Overhanging type discharging platform overturning early warning method, device and equipment and storage medium

Abstract

The invention provides an overhanging type discharging platform overturning early warning method, device and equipment and a storage medium, is applied to an overhanging type discharging platform overturning early warning system based on structural strain and posture inclination angle dynamic fusion, and relates to the technical field of constructional engineering safety monitoring. The system comprises a sensing layer, a data transmission compensation layer, a data processing layer and an early warning execution layer. The method comprises the following steps: acquiring and compensating original state data of the overhanging type discharging platform to obtain digital real state data; determining a comprehensive safety index based on the strain-inclination angle two-dimensional collaborative analysis model, and outputting an early warning signal corresponding to the comprehensive safety index; executing a preset early warning action based on the early warning signal; according to the overhanging type discharging platform structure state early warning method, all-around and high-precision perception and intelligent evaluation of the overhanging type discharging platform structure state are achieved, environmental interference is effectively overcome, the early warning accuracy and real-time performance are remarkably improved, the evolution process from overload to overturning can be accurately recognized, and reliable decision support is provided for on-site safety management and control.

Description

Technical Field

[0001] This invention relates to the field of building engineering safety monitoring technology, and in particular to a method, device, equipment and storage medium for early warning of overturning of a cantilevered unloading platform. Background Technology

[0002] In the field of construction engineering, safety monitoring of cantilevered unloading platforms mainly relies on threshold alarm mechanisms for single physical quantities such as stress, displacement, or tilt angle. This approach has significant limitations: First, structural overload and attitude instability are physically tightly coupled, making it difficult for a single parameter to fully characterize the complex risk state; second, the construction site environment is complex, and temperature changes cause thermal expansion and contraction of metal structures, leading to significant drift in strain measurements; simultaneously, dynamic disturbances such as mechanical vibration and vehicle traffic can couple into the tilt angle signal, causing misjudgments. While some existing technologies attempt to monitor multiple parameters simultaneously, they mostly remain at the level of parallel data display or independent alarms, lacking mechanisms for dynamic fusion, cross-validation, and intelligent decision-making of multi-source data. Furthermore, traditional systems often use fixed thresholds, which cannot adapt to the dynamic risk evolution process under different platform operating conditions and load distributions, resulting in insufficient accuracy and timeliness of early warnings, failing to meet the demands of modern construction safety for intelligent and refined risk management. Summary of the Invention

[0003] The purpose of this invention is to provide a method, device, equipment, and storage medium for early warning of overturning of a cantilevered unloading platform, by constructing a sensing system. Transmission compensation Data processing The four-layer architecture for early warning execution combines targeted temperature and vibration compensation technologies, and pioneers strain... The tilt angle dual-dimensional collaborative analysis model and dynamic weighted comprehensive safety index (SSI) realize all-round, high-precision perception and intelligent assessment of the structural status of the cantilever unloading platform. It effectively overcomes environmental interference, significantly improves the accuracy and real-time performance of early warning, and can accurately identify the evolution process from overload to overturning, providing reliable decision support for on-site safety management.

[0004] In a first aspect, the present invention provides a method for early warning of overturning of a cantilevered unloading platform, applied to an early warning system for overturning of a cantilevered unloading platform based on dynamic fusion of structural strain and attitude tilt angle. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer; the method includes: The raw state data of the cantilevered unloading platform is obtained through the sensing layer; the raw state data includes: raw strain data collected by strain sensors located at the stress concentration points of the cantilevered unloading platform, and raw tilt data collected by tilt sensors located at the center of the bottom plate of the cantilevered unloading platform. The data transmission compensation layer preprocesses the raw strain data and converts it into digital signals to obtain digitized real-state data; the preprocessing includes amplification, filtering, zero-point correction, and dynamic compensation. The data processing layer inputs real-state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and outputs a warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism. The early warning execution layer executes preset early warning actions based on the early warning signal; wherein, the early warning action includes at least one of local audio-visual prompts and remote notifications.

[0005] In some preferred embodiments of the present invention, the stress concentration locations include: the lower flange of the steel beam at the mid-span of the cantilever end, the upper and lower flanges of the main beam at the root of the cantilever end, the upper flange of the steel beam for anchoring the support, and the mid-span of the wire rope.

[0006] In some preferred embodiments of the present invention, zero-point correction is constrained by the following formula: ; ; in, This is the current zero-point strain value; This is the previous zero-point strain value; The strain value of the cantilevered unloading platform when unloaded; This is the current zero-point value of the tilt angle; This is the previous zero-point value of the tilt angle; This is the tilt angle value of the cantilevered unloading platform when it is unloaded.

