Vertical transportation method based on digital sensing and drone integration

Abstract

The application 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 application solves the problems of low efficiency and large error of the existing method relying on manual monitoring, realizes 360-degree dead-angle-free monitoring of the basket by monitoring the inclination, shaking and steel wire rope state of the basket in real time, can discover potential safety risks in time, and avoids accidents;when the basket shakes, the application can discover possible problems in advance and generate a warning action, thereby reducing the frequency of manual high-altitude inspection, avoiding high-risk operation scenes, changing the mode from "after-treatment" to "prevention", reducing unplanned downtime loss, providing a comprehensive monitoring solution in the aspect of digital inspection, and improving the safety, efficiency and reliability of the vertical transportation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of digital inspection, in particular to a vertical transportation method based on digital sensing and unmanned aerial vehicle integration. BACKGROUND

[0002] At present, the vertical hoisting of building materials at the construction site is a key factor affecting the progress of engineering construction and causing safety accidents. In high-rise buildings, large equipment or heavy materials are generally transported vertically by cranes or truck cranes. During vertical transportation, safety officers observe the attitude of the hook, steel wire rope and hoisting platform in the specified area using a telescope and other equipment, thereby judging the safety of hoisting based on experience.

[0003] In the prior art, it is impossible to achieve real-time omnidirectional monitoring by a single person using a telescope, and only the hook position is generally monitored, so that small wire rope breakage, equipment shaking due to wind force and small hidden dangers caused by excessive hoisting speed cannot be discovered, resulting in the problem of inaccurate monitoring of this construction method. However, large and important equipment hoisting often requires multiple monitors to monitor from multiple angles, and the lack of experience of on-site personnel often causes serious hoisting accidents, which is time-consuming and labor-intensive.

[0004] Therefore, the existing needs are not met, and for this purpose, a vertical transportation method based on digital sensing and unmanned aerial vehicle integration is proposed. SUMMARY

[0005] The purpose of the present application is to provide a vertical transportation method based on digital sensing and unmanned aerial vehicle integration, which realizes 360° dead angle-free monitoring of the basket by monitoring the inclination, shaking and steel wire rope state of the basket in real time, can discover potential safety risks in time and avoid accidents; and when the basket shakes, further analyzes the shaking reason, thereby reducing the frequency of high-altitude manual inspection, avoiding high-risk operation scenarios, forming a mode from "after-treatment" to "prevention", reducing unplanned downtime losses, providing a comprehensive monitoring solution in the aspect of digital inspection, improving the safety, efficiency and reliability of the vertical transportation process, and solving the problems proposed in the above background.

[0006] To achieve the above purpose, the present application provides the following technical scheme:

[0007] The vertical transportation method based on digital sensing and unmanned aerial vehicle integration is a method based on the influence of basket inclination, basket shaking and steel wire rope damage on the vertical transportation process, and the method comprises the following steps:

[0008] Basket inclination detection:

[0009] Deploy several infrared receivers at the bottom vertices of the basket frame, and deploy an infrared laser sensor at the center of the basket, generally at the position of the hook. Deploy a ground receiver at the vertical projection of the center of the basket on the ground, that is, at the longitudinal vertical line of the infrared laser sensor.

[0010] Based on the reception of infrared laser by the infrared receiver, it is judged whether the bottom of the basket is tilted, and the inclination angle of the basket is calculated by using the trigonometric function.

[0011] Swing detection of the basket:

[0012] Based on the unmanned aerial vehicle carrying a camera and a meteorological instrument, the video monitoring of the basket is realized by using the camera, and the wind speed data around the basket is monitored by using the meteorological instrument.

[0013] According to the wind speed data and the weight of the goods, a swing probability model is established to evaluate the probability of the basket swinging under the current wind speed and the weight of the goods.

[0014] Steel wire damage detection:

[0015] The preset wind speed threshold and inclination angle threshold are used to further distinguish whether the cause of the swing of the basket is related to the damage of the steel wire.

[0016] Further, the inclination angle of the basket is calculated by using the trigonometric function, specifically:

[0017] Based on the positions between the four infrared receivers and the ground receiver, if the basket is a rectangular structure, a virtual inverted regular quadrangular pyramid should be constructed between the four corners of the bottom surface of the basket and the ground receiver.

[0018] The distances between the four infrared receivers and the ground receiver are measured to obtain four distance data.

[0019] The inclination angle of the basket is calculated by using the trigonometric function on the four distance data, and the calculation formula is as follows:

[0020]

[0021] Among them, represents the inclination angle of the basket; represents , , , any one of them; represents the distance between the four infrared receivers and the ground receiver without wind; represents the side length of the bottom of the basket.

