Vertical transportation method based on digital sensing and unmanned aerial vehicle integration

Abstract

The invention discloses a vertical transportation method based on digital sensing and unmanned aerial vehicle integration, and belongs to the technical field of digital vertical hoisting inspection. The problems that an existing method depends on manual monitoring and is low in efficiency and large in error are solved, 360-degree dead-corner-free monitoring of the hanging basket is achieved by monitoring inclination and shaking of the hanging basket and the state of the steel wire rope in real time, potential safety risks can be found in time, and accidents are avoided; and when the hanging basket shakes, possible problems are found in advance, and an early warning action is generated, so that the high-altitude manual inspection frequency is reduced, a high-risk operation scene is avoided, a mode of changing post-treatment into pre-prevention is formed, the non-planned shutdown loss is reduced, the method provides a comprehensive monitoring solution in the aspect of digital inspection, and the safety of the digital inspection is improved. And the safety, the efficiency and the reliability in the vertical transportation process are improved.

Description

Technical Field

[0001] The present invention relates to the field of digital inspection technology, and in particular to a vertical transportation method based on digital sensing and drone integration. Background Art

[0002] Currently, the vertical lifting of construction materials at construction sites is a major factor affecting construction progress and causing safety accidents. In high-rise buildings, large equipment and heavy materials are typically transported vertically using cranes or truck cranes. During this vertical transport process, safety officers use binoculars and other equipment within designated areas to observe the position of the hook, wire rope, and lifting platform, thereby assessing the safety of the lifting operation based on experience.

[0003] In existing technologies, it is impossible to achieve all-round real-time monitoring through a single person using a telescope, and generally only focuses on the hook position. This makes it impossible to discover small hidden dangers such as broken small wire ropes, equipment shaking caused by wind, and excessive lifting speeds. As a result, this construction method has the hidden danger of inaccurate monitoring. However, the lifting of large and important equipment often requires multiple monitors to monitor from multiple angles. The lack of experience of on-site personnel often leads to major lifting accidents, which is time-consuming and labor-intensive.

[0004] Therefore, the existing needs are not met, and we propose a vertical transportation method based on digital sensing and drone integration. Summary of the Invention

[0005] The purpose of the present invention is to provide a vertical transportation method based on digital sensing and drone integration. By real-time monitoring of the inclination, shaking and wire rope status of the hanging basket, 360° no-dead-angle monitoring of the hanging basket can be achieved, so that potential safety risks can be discovered in time to avoid accidents; and when the hanging basket shakes, the cause of the shaking is further analyzed, thereby reducing the frequency of manual inspections at high altitudes, avoiding high-risk operation scenarios, and forming a mode from "post-event disposal" to "pre-event prevention", reducing unplanned downtime losses, so that the method provides a comprehensive monitoring solution in digital inspection, improves the safety, efficiency and reliability of the vertical transportation process, and solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: A vertical transportation method based on digital sensing and drone integration is provided. The method is based on the effects of basket tilt, basket sway, and wire rope damage on the vertical transportation process. The method comprises the following steps: Basket tilt detection: Several infrared receivers are deployed at the bottom vertices of the basket frame. An infrared laser sensor is deployed in the center of the basket, usually at the hook position. A ground receiver is deployed at the center of the ground lifting point of the vertical projection of the basket, that is, at the vertical line of the infrared laser sensor. Based on the infrared receiver receiving the infrared laser, it is determined whether the bottom of the basket is tilted, and the tilt angle of the basket is calculated using trigonometric functions; Basket shaking detection: Based on the drone equipped with a camera and a meteorological instrument, the camera is used to monitor the hanging basket, and the meteorological instrument is used to monitor the wind speed data around the hanging basket; A sway probability model is established based on wind speed data and cargo weight to estimate the probability of the basket swaying under the current wind speed and cargo weight. Wire rope damage detection: Preset wind speed thresholds and tilt angle thresholds can further distinguish whether the cause of the hanging basket shaking is related to wire rope damage.

[0007] Furthermore, the inclination angle of the hanging basket is calculated using trigonometric functions, specifically: Based on the positions between the four infrared receivers and the ground receiver, if the hanging basket is a rectangular structure, a virtual inverted square pyramid should be constructed between the four corners of the bottom of the hanging basket and the ground receiver; Measure the distances between four infrared receivers and the ground receiver to obtain four distance data; Use trigonometric functions to calculate the four distance data and get the inclination angle of the hanging basket. The calculation formula is as follows: in, Expressed as the tilt angle of the hanging basket; Expressed as 、 、 、 Any one of; It is expressed as the distance between the four infrared receivers and the ground receiver when there is no wind; Expressed as the side length of the bottom of the hanging basket.

