Crane operation monitoring method and device

Abstract

The invention relates to a crane operation monitoring method and device, and the method comprises the steps: obtaining the spatial distances between three distance measurement base points and a hoisting point, carrying out the calculation based on a determined geometrical relationship, and directly obtaining the three key spatial parameters, namely, the actual horizontal distance, the actual vertical distance and the actual deviation angle, of the hoisting point. The method is based on the principle of space geometric distance measurement, is not interfered by a field strong electromagnetic field, overcomes the problems of false alarm and missing alarm caused by electromagnetic interference and sensor precision in the traditional temporary electric induction technology, and remarkably improves the reliability of monitoring of the over-range operation of the hoisting point. According to the method, whether crane operation is safe or not can be rapidly and accurately judged, complex distance estimation and judgment do not need to be conducted manually, delay and errors caused by human factors are reduced, the efficiency and smoothness of crane operation are improved, and the progress and quality of a whole construction project can be improved.

Description

Technical Field

[0001] This invention relates to the field of crane operation monitoring technology, and in particular to a crane operation monitoring method and device. Background Technology

[0002] When performing hoisting operations near power facilities such as substations and transmission lines, cranes pose a risk of contact with live wires. Furthermore, in construction scenarios involving buildings or bridges, the crane boom may collide with non-energized structures within the operating radius.

[0003] Currently, the mainstream method for monitoring the risks of hoisting equipment operating near power facilities is through proximity induction technology. However, this technology is susceptible to interference from strong magnetic fields, and the accuracy of proximity induction sensors is insufficient, resulting in low reliability of the monitoring results regarding the distance between the crane's lifting point and live parts. Furthermore, the traditional method of having a safety officer monitor and direct the crane's boom position is susceptible to environmental interference (such as obstructed vision and noise) and errors in subjective distance estimation. This can lead to inaccurate judgments by the safety officer, increasing the risk of electric shock or collision with surrounding buildings and seriously threatening the personal safety of on-site construction workers. Summary of the Invention

[0004] Therefore, it is necessary to provide a crane operation monitoring method and device that can automatically monitor and has high reliability to address the above-mentioned technical problems.

[0005] Firstly, the technical solution of the present invention is implemented as follows:

[0006] A method for monitoring crane operations, the method comprising:

[0007] Obtain safety thresholds; wherein, the safety thresholds include the safe horizontal distance, safe vertical distance, and safe deviation angle of the lifting point (D) relative to the location of the crane body;

[0008] Obtain the side length information in the spatial geometric relationship formed by three ranging base points (O, A, B) and the lifting point (D); wherein, the ranging base points (O) and (A) are set vertically at the location of the crane body, and the ranging base points (O) and (B) are located on a horizontal reference plane.

[0009] Based on the side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D), the actual horizontal distance, actual vertical distance and actual deviation angle of the lifting point (D) relative to the position of the crane body are obtained.

[0010] Determine whether any of the actual horizontal distance, actual vertical distance, and actual deviation angle exceeds the safety threshold. If so, output an alarm signal.

[0011] Furthermore, the safe horizontal distance, safe vertical distance, and safe deviation angle are the radius, height, and half the central angle of a sector-shaped cylindrical space, where the sector-shaped cylindrical space is the safe operating space of the lifting point with the location of the crane body as the center of the sector.

[0012] The ranging base point (O) and the ranging base point (B) are located on the angle bisector of the space of the sector cylinder.

[0013] Furthermore, obtaining the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point specifically includes:

[0014] Furthermore, the side length information is obtained by using distance measuring sensors arranged at three distance measuring base points (O, A, B) and the lifting point (D);

[0015] The side length information includes the distances OA and OB between the three ranging base points (O, A, B) and the distances OD, AD, and BD between the three ranging base points (O, A, B) and the lifting point (D).

[0016] Furthermore, the step of obtaining the actual horizontal distance, actual vertical distance, and actual deviation angle of the lifting point relative to the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point specifically includes:

[0017] Based on the side length information OA, AD, OD, the distance between the lifting point (D) and its projection point (D') on the horizontal reference plane is obtained, which is the actual vertical distance DD'.