[0007] In some preferred embodiments of the present invention, dynamic compensation includes: temperature compensation; temperature compensation of the strain value is performed using the following formula: ; ; in, The actual strain value after compensation; These are strain measurement values; Strain caused by temperature change; This is the preset linear temperature influence coefficient; This is a preset nonlinear temperature influence coefficient; Real-time ambient temperature; This is the preset calibration reference temperature.

[0008] In some preferred embodiments of the present invention, dynamic compensation includes: vibration compensation; vibration compensation of the tilt angle value is performed using the following formula: ; in, Let k be the optimized prediction state at time k. The first element in the final optimized prediction state is the compensated true dip angle value. The state transition matrix is ​​based on the sampling interval constraint. Let K be the Kalman gain at time k, based on the prediction error covariance constraint; The inclination angle measurement value corresponding to time k; This is the predicted tilt angle at time k.

[0009] In some preferred embodiments of the present invention, the strain-tilt angle dual-dimensional collaborative analysis model determines the comprehensive safety index using the following formula: ; in, The overall safety index; The dynamic weight of the strain at time t; The strain risk factor is based on the maximum reading of the strain sensor and the strain value constraint under a preset safety factor. The inclination angle dynamic weight at time t; The tilt risk factor is based on the readings of the tilt sensor and the preset tilt constant constraint; The dynamic weights of the coupling terms at time t; The off-center load risk factor is based on the readings of two symmetrically arranged strain sensors and the strain value constraint under the safety factor. The inclination rate change factor is based on the inclination rate change at time t and a preset inclination rate change constant constraint.

[0010] In some preferred embodiments of the present invention, the dynamic weights are constrained by the following formula: ; ; ; ; ; ; ; ; ; in, For strain weight gain, As a risk factor for response, The root mean square of the vibration acceleration; It is the rotational angular velocity; This is the tilt angle weighted gain; For the tilt angle risk factor; This represents the coupling term gain.

[0011] In some preferred embodiments of the present invention, the tiered early warning decision-making mechanism includes: If the overall safety index is less than the preset first warning value, a warning signal indicating safety will be output. If the comprehensive safety index is greater than or equal to the first warning value and less than the preset second warning value, a warning signal representing the warning will be output. If the comprehensive safety index is greater than or equal to the second warning value and less than the preset third warning value, a warning signal indicating a severe warning will be output. If the overall safety index is greater than or equal to the third warning value, an early warning signal representing an emergency alarm will be output.

[0012] Secondly, this invention provides a cantilevered unloading platform overturning early warning device, applied to a cantilevered unloading platform overturning early warning system based on dynamic fusion of structural strain and attitude tilt angle. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer; the device includes: The data acquisition module is used to acquire the original state data of the cantilevered unloading platform through the perception layer; wherein, the original state data includes: the original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and the original tilt angle data collected by tilt sensors arranged at the center of the bottom plate of the cantilevered unloading platform. The data preprocessing module is used by the data transmission compensation layer to preprocess the original strain data and convert it into digital signals to obtain digitized real state data. The preprocessing includes amplification, filtering, zero-point correction, and dynamic compensation. The data processing module is used by the data processing layer to input real-state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and output the warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism. The early warning value module is used by the early warning execution layer to execute preset early warning actions based on early warning signals; wherein, the early warning actions include at least one of local audio-visual prompts and remote notifications.

[0013] Thirdly, the present invention provides an apparatus including a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the overturning warning method for the cantilevered unloading platform provided in the first aspect above.

[0014] Fourthly, the present invention provides a storage medium storing computer-executable instructions. When the computer-executable instructions are invoked and executed by a processor, the computer-executable instructions cause the processor to implement the overturning warning method for the cantilevered unloading platform provided in the first aspect.