[0022] Further, according to the wind speed data and the weight of the goods, a swing probability model is established to evaluate the probability of the basket swinging under the current wind speed and the weight of the goods, specifically:

[0023] Collect historical data, including: wind speed, wind direction, cargo weight and basket swing, clean and standardize the historical data;

[0024] Use the decision tree method to cluster the processed historical data to obtain a data set;

[0025] Use the data set to build and train a swing probability model, and verify the generalization ability of the swing probability model by cross-validation method;

[0026] Real-time receive wind speed data and cargo weight data measured by meteorological instrument, evaluate the probability of basket swing based on the trained swing probability model, and real-time feedback the evaluation result to the operator.

[0027] Further, preset wind speed threshold and inclination angle threshold, further distinguish whether the cause of the basket swing is related to the steel wire rope, specifically:

[0028] According to the clustering analysis result of the historical data, three levels of wind speed threshold and three levels of inclination angle threshold are preset respectively;

[0029] If the basket does not swing, the steel wire rope is normal;

[0030] If the basket swings, compare the wind speed data with the wind speed threshold, if the wind speed data is lower than the wind speed threshold, and the basket swings, it indicates that the basket swing is related to the state of the steel wire rope;

[0031] If it is related to the state of the steel wire rope, further verify the damage condition of the steel wire rope, compare the inclination angle data with the inclination angle threshold, and obtain the level exceeding the wind speed threshold and the inclination angle threshold, analyze according to the exceeding level, and obtain the risk of steel wire rope fracture or poor bundling of goods.

[0032] Further, after obtaining the result of the basket swing, including:

[0033] Simulate according to the factors of cargo weight and wind speed, and establish swing threshold under different cargo weight and wind speed;

[0034] If the basket swing is within the threshold range, but the swing degree basically reaches the alarm value, and it is judged according to the preset experience model that the swing is mainly related to the wind speed, then start the speed reduction operation, and perform manual inspection;

[0035] If the basket swing exceeds the threshold range, whether the swing is related to the wind speed, steel wire rope wear or failure, immediately stop the machine, lock the steel cable, and start mechanical inspection;

[0036] If the inspection finds that the swing is related to the wire rope wear, the basket is prohibited from running again before troubleshooting, and the wire rope is repaired or replaced in time. After inspection and determination, it can be put into operation again.

[0037] Further, before the basket swing detection, the method further comprises:

[0038] Deploy targets and drones on all four sides of the basket, and the targets serve as reference points for the flight height of the drones; the flight errors of the drones are perpendicular to each other with a height difference of not more than ±0.2 m, a horizontal distance from the edge of the basket of not less than 5 m, and a vertical height difference from the bottom of the cargo of not more than ±0.7 m;

[0039] Based on the laser ranging sensor, the height of the drone from the ground is measured to further determine the height of the basket from the ground.

[0040] Further, the method further comprises:

[0041] A feedback mechanism is established to clearly define the types of information that need to be fed back, including monitoring data, operation measures, event reports, and maintenance records;

[0042] Based on wireless technology, various types of data are fed back to the cloud platform, and various types of data are audited through the cloud platform;

[0043] Associate various types of data that pass the audit with the operation team, and encrypt and store various types of data based on blockchain technology to form a database;

[0044] Identity verification is performed on the access object to ensure that the object that passes the verification obtains access rights to the database;

[0045] The cloud platform sets up a remote real-time monitoring port for experts, and the experts log in to the background monitoring platform after identity verification to real-time control the entire hoisting process;

[0046] And through the real-time collection of hoisting operation pictures by the camera carried by the drone, the experts analyze the operation status in a timely manner, predict risks and give professional guidance according to the real-time pictures transmitted by the drone and various types of monitoring data.

[0047] Further, the method further comprises:

[0048] Before hoisting, the wire rope is inspected, including appearance inspection, strength test, internal inspection and elastic modulus test;

[0049] According to the design drawings of the basket, a three-dimensional geometric model is established, including the bottom plate, the side plate, the support structure and the ring component, and the material properties are defined;

[0050] The three-dimensional geometric model is meshed, and the stress concentration area is marked;

[0051] The load and boundary conditions are applied step by step in a hierarchical loading mode, the load includes the weight of the basket itself, the designed bearing weight and the dynamic load, and the boundary conditions are set according to the actual use of the basket;

[0052] The finite element analysis software is used for solving, whether the maximum stress value exceeds the yield strength of the material, whether the deformation of the structure is within the allowable range, whether the support structure is stable, and the verification result of the carrying capacity of the basket is obtained.

[0053] Further, the method further comprises:

[0054] In order to monitor the attitude of the hoisted goods and the basket in the air, prevent the influence of wind force or inertia, and cause excessive inclination of the vertical height direction and the horizontal plane;

[0055] A virtual reference plane is preset at the bottom of the building or different positions of the floor, the plane is formed by three or more than three I-shaped sensors preset on the reference layer, and the vertical error of the three I-shaped sensors is not more than ±2cm;

[0056] A plurality of sensors installed on different horizontal planes of the basket or goods during hoisting are used to form a mapping between the contrast virtual plane formed by the sensors and the virtual reference plane;

[0057] The angle deviation between the two planes in the vertical position is used to judge the inclination of the hoisting vertical plane, and an alarm is issued once the inclination angle exceeds 15°, and the hoisting is stopped once the inclination angle exceeds 25°.