[0018] Based on the side length information OA, AD, and OD, the distance between the ranging base point (O) and the projection point (D') is obtained, which is the actual horizontal distance OD'.

[0019] Based on the side length information OB, OD, BD, the actual vertical distance DD', and the actual horizontal distance OD', the actual deviation angle ∠BOD' is obtained.

[0020] Furthermore, the distance between the lifting point (D) and its projection point (D') on the horizontal reference plane, i.e., the actual vertical distance DD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula:

[0021]

[0022] Where h is the actual vertical distance DD'; a is the side length information OA; b is the side length information AD; and c is the side length information OD.

[0023] Furthermore, the distance between the ranging base point (O) and the projection point (D'), i.e., the actual horizontal distance OD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula:

[0024]

[0025] Where r is the actual horizontal distance OD'.

[0026] Furthermore, the actual deviation angle ∠BOD' is obtained based on the side length information OB, OD, BD, the actual vertical distance DD', and the actual horizontal distance OD', calculated using the following formula:

[0027]

[0028] in, Let ∠BOD' be the actual deviation angle; d be the side length information OB; and e be the side length information BD.

[0029] Secondly, the technical solution of the present invention is implemented as follows:

[0030] A crane operation monitoring device, the device comprising:

[0031] The input module is used to obtain the security threshold.

[0032] The detection module is used to acquire the side length information in the spatial geometric relationship formed by three ranging base points and the lifting point; wherein, the three ranging base points are distributed in a right triangle, and one leg of the right triangle is vertically set at the location of the crane body;

[0033] The control module is used to obtain the actual horizontal distance, actual vertical distance, and actual deviation angle of the lifting point relative to the position of the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point; and to determine whether any of the actual horizontal distance, actual vertical distance, and actual deviation angle exceeds the safety threshold. If so, an alarm signal is output.

[0034] The alarm module is used to receive alarm signals.

[0035] Furthermore, the detection module includes:

[0036] Four ranging sensors are provided, three of which correspond to the three ranging base points, and the remaining one is located at the lifting point.

[0037] Three ranging sensors corresponding to three ranging base points are mounted on one or more carriers, and the carriers are movable structures.

[0038] Furthermore, the alarm module includes:

[0039] Audible and visual alarm module and / or user terminal.

[0040] The technical solution of this application has at least the following advantages over the prior art:

[0041] This application obtains the spatial distances (side length information) between three ranging base points and the lifting point, and calculates these distances based on established geometric relationships to directly acquire three key spatial parameters: the actual horizontal distance, the actual vertical distance, and the actual deviation angle of the lifting point. This method, based on the principle of spatial geometric ranging, is unaffected by strong electromagnetic field interference on-site, overcoming the false alarm and missed alarm problems caused by electromagnetic interference and sensor accuracy issues in traditional electromagnetic induction technology. This significantly improves the reliability of monitoring lifting point operations outside its designated range.

[0042] Compared to the traditional method of relying on safety officers to monitor and direct operations, this application can quickly and accurately determine whether crane operations are safe, without the need for complex distance estimations and judgments by humans. It can also issue timely alarms when crane operations exceed the safe operating range, reducing delays and errors caused by human factors, improving the efficiency and smoothness of crane operations, and helping to improve the progress and quality of the entire construction project. Attached Figure Description

[0043] Figure 1 This is a flowchart of a crane operation monitoring method according to an embodiment of this application;

[0044] Figure 2 This is a schematic diagram illustrating the spatial relationship between the safe horizontal distance, safe vertical distance, and safe deviation angle of the crane in one embodiment of this application;

[0045] Figure 3 This is a schematic diagram of the planar relationship between the ranging base point (O), the ranging base point (A), and the lifting point (D) in one embodiment of this application;

[0046] Figure 4 This is a schematic diagram showing the spatial relationship between three ranging base points (O, A, B) and the lifting point (D) in one embodiment of this application;