[0008] Furthermore, a sway probability model is established based on wind speed data and cargo weight to evaluate the probability of the basket swaying under the current wind speed and cargo weight. Specifically, Collect historical data, including wind speed, wind direction, cargo weight, and basket sway, and clean and standardize the historical data; Use the decision tree method to perform cluster analysis on the processed historical data to obtain a data set; The sway probability model was constructed and trained using the dataset, and the generalization ability of the sway probability model was verified through cross-validation. The system receives wind speed data and cargo weight data measured by meteorological instruments in real time, evaluates the probability of the hanging basket shaking based on the trained shaking probability model, and feeds back the evaluation results to the operator in real time.

[0009] Furthermore, wind speed thresholds and tilt angle thresholds are preset to further distinguish whether the cause of the hanging basket shaking is related to the wire rope. Specifically: Based on the cluster analysis results of historical data, three levels of wind speed thresholds and three levels of tilt angle thresholds are preset; If the hanging basket does not shake, the wire rope is fine; If the basket shakes, the wind speed data is compared with the wind speed threshold. If the wind speed data is lower than the wind speed threshold and the basket shakes, it indicates that the basket shaking is related to the state of the wire rope; If it is related to the status of the wire rope, the damage condition of the wire rope is further verified, and the inclination angle data is compared with the inclination angle threshold to obtain the level of exceeding the wind speed threshold and the inclination angle threshold. According to the exceeded level, analysis is performed to determine whether there is a risk of wire rope breakage or poor bundling of goods.

[0010] Furthermore, after obtaining the result that the hanging basket is shaking, the method includes: Simulate the cargo weight and wind speed factors to establish the sway threshold under different cargo weights and wind speeds; If the basket sway is within the threshold range, but the degree of sway has basically reached the alarm value, and the preset empirical model determines that the sway is mainly related to the wind speed, the speed reduction operation will be started and manual inspection will be carried out; If the basket shakes beyond the threshold, regardless of whether the shaking is related to wind speed, wire rope wear or failure, the machine will be shut down immediately, the wire rope will be locked, and a mechanical inspection will be started; If the inspection finds that the shaking is related to the wear of the wire rope, the hanging basket is prohibited from operating again before the fault is eliminated, and the wire rope must be repaired or replaced in time. It can only be put into operation again after inspection and determination that it is normal.

[0011] Furthermore, before the hanging basket shaking detection, the method further includes: Targets and drones are deployed on all four sides of the basket. The targets serve as reference points for the drone's flight altitude. The vertical height difference between the drones should not exceed ±0.2m, the horizontal distance from the basket edge should not be less than 5m, and the vertical height difference from the bottom of the cargo should not exceed ±0.7m. The height of the drone from the ground is measured based on the laser ranging sensor, and the height of the basket from the ground is further determined.

[0012] Furthermore, the method further comprises: Establish a feedback mechanism and clearly define the types of information that needs to be fed back, including: monitoring data, operational measures, incident reports, and maintenance records; Feedback various data to the cloud platform based on wireless technology, and conduct compliance audits on various data through the cloud platform; Associate various audited data with the operation team, encrypt and store them based on blockchain technology to form a database; Authenticate the access object to ensure that the object that passes the authentication obtains the access rights to the database; The cloud platform is equipped with a remote real-time monitoring port for experts. Experts can log in to the backend monitoring platform with identity verification and monitor the entire lifting process in real time. The cameras onboard drones capture real-time footage of the lifting operations. Experts use the real-time footage transmitted by the drones and various monitoring data to promptly analyze the operating conditions, predict risks, and provide professional guidance.

[0013] Furthermore, the method further comprises: Before lifting, the wire rope is inspected, including appearance inspection, strength test, internal inspection and elastic modulus test; According to the design drawings of the hanging basket, a 3D geometric model is created, including the bottom plate, side plates, support structure and hanging ring components, and material properties are defined; Mesh the 3D geometric model and mark the stress concentration areas; A graded loading method is used to gradually apply loads and boundary conditions. The loads include: the weight of the hanging basket itself, the designed load-bearing weight and the dynamic load. The boundary conditions are set according to the actual use of the hanging basket. Finite element analysis software is used to solve and analyze whether the maximum stress value exceeds the yield strength of the material, whether the deformation of the structure is within the allowable range, and whether the supporting structure is stable, so as to obtain the verification results of the hanging basket's bearing capacity.

[0014] Furthermore, the method further comprises: To monitor the posture of the hoisted cargo and the hanging basket in the air and prevent the influence of wind or inertia from causing excessive tilt in the plane formed by the vertical height direction and the horizontal plane in any direction; A virtual reference plane is pre-set at the bottom of the building or at different locations on the floors. The plane is composed of three or more I-type sensors pre-set at the reference layer, and the vertical error of the three I-type sensors does not exceed ±2cm; A plurality of sensors installed at different levels from the hanging basket or the cargo during hoisting, wherein a comparison virtual surface formed by the sensors is mapped to the virtual reference plane; The tilt of the vertical plane of the hoisting is judged by the angular deviation between the two planes in the vertical position. Once the tilt angle exceeds 15°, an alarm will be issued immediately. Once the tilt angle exceeds 25°, the hoisting and lifting needs to be stopped.