[0058] Further, the basket inclination detection further comprises that the sensors above the hooks and the sensors on the ground form a linkage relationship, and the real-time displacement during hoisting is used to judge the speed deviation during vertical lifting, and an alarm or the hoisting is stopped if the hoisting acceleration exceeds the set limit.

[0059] Compared with the prior art, the beneficial effects of the present application are:

[0060] In the present application, the inclination, shaking and steel wire rope state of the basket are monitored in real time, 360° dead angle monitoring of the basket is realized, potential safety risks can be found in time, and accidents can be avoided; and when the basket shakes, the shaking reason is further analyzed, so that the frequency of manual inspection in the air is reduced, high-risk operation scenes are avoided, a mode is formed from "after-treatment" to "prevention", non-planned downtime losses are reduced, the method provides a comprehensive monitoring solution in the aspect of digital inspection, and the safety, efficiency and reliability of the vertical transportation process are improved. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1The schematic diagram of the vertical transportation structure based on digital sensing and unmanned aerial vehicle integration of the present application;

[0062] Figure 2 The schematic diagram of the inclined state of the vertical transportation structure based on digital sensing and unmanned aerial vehicle integration of the present application;

[0063] Figure 3 The flow chart of the vertical transportation method based on digital sensing and unmanned aerial vehicle integration of the present application;

[0064] Figure 4 The flow chart of the hanging basket sway monitoring method of the present application;

[0065] Figure 5 The flow chart of the hanging basket inclination monitoring of the present application;

[0066] Figure 6 The flow chart of the hanging basket lifting acceleration detection of the present application;

[0067] Figure 7 The schematic diagram of the hanging basket vertical direction inclination monitoring of the present application;

[0068] Wherein, (a) is the schematic diagram of the normal state of the hanging basket, (b) and (c) are the schematic diagrams of the vertical direction inclination of the hanging basket. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0070] In order to solve the technical problems in the prior art that large important equipment hoisting often needs multiple monitors to monitor from multiple angles, and the lack of experience of on-site personnel often causes great hoisting accidents, which is time-consuming and laborious, please refer to Figures 1-7 The technical solutions of the present embodiment are as follows:

[0071] The vertical transportation method based on digital sensing and unmanned aerial vehicle integration, which is a method based on the influence of hanging basket inclination, hanging basket sway and steel wire rope damage on the vertical transportation process, and the method comprises the following steps:

[0072] Before hoisting, the steel wire rope is inspected, including: appearance inspection, strength test, internal inspection and elastic modulus test;

[0073] According to the design drawings of the basket, a three-dimensional geometric model is established, including: the bottom plate, the side plate, the support structure and the lifting ring component, and the material properties are defined, such as: the elastic modulus, the Poisson's ratio, the yield strength of steel, etc., wherein the cross-sectional shape of the basket is regular, such as: equilateral triangle, rectangle, square, regular pentagon, etc.

[0074] The three-dimensional geometric model is meshed, and the stress concentration areas are marked, such as: the lifting ring connection, the support structure node, etc.

[0075] A hierarchical loading method is adopted, and the load and boundary conditions are gradually applied, such as: after each loading, pause for a period of time, such as 5-10 minutes, observe the deformation of the basket and the stress of the hanging device; the load includes: the weight of the basket itself, the designed carrying weight and the dynamic load, such as: the inertial force when the basket is lifted; the boundary conditions are set according to the actual use of the basket, such as: the hinge constraint at the lifting ring, the fixed constraint between the bottom plate and the support structure, etc.

[0076] The finite element analysis software, such as: ANSYS, etc. is used for solving, analyzing whether the maximum stress value exceeds the yield strength of the material, whether the deformation of the structure is within the allowable range, whether the support structure is stable, and obtaining the verification result of the carrying capacity of the basket; if the finite element analysis result shows that the carrying capacity of the basket is insufficient or there is a stress concentration problem, the support structure can be strengthened, such as: increasing the cross-sectional area of the support rod or changing the layout of the support structure; the geometry of the basket can be optimized to reduce the stress concentration area; or a higher strength material can be selected.