[0047] Figure 5 This is a structural diagram of a crane operation monitoring device according to an embodiment of this application; Detailed Implementation

[0048] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0049] This specific embodiment is merely an explanation of this application and is not intended to limit it. Those skilled in the art, after reading this specification, can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application. To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0050] The term "comprising" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0051] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0052] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0053] Figure 1 This application provides an exemplary embodiment of a crane operation monitoring method, the method comprising:

[0054] Step S100: Obtain the safety threshold; wherein, the safety threshold includes the safe horizontal distance r0, the safe vertical distance h0, and the safe deviation angle of the lifting point D relative to the position of the crane body. .

[0055] In this embodiment, the safety threshold includes three parameters: safe horizontal distance r0, safe vertical distance h0, and safe deviation angle. The safe horizontal distance r0 refers to the maximum permissible distance from the lifting point D projected onto the horizontal plane to the location of the crane body (such as the cab reference point). Exceeding this distance may cause the boom to touch live wires or structures outside the working radius. The safe vertical distance h0 refers to the maximum permissible height of the lifting point D relative to the horizontal plane where the crane body is located. It is mainly used to avoid the risk of the lifting point touching overhead power lines, the bottom of bridges, etc. due to being too high. Safe deviation angle , refers to the maximum permissible angle between the horizontal projection of the lifting point D and the standard operating direction of the crane (such as directly in front of the cab), to prevent the boom from deviating from the safe operating area and touching side obstacles during turning.

[0056] The safety threshold can be preset based on the specific work scenario survey. For example, when working around power facilities such as substations and transmission lines, the safety horizontal and vertical distances should refer to the safety distance requirements for live equipment in the "Electric Power Safety Work Regulations" (e.g., the safety distance for 10kV lines should not be less than 1.5 meters). Another example is in building or road and bridge construction scenarios, the safety threshold can be determined by on-site survey based on the actual distribution of structures within the work radius (e.g., wall location, bridge height), and then manually input the determined safety threshold.

[0057] Specifically, the safe horizontal distance r0, the safe vertical distance h0, and the safe deviation angle The radius, height, and half-circle central angle of a sector-shaped cylindrical space are defined as the safe operating space with the crane body's location as the center of the sector.

[0058] This can be understood as constructing a three-dimensional safe operating space with the location of the crane itself (such as the cab reference point) as the origin. This safe operating space is a sector-shaped cylindrical space; for example... Figure 2 As shown:

[0059] The radius of the sector-shaped column space corresponds to the safe horizontal distance r0, which is the maximum allowable distance extended horizontally from the origin. This determines the coverage area of ​​the sector-shaped column on the horizontal plane, ensuring that the lifting point does not exceed the safe operating radius in the horizontal direction.

[0060] The height of the sector-shaped column space corresponds to the safe vertical distance h0, which is the maximum allowable height extending upward from the horizontal plane where the origin is located. This limits the vertical boundary of the sector-shaped column and prevents the lifting point from touching the obstacles above if it is too high.

[0061] The safety deviation angle corresponds to half the central angle of the sector-shaped cylinder space. Using the standard operating direction of the crane (such as directly in front of the cab) as the axis, the angle extends to both sides to form a fan-shaped plane, which limits the horizontal turning range of the lifting point and avoids the boom from excessively deflecting to the side and touching the dangerous area.

[0062] The lifting point D refers to the geometric reference point in the lifting system whose three-dimensional coordinates are used for safety risk assessment. This point is a characteristic point on the boom or its load, and its movement trajectory directly reflects the safe range of the lifting operation. In other words, the lifting point D can be any key point in the lifting operation where the spatial position needs to be monitored, including but not limited to: the top of the boom or the center point of the pulley block (i.e., the boom apex), the hook center, the center of gravity or highest point of the object being lifted, and the connection point between the rope and the lifting gear.