[0015] Furthermore, the basket tilt detection also includes a linkage relationship between the sensor above the hook and the sensor on the ground, which is used to monitor the speed deviation during vertical lifting through real-time displacement judgment during lifting. If the lifting acceleration exceeds the set limit, an alarm will be issued or the lifting will be stopped.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, by real-time monitoring of the inclination, shaking and wire rope status of the hanging basket, 360° no-dead-angle monitoring of the hanging basket is achieved, which can timely discover potential safety risks and avoid accidents; and when the hanging basket shakes, the cause of the shaking is further analyzed, thereby reducing the frequency of manual inspections at high altitudes, avoiding high-risk operation scenarios, and forming a mode from "post-event disposal" to "pre-event prevention", reducing unplanned downtime losses, so that the method provides a comprehensive monitoring solution in digital inspections, and improves the safety, efficiency and reliability of the vertical transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the vertical transportation structure based on digital sensing and UAV integration of the present invention; Figure 2 A schematic diagram of the tilt state of the vertical transport structure based on digital sensing and UAV integration of the present invention; Figure 3 This is a flow chart of the vertical transportation method based on digital sensing and drone integration of the present invention; Figure 4 This is a flow chart of the method for monitoring the sway of a hanging basket according to the present invention; Figure 5 This is a flowchart of the hanging basket tilt monitoring of the present invention; Figure 6 This is a flow chart of the hanging basket lifting acceleration detection of the present invention; Figure 7 This is a schematic diagram of the vertical tilt monitoring of the hanging basket of the present invention; Among them, (a) is a schematic diagram of the normal state of the hanging basket, (b) and (c) are schematic diagrams of the vertical tilt of the hanging basket. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] In order to solve the technical problems in existing technology, where the lifting of large and important equipment often requires multiple monitors to monitor from multiple angles, and the lack of experience of on-site personnel often causes serious lifting accidents, which is time-consuming and labor-intensive, please refer to Figure 1-Figure 7 , this embodiment provides the following technical solutions: A vertical transportation method based on digital sensing and drone integration is provided. The method is based on the influence of basket tilt, basket sway, and wire rope damage on the vertical transportation process. The method includes the following steps: Before lifting, the wire rope is inspected, including appearance inspection, strength test, internal inspection and elastic modulus test; Based on the design drawings of the hanging basket, a 3D geometric model is created, including the base plate, side plates, support structure, and hanging ring components. Material properties, such as the elastic modulus, Poisson's ratio, and yield strength of the steel, are also defined. The cross-sectional shape of the hanging basket is regular, such as an equilateral triangle, rectangle, square, or regular pentagon. Mesh the 3D geometry model and mark stress concentration areas, such as lifting ring connections, support structure nodes, etc. A graded loading method is used to gradually apply loads and boundary conditions. For example, after each loading, a pause of 5 to 10 minutes is performed to observe the deformation of the hanging basket and the stress on the hanging device. The loads include the weight of the hanging basket itself, the designed load capacity, and dynamic loads, such as the inertia force during the lifting of the hanging basket. Boundary conditions are set according to the actual use of the hanging basket, such as the hinge constraints at the lifting rings and the fixed constraints between the base plate and the supporting structure. Finite element analysis software, such as ANSYS, is used to analyze whether the maximum stress value exceeds the yield strength of the material, whether the deformation of the structure is within the allowable range, and whether the supporting structure is stable, so as to obtain the verification result of the hanging basket's bearing capacity. If the finite element analysis results show that the hanging basket's bearing capacity is insufficient or there is a stress concentration problem, the supporting structure can be strengthened, such as increasing the cross-sectional area of ​​the supporting rods or changing the layout of the supporting structure; optimizing the geometric shape of the hanging basket to reduce the stress concentration area; or selecting a higher strength material.

[0020] Basket tilt detection: Several infrared receivers are deployed at the bottom vertices of the basket frame, such as Figure 1Middle: A1, A2, A3, A4; an infrared laser sensor is deployed in the center of the basket, usually at the hook position, such as Figure 1 Middle: B; its position deviation is no more than ±5cm from the center point directly below the vertical projection of the hook. A ground receiver is deployed at the center of the ground hanging point of the vertical projection of the hanging basket, that is, at the vertical line of the infrared laser sensor. Figure 1 Middle: C; This allows for multi-angle monitoring of the hook to prevent unhooking and breakage; Based on the infrared receiver receiving the infrared laser, it is determined whether the bottom of the basket is tilted, and the tilt angle of the basket is calculated using trigonometric functions. Specifically: Based on the positions between the four infrared receivers and the ground receiver, if the hanging basket is a rectangular structure, a virtual inverted square pyramid should be constructed between the four corners of the bottom surface of the hanging basket and the ground receiver. As the hoist rises, the shape of the inverted square pyramid changes, but the distance between the infrared laser sensor and the infrared receiver in each direction is always kept constant. If the deviation exceeds ±1m, it means that the hoist is tilted in the horizontal plane, and an alarm is issued. Once it exceeds ±2m, the hoisting can be stopped. Measure the distances between four infrared receivers and the ground receiver to obtain four distance data; Use trigonometric functions to calculate the four distance data and get the inclination angle of the hanging basket. The calculation formula is as follows: in, Expressed as the tilt angle of the hanging basket; Expressed as 、 、 、 Any one of; It is expressed as the distance between the four infrared receivers and the ground receiver when there is no wind; Expressed as the side length of the bottom of the hanging basket.