[0077] Basket tilt detection:

[0078] A number of infrared receivers are respectively arranged at the bottom vertices of the basket frame, such as Figure 1 A1, A2, A3, A4 in the figure; an infrared laser sensor is arranged at the center of the basket, generally at the hook position, such as Figure 1 B in the figure; the position deviation is not more than ±5cm from the center point vertically below the hook projection, and a ground receiver is arranged at the center of the ground lifting point of the vertical projection of the basket, that is, the longitudinal vertical line of the infrared laser sensor, such as Figure 1 C in the figure; thus, the hook condition is monitored from multiple angles to avoid unhooking and breaking;

[0079] Based on the reception of infrared laser by the infrared receiver, it is judged whether the bottom of the basket is tilted, and the inclination angle of the basket is calculated by using the trigonometric function, specifically:

[0080] Based on the positions between the four infrared receivers and the ground receiver, if the gondola is a rectangular structure, a virtual inverted regular quadrangular pyramid should be constructed between the four corners of the gondola bottom and the ground receiver. With the lifting of the hoisting, the shape of the inverted regular quadrangular pyramid changes, but the distance between the infrared laser sensor and the infrared receiver in each direction does not deviate. If the deviation exceeds ±1m or more, it means that the hoisting is tilted in the horizontal plane, and an alarm is issued. Once it exceeds ±2m, the hoisting can be stopped.

[0081] The distances between the four infrared receivers and the ground receiver are measured to obtain four distance data.

[0082] The inclination angle of the gondola is calculated using trigonometric functions, and the calculation formula is as follows:

[0083]

[0084] Among them, represents the inclination angle of the gondola; represents , , , any one of them; represents the distance between the four infrared receivers and the ground receiver without wind; represents the side length of the gondola bottom.

[0085] In one embodiment, the specific method for calculating the inclination angle of the gondola is as follows:

[0086] Assuming the distance between the four infrared receivers and the ground receiver is: , , , Assuming that the gondola is in a windless state, the four corners of its bottom form an inverted regular quadrangular pyramid.

[0087] When the gondola is in a wind state and tilted, the distance between the four infrared receivers and the ground receiver is no longer equal, forming a non-inverted regular quadrangular pyramid. Using the trigonometric relationship, the inclination angle is calculated. If the four angles are similar, it means that the gondola tilt may be caused by uniform external forces, such as wind. If the angle difference is large, it may be due to problems with the gondola itself, such as damage to the steel wire rope causing the tilt. According to the calculated inclination angle, appropriate measures are taken. For example, if the inclination angle exceeds the preset threshold, the work may need to be paused to check the status of the gondola and steel wire rope to ensure safety.

[0088] The above-mentioned beneficial effects achieved: by respectively deploying several infrared receivers at the bottom vertices of the basket frame, deploying an infrared laser sensor at the center of the basket, generally at the hook position, and deploying a ground receiver at the center of the ground projection of the basket, the real-time monitoring of the tilt state of the basket is realized; by measuring the distance change between the four infrared receivers and the ground receiver, it can be accurately judged whether the basket has occurred horizontal tilt, thereby effectively avoiding safety accidents caused by the tilt of the basket, providing quantitative data support for the operator, and ensuring the safety of the construction personnel and equipment.

[0089] The tilt detection of the basket 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 by real-time displacement judgment. If the hoisting acceleration exceeds the set limit (the acceleration is set according to the specific hoisting environment and the weight of the goods), an alarm or stop hoisting is triggered.

[0090] The above-mentioned beneficial effects achieved: by the linkage relationship between the sensor above the hook and the sensor on the ground, the displacement change of the basket during vertical lifting can be monitored in real time, and the hoisting speed deviation can be judged accordingly. Once the hoisting acceleration exceeds the set limit, a precise judgment can be made immediately to trigger an alarm or automatically stop hoisting, effectively preventing dangerous situations such as basket shaking, unhooking, etc. caused by excessive inertia force due to excessive hoisting speed. Through the mechanism of real-time displacement monitoring and acceleration limitation, the safety and stability of the hoisting process are effectively guaranteed.

[0091] Basket shaking detection:

[0092] Deploy targets and drones on all four sides of the basket. The targets serve as reference points for the flight height of the drones. The vertical height difference between the flight errors of the drones is not greater than ±0.2m, the horizontal distance from the edge of the basket is not less than 5m, and the vertical height difference from the bottom of the goods is not greater than ±0.7m.

[0093] Based on the laser ranging sensor, the height of the drone from the ground is measured to further judge the height of the basket from the ground. When hoisting reaches the set floor height, some sensors stop working after confirmation to prevent false alarms.

[0094] Based on the drones equipped with cameras and weather instruments, the basket is video monitored by the cameras, and the wind speed data around the basket is monitored by the weather instruments. The operator can remotely monitor the condition of the basket and the surrounding environment, and timely obtain real-time data to support decision-making.

[0095] According to the wind speed data and the weight of the goods, a shaking probability model is established to evaluate the probability of the basket shaking under the current wind speed and the weight of the goods. Specifically:

[0096] Collect historical data, including wind speed, wind direction, cargo weight and basket swing situation, clean and standardize the historical data; use decision tree method to cluster analyze the processed historical data to obtain a data set; use the data set to build and train the swing probability model, and verify the generalization ability of the swing probability model by cross-validation method; through the analysis of historical data, effectively predict the trend of basket swing, and take preventive maintenance measures in advance to reduce the possibility of failure;

[0097] In this embodiment, the swing probability model fully considers factors such as wind speed and cargo weight, and comprehensively analyzes the wear and failure of the steel wire rope. Through collection, cleaning and standardization of historical data, the swing probability model is built and trained by using decision tree method for cluster analysis of the data. The swing probability model can evaluate the probability of basket swing according to the wind speed data and cargo weight data measured by the weather instrument in real time, and feed back the evaluation results to the operator in real time. At the same time, preset wind speed threshold and inclination angle threshold are used to further distinguish whether the cause of basket swing is related to the steel wire rope, so as to realize accurate prediction and cause analysis of the basket swing.

