of the structure exceeds the theoretical limit and it will enter the failure state; is the actual number of cycles corresponding to the th stress amplitude; is the fatigue life that the material can withstand under the th stress amplitude, which is calculated by the stress-life S-N curve model.

9. The safety warning system for the swinging area of a hanging swing according to claim 7, characterized in that, The comprehensive risk assessment model also includes environmental safety assessment. Based on the collected environmental data, perform real-time analysis on the swing operation state using the environmental assessment model, and combine with the safety assessment rules to determine whether the current environment poses a risk to the swing.

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