[0021] In one embodiment, the specific method for calculating the inclination angle of the hanging basket is as follows: Assume that the distances between the four infrared receivers and the ground receiver are: 、 、 、 , assuming that the basket is in a windless state, the four corners of its bottom form an inverted square pyramid; When the basket is in a windy state and tilted, the distances between the four infrared receivers and the ground receiver are no longer equal, forming a non-inverted square pyramid. The tilt angle is calculated using trigonometric functions. If the four angles are similar, the tilt of the basket may be caused by a uniform external force, such as wind. If the angles differ greatly, it may be due to a problem with the basket itself, such as a tilt caused by damaged wire ropes. Based on the calculated tilt angles, appropriate measures are taken. For example, if the tilt angle exceeds the preset threshold, the operation may need to be suspended to check the status of the basket and wire rope to ensure safety.

[0022] The beneficial effects achieved by the above content are: by deploying several infrared receivers at the bottom vertices of the hanging basket frame, deploying an infrared laser sensor in the center of the hanging basket, generally at the hook position, and deploying a ground receiver at the lifting point in the center of the ground vertically projected with the hanging basket, real-time monitoring of the hanging basket's tilt state is achieved; by measuring the distance change between the four infrared receivers and the ground receiver, it is possible to accurately determine whether the hanging basket has a horizontal tilt, thereby effectively avoiding safety accidents caused by the tilt of the hanging basket, providing quantitative data support for operators, and ensuring the safety of construction personnel and equipment.

[0023] The basket tilt detection also includes a linkage between the sensor above the hook and the sensor on the ground. Through real-time displacement judgment during hoisting, it is used to monitor the speed deviation during vertical lifting. If the hoisting acceleration exceeds the set limit (the acceleration is set according to the specific hoisting environment and cargo weight), an alarm will be issued or the hoisting will be stopped.

[0024] The beneficial effects achieved by the above content are: by forming a linkage relationship between the sensor above the hook and the sensor on the ground, the displacement changes of the hanging basket during the vertical lifting process can be monitored in real time, and the lifting speed deviation can be judged accordingly. Once the lifting acceleration exceeds the set limit, an accurate judgment can be made immediately to trigger an alarm or automatically stop the lifting, effectively preventing the excessive inertia force caused by the excessive lifting speed, which may lead to dangerous situations such as hanging basket shaking and unhooking. The safety and stability of the lifting process are effectively guaranteed through the mechanism of real-time displacement monitoring and acceleration limitation.

[0025] Basket shaking detection: Targets and drones are deployed on all four sides of the basket. The targets serve as reference points for the drone's flight altitude. The vertical height difference between the drones should not exceed ±0.2m, the horizontal distance from the basket edge should not be less than 5m, and the vertical height difference from the bottom of the cargo should not exceed ±0.7m. The laser ranging sensor measures the height of the drone from the ground and further determines the height of the hanging basket from the ground. When the hoist reaches the set floor height, some sensors stop working after confirmation to prevent false alarms. Based on the drone equipped with a camera and a meteorological instrument, the camera is used to monitor the hanging basket through video, and the meteorological instrument is used to monitor the wind speed data around the hanging basket. The operator can remotely monitor the condition of the hanging basket and the surrounding environment, and obtain real-time data in a timely manner to support decision-making; A sway probability model is established based on wind speed data and cargo weight to evaluate the probability of the basket swaying under the current wind speed and cargo weight. Specifically: Historical data, including wind speed, wind direction, cargo weight, and basket sway, was collected and cleaned and standardized. A decision tree approach was used to cluster the processed historical data to generate a dataset. A sway probability model was constructed and trained using the dataset, and its generalization capability was verified through cross-validation. Through analysis of historical data, basket sway trends were effectively predicted, allowing preventive maintenance measures to be implemented in advance to reduce the likelihood of failures. In this embodiment, the sway probability model fully considers factors such as wind speed and cargo weight, and conducts a comprehensive analysis in combination with the wear and failure of the wire rope. By collecting, cleaning and standardizing historical data, and using the decision tree method to perform cluster analysis on the data, a sway probability model is constructed and trained. The sway probability model can assess the probability of the hanging basket swaying based on the wind speed data and cargo weight data measured by the meteorological instrument in real time, and thus provide real-time feedback of the assessment results to the operator. At the same time, preset wind speed thresholds and tilt angle thresholds are used to further distinguish whether the cause of the hanging basket swaying is related to the wire rope, thereby achieving accurate prediction and cause analysis of the hanging basket swaying. The system receives wind speed data and cargo weight data measured by meteorological instruments in real time, evaluates the probability of the hanging basket shaking based on the trained shaking probability model, and feeds back the evaluation results to the operator in real time. The evaluation results include information such as wind speed, cargo weight and shaking probability.