[0063] Step S200: Obtain the side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D); wherein, the ranging base points (O) and (A) are set vertically at the location of the crane body, and the ranging base points (O) and (B) are located on a horizontal reference plane.

[0064] In some embodiments, among the three ranging base points (O, A, B), ranging base point O and ranging base point A are located on the central axis of the sector-shaped cylindrical space, and ranging base point O and ranging base point B are located on the angle bisector of the sector-shaped cylindrical space.

[0065] Among them, you can refer to Figure 3 and Figure 4 Three ranging base points O, A, and B constitute a known and fixed right-angled triangular spatial reference frame. The ranging base point O serves as the right-angle vertex and can coincide with the location of the crane body (such as the cab reference point). Subsequent position parameters are calculated with reference to the ranging base point O. The ranging base point A is collinear with the ranging base point O on the central axis of the sector column. Its function is to provide a vertical reference for calculating the height of the lifting point.

[0066] The ranging base point B and the ranging base point O are coplanar on the horizontal reference plane (such as the ground) and located on the angle bisector of the sector column. Their function is to provide a standard horizontal direction reference for calculating the deviation angle of the lifting point.

[0067] In this embodiment, three ranging base points (O, A, B) define a vertical reference plane. The ranging base points O and B are located on the angle bisector of the sector-shaped cylindrical space, which means that the vertical reference plane is located in the middle position of the sector-shaped cylindrical space. When the lifting point D deviates to the left or right relative to the vertical reference plane by an angle greater than half the central angle of the sector-shaped cylindrical space, it indicates that the safe working space is exceeded.

[0068] In fact, the vertical reference plane determined by the three distance measuring base points (O, A, B) does not necessarily have to be set in the middle of the sector-shaped cylindrical space. That is, distance measuring base point O and distance measuring base point B may not be on the angle bisector of the sector-shaped cylindrical space.

[0069] For example, in some embodiments, the vertical reference plane determined by the three ranging base points (O, A, B) is the side surface of the sector-shaped cylindrical space, that is, ranging base point O and ranging base point B are located on one of the bottom edges of the sector-shaped cylindrical space. Correspondingly, the preset safety deviation angle is the central angle of the sector-shaped cylindrical space; in other words, the operating boom deviates from the vertical reference plane in only one direction (such as only to the left or only to the right).

[0070] Furthermore, regarding the acquisition of side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point, in some embodiments, the side length information can be obtained by ranging sensors arranged on the three ranging base points (O, A, B) and the lifting point (D); the side length information includes the distances OA and OB between the three ranging base points (O, A, B) and the distances OD, AD, and BD between the three ranging base points (O, A, B) and the lifting point (D), respectively.

[0071] In step S200, the abstract three-dimensional geometric concept of safe working space is actively decomposed into three directly measurable and accurately comparable quantitative conditions: the radius of the sector column (corresponding to the safe horizontal distance), the height (corresponding to the safe vertical distance), and half the central angle (corresponding to the safe deviation angle). Compared with the existing technology that relies on positioning and calculation in a complex spatial coordinate system to determine the position of the lifting point, this embodiment transforms the complex three-dimensional spatial calculation into a relatively simple geometric operation within the sector column frame. This not only improves calculation efficiency and reduces calculation errors, but also lowers the requirements for computing equipment, making the method easier to apply and promote in actual engineering.

[0072] Step S300: Based on the side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D), obtain the actual horizontal distance, actual vertical distance and actual deviation angle of the lifting point (D) relative to the position of the crane body.

[0073] The calculation process in step S300 relies entirely on spatial geometric relationships and distance measurement data, and its results are unaffected by environmental factors such as strong electromagnetic fields, light, and noise. This overcomes the inherent defects of traditional transient induction technology, which is susceptible to interference and inaccuracy, ensuring that the hoisting system can continuously and safely carry out hoisting work in complex substation and other working conditions.

[0074] Specifically, obtaining the actual horizontal distance, actual vertical distance, and actual deviation angle of the lifting point relative to the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point includes:

[0075] Based on the side length information OA, AD, OD, the distance between the lifting point D and its projection point D' on the horizontal reference plane is obtained, which is the actual vertical distance DD'.