[0098] Real-time reception of wind speed data and cargo weight data measured by the weather instrument, evaluation of the probability of basket swing based on the trained swing probability model, and real-time feedback of the evaluation results to the operator. The evaluation results include: wind speed, cargo weight and swing probability and other information.

[0099] In one embodiment, the various sensors and data outputs are as shown in the following table:

[0100] Sensor type Deployment location Monitoring target Data output Drones (4 units) 2-3m above the four corners of the basket Target recognition, visual height measurement Video stream + height data Infrared laser sensor Center of the hook Bottom levelness 4-channel infrared signal strength Ground ranging sensor Center point of the ground Vertical displacement of the basket 4 distance values (mm level precision) Weather meter Drones carrying Real-time wind speed / direction Wind speed vector (m / s) Weight sensor Basket load-bearing structure Cargo weight Weight (kg)

[0101] Table 1, multi-source data statistics table

[0102] According to the above steps, the inclination of the basket is monitored to obtain the following data:

[0103] Scenario Wind speed (m / s) Weight (kg) Tilt angle (°) System response Normal operation 4.2 500 0.8 No alarm Sudden gust 15.7 300 5.2 Trigger anchoring device Initial stage of cable breakage 2.1 400 9.8 Emergency braking + sound-light alarm

[0104] Table 2, simulation test data table

[0105] Based on this, it can help the operator to adjust the work plan in time, improve the efficiency of hoisting operation, and realize the intelligent and digital development of hoisting operation.

[0106] Steel wire rope damage detection:

[0107] Preset wind speed threshold and inclination angle threshold to further distinguish whether the cause of basket swing is related to damaged steel wire rope, specifically:

[0108] According to the clustering analysis result of historical data, three levels of wind speed threshold and three levels of inclination angle threshold are preset respectively; for example: 0-5m / s, 5-10m / s, >10m / s; the wind speed threshold is; the inclination angle is >5°, >15°, >25°, once >15°, an alarm needs to be sent, once >25°, the hoisting needs to be stopped;

[0109] If the basket does not sway, the wire rope is normal;

[0110] If the basket sways, 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 sways, it indicates that the basket swaying is related to the state of the wire rope;

[0111] If it is related to the state of the wire rope, the damage condition of the wire rope is further verified, the inclination angle data is compared with the inclination angle threshold, the level exceeding the wind speed threshold and the inclination angle threshold is obtained, according to the level exceeding, the analysis is carried out, it is obtained that the wire rope has a risk of breaking or a risk of poor bundling of goods;

[0112] According to the simulation of the weight of the goods and the wind speed factor, the swaying threshold under different weight of the goods and wind speed is established;

[0113] If the basket sways within the threshold range, but the degree of swaying basically reaches the alarm value, and it is judged according to the preset experience model that the swaying is mainly related to the wind speed, the speed reduction operation is started, and manual inspection is carried out;

[0114] If the basket sways beyond the threshold range, whether the swaying is related to the wind speed, wire rope wear or failure, the machine is immediately stopped, the wire rope is locked, and the mechanical inspection is started;

[0115] If it is found through inspection that the swaying is related to the wear of the wire rope, the basket is prohibited from running again before the failure is eliminated, and the wire rope is repaired or replaced in time, and the basket can be put into operation again after normal inspection and measurement.

[0116] The beneficial effects achieved by the above content are: by monitoring the state of the wire rope and the swaying of the basket, potential safety hazards such as wire rope wear, breaking risk or poor bundling of goods are found in time, so that corresponding measures are taken to avoid accidents, when the basket sways, the speed reduction operation or the stop inspection is taken in time by comparing with the wind speed threshold and the swaying threshold, the swaying of the basket is reduced, so that the stability of the basket operation is ensured, by means of sensors, real-time monitoring, data transmission and automatic control, the automation and intelligence of the basket swaying detection and the state evaluation of the wire rope are realized, so as to improve the intelligent level of the basket operation.

[0117] In one embodiment, assume that in a super high-rise building in X City at X time, a cold machine weighing about 5 tons needs to be hoisted to the equipment layer at a height of 200 meters, and a tower crane installed at a height of 400 meters is planned to be used for hoisting; To ensure the safety of the hoisting operation, a detailed safety parameter analysis is conducted in advance, and various early warning and stop values are set.

[0118] Early warning parameter setting:

[0119] Horizontal deviation: early warning value is 15°, stop value is 25°.