[0026] In one embodiment, various sensors and data outputs are shown in the following table: Sensor Type Deployment Location Monitoring targets Data Output Drones (4 units) 2-3m above the four corners of the hanging basket Target recognition, visual height measurement Video stream + height data Infrared laser sensor Hook center Bottom level 4-channel infrared signal strength Ground ranging sensor Ground center point Vertical displacement of hanging basket 4 distance values ​​(mm level accuracy) Weather instrument Drone-mounted Real-time wind speed / direction Wind speed vector (m / s) Weight sensor Basket load-bearing structure Cargo weight Weight (kg) Table 1. Multi-source data statistics According to the above steps, the tilt of the hanging basket is monitored and the following data are obtained: Scenario Wind speed (m / s) Weight (kg) Tilt angle (°) System response Normal operation 4.2 500 0.8 No alarm Sudden gusts of wind 15.7 300 5.2 Trigger anchor device Initial stage of cable breakage 2.1 400 9.8 Emergency brake + sound and light alarm Table 2. Simulation test data table Based on this, it can help operators adjust their work plans in a timely manner, improve the efficiency of lifting operations, and realize the intelligent and digital development of lifting operations.

[0027] Wire rope damage detection: Preset wind speed thresholds and tilt angle thresholds to further distinguish whether the cause of the basket shaking is related to damaged wire ropes. Specifically: Based on the cluster analysis results of historical data, three levels of wind speed thresholds and three levels of tilt angle thresholds are preset; for example: 0-5m / s, 5-10m / s, >10m / s; the wind speed thresholds are; the tilt angles are >5°, >15°, >25°. Once >15°, an alarm needs to be issued, and once >25°, the lifting needs to be stopped. If the hanging basket does not shake, the wire rope is fine; If the basket shakes, the wind speed data is compared with the wind speed threshold. If the wind speed data is lower than the wind speed threshold and the basket shakes, it indicates that the basket shaking is related to the state of the wire rope; If it is related to the condition of the wire rope, the damage condition of the wire rope is further verified, and the tilt angle data is compared with the tilt angle threshold to determine the level of exceeding the wind speed threshold and tilt angle threshold. Based on the exceeded level, analysis is performed to determine the risk of wire rope breakage or poor bundling of cargo. Simulate the cargo weight and wind speed factors to establish the sway threshold under different cargo weights and wind speeds; If the basket sway is within the threshold range, but the degree of sway has basically reached the alarm value, and the preset empirical model determines that the sway is mainly related to the wind speed, the speed reduction operation will be started and manual inspection will be carried out; If the basket shakes beyond the threshold, regardless of whether the shaking is related to wind speed, wire rope wear or failure, the machine will be shut down immediately, the wire rope will be locked, and a mechanical inspection will be started; If the inspection finds that the shaking is related to the wear of the wire rope, the hanging basket is prohibited from operating again before the fault is eliminated, and the wire rope must be repaired or replaced in time. It can only be put into operation again after inspection and determination that it is normal.

[0028] The beneficial effects achieved by the above content are: by monitoring the status of the wire rope and the shaking of the hanging basket, potential safety hazards such as wire rope wear, breakage risk or poor bundling of goods can be discovered in time, so that corresponding measures can be taken to avoid accidents. When the hanging basket shakes, by comparing with the wind speed threshold and judging the shaking threshold, timely measures such as slowing down or stopping for inspection can be taken to reduce the shaking of the hanging basket, thereby ensuring the stability of the hanging basket operation. By using intelligent means such as sensors, real-time monitoring, data transmission and automatic control, the automation and intelligence of hanging basket shaking detection and wire rope status assessment are realized, thereby improving the intelligence level of hanging basket operation.

[0029] In one embodiment, assume that a 5-ton chiller needs to be hoisted to the equipment level at a height of 200 meters in a super high-rise building at a location at a certain time. A tower crane installed at a height of 400 meters is planned for the hoisting operation. To ensure the safety of the hoisting operation, a detailed safety parameter analysis is conducted in advance, and various warning and stop values ​​are set.

[0030] Warning parameter settings: Horizontal deviation: warning value is 15°, stop value is 25°.

[0031] Vertical deviation: warning value is 0.5 meters, stop value is 1 meter.

[0032] Resistance sensor: used to judge the breakage and tightness of the wire rope. The warning value is a 20% increase in resistance, and the stop value is a 50% increase in resistance.

[0033] Lifting preparation: Check all equipment and sensors to ensure they are functioning properly; conduct a trial lift to test the stability of the lifting system and confirm that all safety measures are in place, including emergency plans.