[0076] Based on the side length information OA, AD, and OD, the distance between the ranging base point O and the projection point D' is obtained, which is the actual horizontal distance OD'.

[0077] Based on the side length information OB, OD, BD, the actual vertical distance DD', and the actual horizontal distance OD', the actual deviation angle ∠BOD' is obtained.

[0078] For specific details, please refer to Figure 3 The distance between the lifting point D and its projection point D' on the horizontal reference plane, i.e., the actual vertical distance DD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula:

[0079]

[0080] Where h is the actual vertical distance DD'; a is the side length information OA; b is the side length information AD; and c is the side length information OD. a, b, and c have been directly measured.

[0081] For specific details, please refer to Figure 3 The distance between the ranging base point O and the projection point D', i.e., the actual horizontal distance OD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula:

[0082]

[0083] Where r is the actual horizontal distance OD'.

[0084] For specific details, please refer to Figure 4 The actual deviation angle ∠BOD' is obtained based on the side lengths OB, OD, and BD, the actual vertical distance DD', and the actual horizontal distance OD'. According to solid geometry, since DD' is perpendicular to the horizontal triangle OBD', DD' is also perpendicular to BD' and OD'. This can be calculated using the Pythagorean theorem.

[0085]

[0086] Then, within the plane triangle OBD', the following can be obtained using the Law of Cosines:

[0087]

[0088] Where e is the side length information BD; d is the side length information OB; the side length information BD and the side length information OB can be directly measured.

[0089] This leads to the following formula:

[0090]

[0091] in, Let ∠BOD' be the actual deviation angle.

[0092] Step S400: Determine whether any of the actual horizontal distance, actual vertical distance, and actual deviation angle exceeds the safety threshold. If so, output an alarm signal.

[0093] Specifically, the actual horizontal distance is compared with the safe horizontal distance, the actual vertical distance is compared with the safe vertical distance, and the actual deviation angle is compared with the safe deviation angle. If any one of them exceeds the safety threshold, an alarm signal is output.

[0094] In some embodiments, when the actual horizontal distance, actual vertical height, or actual deviation angle of the boom exceeds a safety threshold, an alarm action is triggered by an alarm signal. The alarm action may be an audible and visual alarm, or sending a text message alarm. After seeing the audible and visual alarm or receiving the text message alarm, the operator or safety officer will immediately begin to retract the boom, reduce the height, or stop turning to avoid danger, thus ensuring safe operation on site.

[0095] To facilitate understanding, an application example is provided, taking the safety monitoring of the lifting point during the hoisting operation of the arc-extinguishing chamber of a circuit breaker in the AC field of a 500kV substation as an example to illustrate the principle of this application.

[0096] refer to Figures 2 to 4 Assuming the safe working space at the lifting point for this hoisting operation is the sector-shaped cylindrical space shown in the diagram, the required safe horizontal distance r0 is less than 30 meters, the safe vertical distance h0 is less than 20 meters, and the safe deviation angle is... Less than 45°.

[0097] Set OA to 1.5 meters and OB to 2 meters.

[0098] The four lifting points are D1, D2, D3, and D4. The distances b, c, and e between these points and A, O, and B are measured respectively, and the results are shown in Table 1.

[0099] According to the calculation results in Table 1, the actual horizontal distance r, the actual vertical height h, and the actual deviation angle of the lifting point D1 are as follows: All requirements for operational safety are met. The actual deviation angle of lifting point D2. greater than the safe deviation angle The actual horizontal distance r of lifting point D3 is greater than the safe horizontal distance r0, exceeding the operational safety requirements. The actual vertical height h of lifting point D4 is greater than the safe vertical distance h0, exceeding the operational safety requirements.