[0120] Vertical deviation: early warning value is 0.5 meters, stop value is 1 meter.

[0121] Resistance sensor: used to judge the breaking and tension of the steel wire rope, early warning value is 20% increase of resistance, stop value is 50% increase of resistance.

[0122] Hoisting preparation:

[0123] Check all equipment and sensors to ensure normal operation; and test hoisting, test the stability of the hoisting system, confirm that all safety measures are in place, including emergency plans.

[0124] Hoisting starts:

[0125] The tower crane starts hoisting, the cold machine slowly rises, and the operator and safety monitoring personnel closely monitor the monitoring data.

[0126] Hoist to 100 meters high:

[0127] After 5 minutes, the tower crane hoists the cold machine to a height of 100 meters; according to the cooperation of the infrared receiver and the infrared laser sensor, it is detected that the swing amplitude in the Y direction is too large, exceeding the early warning of 15°; immediately issue a warning, and the hoisting is temporarily stopped.

[0128] Handle the swing problem:

[0129] 2 minutes later, the swing amplitude is reduced to within 5°, the early warning disappears, and after safety evaluation, it is decided to continue hoisting.

[0130] Hoist to 150 meters high:

[0131] Continue hoisting, after 8 minutes, the cold machine rises to a height of 150 meters; according to the cooperation of the infrared receiver and the infrared laser sensor, it is detected that the swing amplitude in the Y direction is too large, exceeding the early warning of 15°, at this time the wind speed is normal, suggesting that a small piece of steel wire rope may have broken.

[0132] Handle the steel wire rope problem:

[0133] The overhead monitoring is conducted by the camera mounted on the drone, and real-time video feedback is provided for on-site confirmation by experts. After confirming that the steel wire rope has not been significantly broken and there is no sign of fatigue fracture, it is decided to continue the hoisting.

[0134] Hoisting to a height of 200 meters:

[0135] Continue hoisting until the cold machine reaches the equipment layer at a height of 200 meters, complete the hoisting operation, and fix and install the cold machine.

[0136] Post-hoisting inspection:

[0137] Comprehensive inspection of the steel wire rope confirms that there is no damage. Maintenance is performed on all equipment and sensors to ensure reliability for future use.

[0138] Summary: Through precise safety parameter analysis and real-time monitoring, this hoisting operation successfully hoisted a 5-ton cold machine to the equipment layer at a height of 200 meters. During the hoisting process, potential problems of swinging and steel wire rope were timely addressed, ensuring the safety and smooth progress of the operation.

[0139] The method further comprises:

[0140] A feedback mechanism is established to clearly define the types of information that need to be fed back, including: monitoring data: such as wind speed, basket swinging conditions, steel wire rope status, etc.; operational measures: specific measures taken when abnormal conditions are monitored, such as adjusting steel wire rope tension, suspending operations, etc.; event reports: detailed reports of any safety incidents or near misses; maintenance records: records of maintenance and inspection of the basket and related equipment;

[0141] Based on wireless technology, various types of data are fed back to the cloud platform, and various types of data are audited through the cloud platform; for example: safety management department: responsible for supervising the compliance of safety regulations and accident prevention; operation team: the team directly involved in the hoisting operation, which needs to understand the monitoring results to adjust the operation; maintenance team: responsible for the daily maintenance and repair of equipment; management: needs to understand the overall safety situation and any potential risks.

[0142] Associate various types of data that pass the audit with the operation team, encrypt the various types of data based on blockchain technology, and form a database; authenticate the access object to ensure that the authenticated object has access to the database;

[0143] The cloud platform sets up a remote real-time monitoring port for experts, who log in to the background monitoring platform after identity verification, to real-time control the entire hoisting process;

[0144] The drones use cameras to capture real-time footage of the hoisting operation. Based on this footage and various monitoring data, experts analyze the operational status, predict risks, and provide professional guidance.

[0145] The beneficial effects achieved by the above are as follows: By monitoring the tilt, sway, and wire rope status of the suspended platform in real time, 360° monitoring without blind spots can be achieved, enabling timely detection of potential safety risks and preventing accidents. When the suspended platform sways, the cause of the sway can be further analyzed, thereby reducing the frequency of manual inspections at height, avoiding high-risk operation scenarios, and transforming the approach from "post-event handling" to "pre-event prevention." This reduces unplanned downtime losses and provides a comprehensive monitoring solution for digital inspection, improving the safety, efficiency, and reliability of vertical transportation processes. At the same time, experts can make accurate judgments on the speed and position of hoisting operations based on real-time images and data in the background, allowing experts to remotely participate in the guidance and decision-making of hoisting operations. Furthermore, when there is a significant impact from wind speed or when drone monitoring indicates a risk of hook detachment, experts can activate an intervention mechanism to stop hoisting and use a drone to approach and carefully observe to eliminate the danger before continuing.