[0034] Hoisting starts: The tower crane began to hoist, the cold machine slowly rose, and the operators and safety monitoring personnel paid close attention to various monitoring data.

[0035] Hoisting to a height of 100 meters: Five minutes later, the tower crane lifted the cold machine to a height of 100 meters. The infrared receiver and infrared laser sensor cooperated with each other and detected that the swing amplitude in the Y direction was too large, exceeding the warning level of 15°. An alarm was immediately sounded and the lifting was temporarily stopped.

[0036] Dealing with sway issues: After 2 minutes, the swing amplitude was reduced to within 5° and the warning disappeared. After a safety assessment, it was decided to continue the lifting.

[0037] Hoisting to a height of 150 meters: Continuing the hoisting, 8 minutes later, the cold machine rose to a height of 150 meters; based on the cooperation between the infrared receiver and the infrared laser sensor, it was detected that the swing amplitude in the Y direction was too large, exceeding the warning level of 15°. At this time, the wind speed was normal, indicating that a small strand of the multiple steel wire ropes might have broken.

[0038] Dealing with wire rope problems: The drone's mounted camera provided overhead monitoring and real-time video feedback, which was then confirmed on-site by experts. After confirming that the wire rope had no obvious fractures and no signs of fatigue fracture, it was decided to continue the lifting operation.

[0039] Hoisting to a height of 200 meters: Continue hoisting until the cold machine safely reaches the equipment layer at a height of 200 meters, complete the hoisting operation, and fix and subsequently install the cold machine.

[0040] Inspection after hoisting: Conduct a comprehensive inspection of the wire rope to confirm that there is no damage; maintain all equipment and sensors to ensure reliability when used next time.

[0041] Summary: Through precise safety parameter analysis and real-time monitoring, this hoisting operation successfully lifted the 5-ton chiller to the equipment level at a height of 200 meters. During the hoisting process, potential problems with swaying and wire ropes were promptly addressed, ensuring the safety and smooth progress of the operation.

[0042] The method also includes: Establish a feedback mechanism and clearly define the types of information that needs to be fed back, including: monitoring data: such as wind speed, basket sway, wire rope status, etc.; operational measures: specific measures taken when abnormal conditions are detected, such as adjusting wire rope tension, suspending operations, etc.; incident reports: detailed reports of any safety incidents or near misses; maintenance records: maintenance and inspection records of the basket and related equipment; Based on wireless technology, various types of data are fed back to the cloud platform, and compliance audits are conducted on various types of data through the cloud platform; for example: Safety Management Department: Responsible for supervising compliance with safety regulations and accident prevention; Operations Team: The team directly involved in lifting operations needs to understand monitoring results to adjust operations; Maintenance Team: Responsible for the daily maintenance and inspection of equipment; Management: Needs to understand the overall safety status and any potential risks.

[0043] Associate various audited data with the operation team, encrypt and store all types of data based on blockchain technology to form a database; authenticate access objects to ensure that those who pass the verification are granted access to the database; The cloud platform is equipped with a remote real-time monitoring port for experts. Experts can log in to the backend monitoring platform with identity verification and monitor the entire lifting process in real time. The cameras onboard drones capture real-time footage of the lifting operations. Experts use the real-time footage transmitted by the drones and various monitoring data to promptly analyze the operating conditions, predict risks, and provide professional guidance.

[0044] The beneficial effects achieved by the above content are: by real-time monitoring of the tilt, shaking and wire rope status of the hanging basket, 360° no-blind-angle monitoring of the hanging basket can be achieved, potential safety risks can be discovered in time, and accidents can be avoided; and when the hanging basket shakes, the cause of the shaking is further analyzed, thereby reducing the frequency of manual inspections at high altitudes, avoiding high-risk operation scenarios, and forming a "post-event disposal" to "pre-event prevention" mode, reducing unplanned downtime losses, so that this method provides a comprehensive monitoring solution in digital inspections, and improves the safety, efficiency and reliability of the vertical transportation process. At the same time, experts can make accurate judgments on the speed, position, etc. of the lifting operation based on real-time images and data in the background, allowing experts to remotely participate in the guidance and decision-making of the lifting operation. When the wind speed has a large impact or there is a risk of decoupling during drone monitoring, the experts activate the intervention mechanism, stop the lifting, and use the drone to approach for careful observation to eliminate the danger before continuing.