[0100] refer to Figure 5 An embodiment of this application also provides a crane operation monitoring device, the device comprising:

[0101] Input module 601 is used to obtain the security threshold;

[0102] The detection module 602 is used to acquire the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point; wherein, the three ranging base points are distributed in a right triangle, and one leg of the right triangle is vertically set at the position of the crane body;

[0103] The control module 603 is used to obtain the actual horizontal distance, actual vertical distance and actual deviation angle of the lifting point relative to the position of the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point; and to determine whether any of the actual horizontal distance, actual vertical distance and actual deviation angle exceeds the safety threshold. If so, an alarm signal is output.

[0104] The alarm module 604 is used to receive alarm signals.

[0105] In some embodiments, the detection module 602 includes:

[0106] Four ranging sensors are provided, three of which correspond to the three ranging base points, and the remaining one is located at the lifting point.

[0107] Three ranging sensors corresponding to three ranging base points are mounted on one or more carriers, and the carriers are movable structures.

[0108] In this embodiment, the carrier is a physical structure used to support three ranging sensors corresponding to three ranging base points. It provides a stable mounting platform for the ranging sensors, ensuring that they can accurately measure the distance to the lifting point or other targets. The carrier can be an object of various shapes and materials, depending on the actual application scenario and design requirements. For example, the carrier can be a bracket that fixes the three ranging sensors in different positions; or the carrier can be a right-angled triangular compass rose on a pole. The main function of the carrier is to fix the ranging sensors according to a specific spatial layout, ensuring accurate relative positional relationships between the sensors, thereby providing a reliable foundation for subsequent safe working space determination and distance measurement.

[0109] A portable structure refers to a carrier that can easily adjust its position and orientation. In crane operations, when the crane's position changes, it's necessary to redetermine the safe working space and rearrange the positions of the three ranging sensors. A portable carrier facilitates this adjustment process. Operators simply need to move the carrier to a new, suitable location and ensure that the spatial geometry between the three ranging sensors and the lifting point meets safety monitoring requirements. This flexibility allows the detection module to quickly adapt to different operating scenarios without complex redesign and installation, significantly improving operational efficiency and safety.

[0110] In some embodiments, the alarm module 604 includes:

[0111] Audible and visual alarm module and / or user terminal.

[0112] In this context, a user terminal refers to a device or system endpoint that a user directly uses to receive, process, and interact with alarm information. It serves as a bridge connecting the user and the alarm system, presenting information such as security risks detected by the system to the user in an appropriate manner, ideally allowing the user to provide feedback and perform corresponding actions. User terminals include, but are not limited to: mobile phones, tablets, smartwatches, desktop computers, and in-vehicle terminals.

[0113] An embodiment of this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the crane operation monitoring method described above.

[0114] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an elevator operation control method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0115] An embodiment of this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the crane operation monitoring method described above.

[0116] An embodiment of this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the crane operation monitoring method described above.

[0117] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0118] In summary, this application provides a crane operation monitoring method and device. This application obtains the spatial distances (side length information) between three ranging base points and the lifting point, and calculates these distances based on defined geometric relationships to directly obtain three key spatial parameters: the actual horizontal distance, the actual vertical distance, and the actual deviation angle of the lifting point. This method, based on the principle of spatial geometric ranging, is unaffected by strong electromagnetic field interference, overcoming the false alarm and missed alarm problems caused by electromagnetic interference and sensor accuracy issues in traditional electromagnetic induction technology, and significantly improving the reliability of monitoring lifting point operations outside its designated range.

[0119] Compared to the traditional method of relying on safety officers to monitor and direct operations, this application achieves automated judgment, which can quickly and accurately determine whether crane operations are safe, without the need for complex distance estimation and judgment by humans. It provides timely alarms when crane operations exceed the safe operating range, reducing delays and errors caused by human factors, improving the efficiency and smoothness of crane operations, and helping to improve the progress and quality of the entire construction project.