[0146] The method also includes:

[0147] In order to monitor the attitude of the hoisted goods and basket in the air and prevent the influence of wind or inertia from causing excessive tilting of the plane formed by the vertical height direction and any direction of the horizontal plane.

[0148] like Figure 7 As shown in a-1, a virtual reference plane is pre-set at the bottom of the building or at different locations on the floor. This plane is composed of three or more Type I sensors pre-set on the reference layer, and the vertical error of the three Type I sensors does not exceed ±2cm.

[0149] like Figure 7 As shown in a-2, several sensors installed on different horizontal planes of the hoisting basket or cargo during hoisting are used to form a mapping between the virtual surface formed by the sensors and the virtual reference plane.

[0150] The tilt of the vertical plane during hoisting is determined by the angular deviation between the two planes in the vertical position. Once the tilt angle exceeds 15° (e.g., ...), the tilt is assessed. Figure 7 If the tilt angle exceeds 25° (e.g., b-1), an alarm will be issued immediately. Figure 7 If (c-1) is involved, the hoisting and lifting operation must be stopped.

[0151] The tilt angle is calculated using the following formula:

[0152] Let the normal vector of the virtual reference plane be... The normal vector of the virtual surface is The angle between the two is That is, the inclination angle of the hoisting vertical plane:

[0153]

[0154] In the formula, Indicates the dot product of two normal vectors; Respectively indicate The length of the module;

[0155] Once the inclination angle calculated according to the above formula Satisfies:

[0156] When > 15°, an alarm is immediately issued;

[0157] When > 25°, stop hoisting.

[0158] The beneficial effects achieved by the above are: by pre-setting a virtual reference plane at different positions of the bottom of the building or floor, and mapping the contrast virtual plane formed by the plane composed of multiple I-shaped sensors and the sensors installed on the different horizontal planes of the basket or goods, the inclination of the 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 is immediately issued or hoisting is stopped. By pre-setting a virtual reference plane and installing sensors, real-time monitoring and quantitative analysis of the attitude of the basket are realized, providing a scientific basis for monitoring and management of hoisting operations, thereby effectively avoiding excessive inclination caused by wind or inertia, and preventing serious accidents such as basket overturning and collision.

[0159] Working principle: the infrared receiver and infrared laser sensor are used to monitor in real time whether the basket is inclined, and the specific inclination angle is calculated by using trigonometric functions; the camera and meteorograph carried by the unmanned aerial vehicle are used to monitor the basket by video and collect wind speed data, and the shaking probability model is used to evaluate the possibility of the basket shaking under the current wind speed and cargo weight conditions; the preset wind speed threshold and inclination angle threshold are used to further distinguish the cause of the basket shaking, and to determine whether it is related to the damage of the steel wire rope, thereby improving the safety and efficiency of the basket operation and realizing the function of digital inspection.

[0160] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the same general inventive concepts embodied by the described embodiments. That is, although the present application is described in terms of particular embodiments and illustrative figures, it should be apparent that the scope of the present application is not limited to these specific embodiments.

[0161] While the embodiments of the application have been shown and described herein, it is to be understood that the scope of the application, jointly pointed out in the appended claims, is not limited to the details of the embodiments shown, and that various changes can be made and equivalents employed without departing from the scope of the application.

Claims

1. A vertical transportation method based on digital sensing and UAV integration, characterized in that, The method is based on the impact of basket tilt, basket sway, and wire rope damage on the vertical transportation process, and includes the following steps: Suspended platform tilt detection: Several infrared receivers are deployed at the bottom apex of the frame of the suspended platform. An infrared laser sensor is deployed at the center of the suspended platform, usually at the hook position. A ground receiver is deployed at the vertical line of the infrared laser sensor at the center of the ground where the suspended platform is vertically projected. Based on the infrared receiver receiving infrared laser, it is determined whether the bottom of the suspended platform is tilted, and the tilt angle of the suspended platform is calculated using trigonometric functions; Suspended basket sway detection: The drone is equipped with a camera and a weather instrument. The camera is used to monitor the suspended platform via video, and the weather instrument is used to monitor the wind speed data around the suspended platform. A swaying probability model is established based on wind speed data and cargo weight to assess the probability of the suspended basket swaying under the current wind speed and cargo weight. Wire rope damage detection: Preset wind speed and tilt angle thresholds to distinguish whether the swaying of the suspended platform is related to damage to the wire rope.

2. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, The tilt angle of the suspended platform is calculated using trigonometric functions, specifically: Based on the positions of the four infrared receivers and the ground receiver, if the basket is a rectangular structure, a virtual inverted square pyramid should be constructed between the four corners of the bottom of the basket and the ground receiver. The distances between the four infrared receivers and the ground receiver were measured to obtain four distance data points; The tilt angle of the suspended platform is obtained by calculating four distance data points using trigonometric functions. The calculation formula is as follows: in, This is expressed as the tilt angle of the suspended basket; Represented as , , , Any one of them; This represents the distance between the four infrared receivers and the ground receiver when there is no wind. This represents the side length of the bottom of the suspended basket.

3. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, A swaying probability model is established based on wind speed data and cargo weight to assess the probability of the suspended platform 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. The decision tree method is used to perform cluster analysis on the processed historical data to obtain the dataset. We constructed and trained a sway probability model using a dataset, and verified the generalization ability of the sway probability model using cross-validation. It receives wind speed and cargo weight data measured by weather instruments in real time, assesses the probability of the basket swaying based on a trained sway probability model, and feeds back the assessment results to the operator in real time.

4. The vertical transportation method based on digital sensing and UAV integration according to claim 3, characterized in that, Preset wind speed and tilt angle thresholds to further differentiate whether the swaying of the suspended platform 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 were preset. If the suspended platform does not sway, then the wire rope is fine; If the suspended platform sways, 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 suspended platform sways, it indicates that the swaying of the suspended platform is related to the state of the wire rope. If it is related to the condition of the wire rope, further verification of the damage condition of the wire rope is carried out. 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 level of exceeding, analysis is conducted to determine that the wire rope has a risk of breakage or poor binding of goods.

5. The vertical transportation method based on digital sensing and UAV integration according to claim 4, characterized in that, After obtaining the result that the basket is swaying, the following is included: Simulations were conducted based on cargo weight and wind speed to establish sway thresholds for different cargo weights and wind speeds. If the swaying of the suspended platform is within the threshold range, but the degree of swaying is close to the alarm value, and the swaying is mainly related to the wind speed according to the preset experience model, then the speed reduction operation will be started and a manual inspection will be carried out. If the suspended platform sways beyond the threshold range, regardless of whether the swaying is related to wind speed, wire rope wear, or malfunction, the machine should be stopped immediately, the steel cable locked, and a mechanical inspection initiated. If the inspection reveals that the shaking is related to the wear of the wire rope, the suspended platform must not be operated again until the fault is resolved. The wire rope should be repaired or replaced in a timely manner, and it can only be put back into operation after the inspection and measurement show that it is normal.

6. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, Before the basket sway detection, the following is also included: Targets and drones are deployed on all four sides of the basket. The targets serve as reference points for the drones' flight altitude. The vertical height difference between the drones is no greater than ±0.2m, the horizontal distance between the drones and the edge of the basket is no less than 5m, and the vertical height difference between the drones and the bottom of the cargo is no greater than ±0.7m. The height of the drone above the ground is measured using a laser rangefinder sensor, which is then used to determine the height of the basket above the ground.

7. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, The method further includes: Establish a feedback mechanism and clarify the types of information that need to be fed back, including: monitoring data, operational measures, incident reports, and maintenance records; Based on wireless technology, various types of data are fed back to the cloud platform, and the cloud platform is used to conduct compliance audits on these data. The audited data is linked to the operational team, and the data is encrypted and stored using blockchain technology to form a database. Authenticate the access objects to ensure that successfully authenticated objects gain 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 their identity verification to monitor the entire hoisting process in real time. The drones use cameras to capture real-time footage of the hoisting operation. Based on this footage and various monitoring data, experts analyze the operational status, predict risks, and provide professional guidance.

8. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, The method further includes: Before hoisting, the wire rope is inspected, including: visual inspection, strength test, internal inspection and elastic modulus test; Based on the design drawings of the suspended platform, a three-dimensional geometric model is established, including: the base plate, side plates, supporting structure and lifting ring components, and the material properties are defined; Mesh the 3D geometric model and mark stress concentration areas; A graded loading method is adopted to gradually apply loads and boundary conditions. The loads include: the weight of the suspended platform itself, the design load capacity, and dynamic loads. The boundary conditions are set according to the actual use of the suspended platform. Finite element analysis software is used to solve the problem, 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 load-bearing capacity of the suspended platform.

9. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, The method further includes: In order to monitor the attitude of the hoisted goods and basket in the air and prevent the influence of wind or inertia from causing excessive tilting of the plane formed by the vertical height direction and any direction of the horizontal plane. A virtual reference plane is pre-set at the bottom of the building or at different locations on each floor. This plane is composed of three or more Type I sensors pre-set on the reference floor, and the vertical error of the three Type I sensors does not exceed ±2cm. Several sensors installed on different horizontal planes of the hoisting basket or cargo during hoisting are used to form a mapping between the virtual surface formed by the sensors and the virtual reference plane. The tilt of the vertical plane during hoisting is determined by the angular deviation between the two planes in the vertical position. An alarm is issued immediately if the tilt angle exceeds 15°, and hoisting must be stopped if the tilt angle exceeds 25°.

10. The vertical transportation method based on digital sensing and UAV integration according to claim 1, characterized in that, The basket tilt detection also includes a sensor above the hook that is linked with a sensor on the ground. The sensor determines the speed deviation during vertical lifting by judging the real-time displacement. If the lifting acceleration exceeds the set limit, an alarm is triggered or the lifting is stopped.

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