[0045] The method also includes: To monitor the posture of the hoisted cargo and the hanging basket in the air and prevent the influence of wind or inertia from causing excessive tilt in the plane formed by the vertical height direction and the horizontal plane in any direction; like Figure 7 As shown in a-1, a virtual reference plane is preset at different locations on the bottom or floors of the building. The plane is composed of three or more I-type sensors pre-set at the reference layer, and the vertical error of the three I-type sensors does not exceed ±2cm; like Figure 7 As shown in a-2, several sensors are installed on different horizontal planes of the hanging basket or cargo during hoisting, and a comparison virtual plane formed by the above sensors is mapped to the above virtual reference plane; The tilt of the vertical plane of the hoisting is judged by the angular deviation between the two planes in the vertical position. Once the tilt angle exceeds 15° (such as Figure 7 b-1) will immediately sound an alarm, and once the tilt angle exceeds 25° (such as Figure 7 In case of c-1), it is necessary to stop hoisting; The tilt angle is calculated using the following formula: Let the normal vector of the virtual reference plane be , the normal vector of the virtual surface is , then the angle between the two That is the inclination angle of the lifting vertical plane: Where, Represents the dot product of two normal vectors; Respectively Length of the module; Once the tilt angle is calculated according to the above formula satisfy: when >15°, an alarm will be sounded immediately; when When the angle is greater than 25°, stop lifting.

[0046] The beneficial effects achieved by the above content are as follows: by pre-setting a virtual reference plane at the bottom of the building or at different locations on the floors, and mapping the plane composed of multiple I-type sensors with the control virtual plane formed by sensors installed on different horizontal surfaces of the hanging basket or cargo, the inclination of the hanging basket in the vertical height direction and the horizontal plane can be monitored in real time and accurately. Once the inclination angle exceeds 15° or 25°, an alarm will be immediately issued or the lifting will be stopped. By pre-setting the virtual reference plane and installing sensors in advance, real-time monitoring and quantitative analysis of the hanging basket posture are realized, providing a scientific basis for the monitoring and management of lifting operations, thereby effectively avoiding excessive tilting caused by wind or inertia, and thus preventing serious accidents such as overturning and collision of the hanging basket.

[0047] Working principle: Infrared receivers and infrared laser sensors are used to monitor in real time whether the hanging basket is tilted, and the specific tilt angle is calculated using trigonometric functions. The camera and meteorological instrument carried by the drone are used to monitor the hanging basket and collect wind speed data. The possibility of the hanging basket shaking under the current wind speed and cargo weight conditions is evaluated through the shaking probability model. The cause of the hanging basket shaking is further distinguished by pre-set wind speed thresholds and tilt angle thresholds to determine whether it is related to the damage of the wire rope, thereby improving the safety and efficiency of the hanging basket operation and realizing the function of digital inspection.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "including," "having," or any other variations thereof are intended to cover non-exclusive possessors, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or includes elements that are inherent to such process, method, article, or apparatus.

[0049] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions, and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A vertical transportation method based on digital sensing and drone integration, characterized by: The method is based on the influence of hanging basket tilt, hanging basket sway and wire rope damage on the vertical transportation process, and the method includes the following steps: Basket tilt detection: Several infrared receivers are deployed at the bottom vertices of the basket frame. An infrared laser sensor is deployed in the center of the basket, usually at the hook position. A ground receiver is deployed at the center of the ground lifting point of the vertical projection of the basket, that is, at the vertical line of the infrared laser sensor. Based on the infrared receiver receiving the infrared laser, it is determined whether the bottom of the basket is tilted, and the tilt angle of the basket is calculated using trigonometric functions; Basket shaking detection: Based on the drone equipped with a camera and a meteorological instrument, the camera is used to monitor the hanging basket, and the meteorological instrument is used to monitor the wind speed data around the hanging basket; A sway probability model is established based on wind speed data and cargo weight to estimate the probability of the basket swaying under the current wind speed and cargo weight. Wire rope damage detection: Preset wind speed thresholds and tilt angle thresholds to distinguish whether the cause of the basket shaking is related to wire rope damage.

2. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: The inclination angle of the hanging basket is calculated using trigonometric functions, specifically: Based on the positions between the four infrared receivers and the ground receiver, if the hanging basket is a rectangular structure, a virtual inverted square pyramid should be constructed between the four corners of the bottom of the hanging basket and the ground receiver; Measure the distances between four infrared receivers and the ground receiver to obtain four distance data; Use trigonometric functions to calculate the four distance data and get the inclination angle of the hanging basket. The calculation formula is as follows: in, Expressed as the tilt angle of the hanging basket; Expressed as 、 、 、 Any one of; It is expressed as the distance between the four infrared receivers and the ground receiver when there is no wind; Expressed as the side length of the bottom of the hanging basket.

3. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: A sway probability model is established based on wind speed data and cargo weight to evaluate the probability of the basket swaying under the current wind speed and cargo weight. Specifically: Collect historical data, including wind speed, wind direction, cargo weight, and basket sway, and clean and standardize the historical data; Use the decision tree method to perform cluster analysis on the processed historical data to obtain a data set; The sway probability model was constructed and trained using the dataset, and the generalization ability of the sway probability model was verified through cross-validation. The system receives wind speed data and cargo weight data measured by meteorological instruments in real time, evaluates the probability of the hanging basket shaking based on the trained shaking probability model, and feeds back the evaluation results to the operator in real time.