[0120] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0121] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A method for monitoring crane operation, characterized in that, The method includes: Obtain safety thresholds; wherein, the safety thresholds include the safe horizontal distance, safe vertical distance, and safe deviation angle of the lifting point (D) relative to the location of the crane body; Obtain the side length information in the spatial geometric relationship formed by three ranging base points (O, A, B) and the lifting point (D); wherein, the ranging base points (O) and (A) are set vertically at the location of the crane body, and the ranging base points (O) and (B) are located on a horizontal reference plane. Based on the side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D), the actual horizontal distance, actual vertical distance and actual deviation angle of the lifting point (D) relative to the position of the crane body are obtained. Determine whether any of the actual horizontal distance, actual vertical distance, and actual deviation angle exceeds the safety threshold. If so, output an alarm signal.

2. The method according to claim 1, characterized in that: The safe horizontal distance, safe vertical distance, and safe deviation angle are respectively the radius, height, and half the central angle of a sector-shaped cylindrical space, which is a safe working space with the location of the crane body as the center of the sector. The ranging base point (O) and the ranging base point (B) are located on the angle bisector of the space of the sector cylinder.

3. The method according to claim 2, characterized in that, The acquisition of side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D) specifically includes: The side length information is obtained by using distance measuring sensors arranged at three distance measuring base points (O, A, B) and the lifting point (D); The side length information includes the distances OA and OB between the three ranging base points (O, A, B) and the distances OD, AD, and BD between the three ranging base points (O, A, B) and the lifting point (D).

4. The method according to claim 3, characterized in that, The step of obtaining the actual horizontal distance, actual vertical distance, and actual deviation angle of the lifting point (D) relative to the location of the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points (O, A, B) and the lifting point (D) specifically includes: Based on the side length information OA, AD, OD, the distance between the lifting point (D) and its projection point (D') on the horizontal reference plane is obtained, which is the actual vertical distance DD'. Based on the side length information OA, AD, and OD, the distance between the ranging base point (O) and the projection point (D') is obtained, which is the actual horizontal distance OD'. Based on the side length information OB, OD, BD, the actual vertical distance DD', and the actual horizontal distance OD', the actual deviation angle ∠BOD' is obtained.

5. The method according to claim 4, characterized in that, The distance between the lifting point (D) and its projection point (D') on the horizontal reference plane, i.e., the actual vertical distance DD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula: Where h is the actual vertical distance DD'; a is the side length information OA; b is the side length information AD; and c is the side length information OD.

6. The method according to claim 5, characterized in that, The distance between the ranging base point (O) and the projection point (D'), i.e., the actual horizontal distance OD', is obtained based on the side length information OA, AD, and OD, and is calculated using the following formula: Where r is the actual horizontal distance OD'.

7. The method according to claim 6, characterized in that, The actual deviation angle ∠BOD' is obtained based on the side length information OB, OD, BD, the actual vertical distance DD', and the actual horizontal distance OD', and is calculated using the following formula: in, Let ∠BOD' be the actual deviation angle; d be the side length information OB; and e be the side length information BD.

8. A crane operation monitoring device, characterized in that, The device includes: The input module is used to obtain the security threshold. The detection module is used to acquire the side length information in the spatial geometric relationship formed by three ranging base points and the lifting point; wherein, the three ranging base points are distributed in a right triangle, and one leg of the right triangle is vertically set at the location of the crane body; The control module is used to obtain the actual horizontal distance, actual vertical distance, and actual deviation angle of the lifting point relative to the position of the crane body based on the side length information in the spatial geometric relationship formed by the three ranging base points and the lifting point; and to determine whether any of the actual horizontal distance, actual vertical distance, and actual deviation angle exceeds the safety threshold. If so, an alarm signal is output. The alarm module is used to receive alarm signals.

9. The apparatus according to claim 8, characterized in that, The detection module includes: Four ranging sensors are provided, three of which correspond to the three ranging base points, and the remaining one is located at the lifting point. Three ranging sensors corresponding to three ranging base points are mounted on one or more carriers, and the carriers are movable structures.

10. The apparatus according to claim 8, characterized in that, The alarm module includes: Audible and visual alarm module and / or user terminal.

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