4. The vertical transportation method based on digital sensing and drone integration according to claim 3 is characterized in that: Preset wind speed thresholds and tilt angle thresholds to further distinguish whether the cause of the basket shaking is related to the wire rope. Specifically: Based on the cluster analysis results of historical data, three levels of wind speed thresholds and three levels of tilt angle thresholds are preset; If the hanging basket does not shake, the wire rope is fine; If the basket shakes, the wind speed data is compared with the wind speed threshold. If the wind speed data is lower than the wind speed threshold and the basket shakes, it indicates that the basket shaking is related to the state of the wire rope; If it is related to the status of the wire rope, the damage condition of the wire rope is further verified, and the inclination angle data is compared with the inclination angle threshold to obtain the level of exceeding the wind speed threshold and the inclination angle threshold. According to the exceeded level, analysis is performed to determine whether there is a risk of wire rope breakage or poor bundling of goods.

5. The vertical transportation method based on digital sensing and drone integration according to claim 4 is characterized in that: After obtaining the result that the hanging basket produces shaking, including: Simulate the cargo weight and wind speed factors to establish the sway threshold under different cargo weights and wind speeds; If the basket sway is within the threshold range, but the degree of sway has basically reached the alarm value, and the preset empirical model determines that the sway is mainly related to the wind speed, the speed reduction operation will be started and manual inspection will be carried out; If the basket shakes beyond the threshold, regardless of whether the shaking is related to wind speed, wire rope wear or failure, the machine will be shut down immediately, the wire rope will be locked, and a mechanical inspection will be started; If the inspection finds that the shaking is related to the wear of the wire rope, the hanging basket is prohibited from operating again before the fault is eliminated, and the wire rope must be repaired or replaced in time. It can only be put into operation again after inspection and determination that it is normal.

6. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: Before the hanging basket shaking detection, the method further includes: Targets and drones are deployed on all four sides of the basket. The targets serve as reference points for the drone's flight altitude. The vertical height difference between the drones should not exceed ±0.2m, the horizontal distance from the basket edge should not be less than 5m, and the vertical height difference from the bottom of the cargo should not exceed ±0.7m. The height of the drone from the ground is measured based on the laser ranging sensor, and the height of the basket from the ground is further determined.

7. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: The method further comprises: Establish a feedback mechanism and clearly define the types of information that needs to be fed back, including: monitoring data, operational measures, incident reports, and maintenance records; Feedback various data to the cloud platform based on wireless technology, and conduct compliance audits on various data through the cloud platform; Associate various audited data with the operation team, encrypt and store them based on blockchain technology to form a database; Authenticate the access object to ensure that the object that passes the authentication obtains the access rights to the database; The cloud platform is equipped with a remote real-time monitoring port for experts. Experts can log in to the backend monitoring platform with identity verification and monitor the entire lifting process in real time. The cameras onboard drones capture real-time footage of the lifting operations. Experts use the real-time footage transmitted by the drones and various monitoring data to promptly analyze the operating conditions, predict risks, and provide professional guidance.

8. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: The method further comprises: Before lifting, the wire rope is inspected, including appearance inspection, strength test, internal inspection and elastic modulus test; According to the design drawings of the hanging basket, a 3D geometric model is created, including the bottom plate, side plates, support structure and hanging ring components, and material properties are defined; Mesh the 3D geometric model and mark the stress concentration areas; A graded loading method is used to gradually apply loads and boundary conditions. The loads include: the weight of the hanging basket itself, the designed load-bearing weight and the dynamic load. The boundary conditions are set according to the actual use of the hanging basket. Finite element analysis software is used to solve and analyze whether the maximum stress value exceeds the yield strength of the material, whether the deformation of the structure is within the allowable range, and whether the supporting structure is stable, so as to obtain the verification results of the hanging basket's bearing capacity.

9. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: The method further comprises: To monitor the posture of the hoisted cargo and the hanging basket in the air and prevent the influence of wind or inertia from causing excessive tilt in the plane formed by the vertical height direction and the horizontal plane in any direction; A virtual reference plane is pre-set at the bottom of the building or at different locations on the floors. The plane is composed of three or more I-type sensors pre-set at the reference layer, and the vertical error of the three I-type sensors does not exceed ±2cm; A plurality of sensors installed at different levels from the hanging basket or the cargo during hoisting, wherein a comparison virtual surface formed by the sensors is mapped to the virtual reference plane; The tilt of the vertical plane of the hoisting is judged by the angular deviation between the two planes in the vertical position. Once the tilt angle exceeds 15°, an alarm will be issued immediately. Once the tilt angle exceeds 25°, the hoisting and lifting needs to be stopped.

10. The vertical transportation method based on digital sensing and drone integration according to claim 1 is characterized in that: The basket tilt detection also includes a linkage relationship between the sensor above the hook and the sensor on the ground, which is used to monitor the speed deviation during vertical lifting through real-time displacement judgment during lifting. If the lifting acceleration exceeds the set limit, an alarm will be issued or the lifting will be stopped.

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