[0015] This invention brings the following beneficial effects: This invention provides a method, device, equipment, and storage medium for overturning early warning of a cantilevered unloading platform. It is applied to an overturning early warning system for a cantilevered unloading platform based on the dynamic fusion of structural strain and tilt angle. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer. The method includes: acquiring the original state data of the cantilevered unloading platform through the sensing layer; wherein the original state data includes: original strain data collected by strain sensors located at the stress concentration points of the cantilevered unloading platform, and original tilt angle data collected by tilt angle sensors located at the center of the bottom plate of the cantilevered unloading platform; the data transmission compensation layer preprocesses the original strain data and converts it into digital signals to obtain digitized real state data; wherein the preprocessing includes: amplification, filtering, zero-point correction, and dynamic compensation; the data processing layer inputs the real state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and outputs an early warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism; the early warning execution layer executes preset early warning actions based on the early warning signal; wherein the early warning actions include at least one of local audio-visual prompts and remote notifications; by constructing a sensing layer... Transmission compensation Data processing The four-layer architecture for early warning execution combines targeted temperature and vibration compensation technologies, and pioneers strain... The tilt angle dual-dimensional collaborative analysis model and dynamic weight comprehensive safety index realize all-round, high-precision perception and intelligent assessment of the structural status of the cantilever unloading platform. It effectively overcomes environmental interference, significantly improves the accuracy and real-time performance of early warning, and can accurately identify the evolution process from overload to overturning, providing reliable decision support for on-site safety management. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic plan view of a cantilevered unloading platform provided in an embodiment of the present invention; Figure 2 This is a schematic elevation view of a cantilevered unloading platform according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a cantilevered unloading platform overturning early warning system based on dynamic fusion of structural strain and attitude tilt angle, provided in an embodiment of the present invention. Figure 4 A flowchart illustrating a method for early warning of overturning of a cantilevered unloading platform provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the arrangement position of a sensing unit provided in an embodiment of the present invention; Figure 6 This is a schematic elevation view of the arrangement position of a sensing unit provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a cantilevered unloading platform overturning early warning device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a device provided in an embodiment of the present invention.

[0018] Icons: 1-Main beam; 2-Secondary beam; 3-Reinforcing member; 4-Bottom protection; 5-Side protection; 6-U-bolt pull ring; 7-Lifting ring; 8-Wire rope; 310-Data acquisition module; 320-Data preprocessing module; 330-Data processing module; 340-Early warning value module; 400-Memory; 401-Processor; 402-Bus; 403-Communication interface. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] Example 1 This invention provides a method for early warning of overturning of a cantilevered unloading platform, which is applied to an overturning early warning system for a cantilevered unloading platform based on the dynamic fusion of structural strain and attitude tilt angle. The system includes a perception layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer.

[0027] The sensing layer includes strain sensing units and tilt sensing units, which collect raw strain and tilt data respectively. The data transmission compensation layer amplifies and filters the signals sensed by each sensor, and digitizes the analog signals through analog-to-digital conversion using a 24-bit ΣΔ ADC. Dynamic compensation and zero-point correction are performed on the raw data: temperature compensation for strain data and vibration compensation for tilt data. The data processing layer implements coupled early warning for overload and overturning risks of the cantilevered unloading platform under complex working conditions. The early warning execution layer can provide multi-level early warnings.

[0028] Furthermore, in some preferred embodiments of the present invention, the method further includes a data verification mechanism, including: when the tilt angle changes abruptly but the strain does not change significantly, or when the strain increases abruptly but the tilt angle remains stable, extending the verification time to 30 seconds.

[0029] See Figure 1 The diagram shown is a plan view of a cantilevered unloading platform provided by an embodiment of the present invention, and Figure 2 The above-described embodiment of the present invention provides an elevation view of a cantilevered unloading platform, which includes: a main beam, a secondary beam, reinforcing members (steel bars or round steel bars), ground protection, side protection, U-bolts and pull rings, lifting rings, and steel wire ropes.

[0030] In some preferred embodiments of the present invention, the cantilevered unloading platform consists of a main beam 1 and secondary beams 2 forming an integral load-bearing frame. Reinforcing members 3 (usually steel bars or round steel) are arranged along the main beam direction for reinforcement. Finally, patterned bottom protection 4 and side protection 5 are welded to the bottom and sides of the frame respectively to form a complete protective cantilevered unloading platform. U-shaped bolt rings 6 are installed on the anchoring end of the main beam 1 for fixing to the main structure of this layer. Lifting rings 7 are welded to the cantilever end of the main beam 1 for fixing the steel wire rope 8 to the upper main structure. After the cantilevered unloading platform is manufactured, strain gauges are arranged at the stress concentration points of the main beam (cantilever end, mid-span, and support anchorage), and strain gauges are also arranged on the steel wire rope. An inclination sensor is arranged at the center point of the platform.

[0031] See Figure 3 The diagram shown is a structural schematic of a cantilever unloading platform overturning early warning system based on dynamic fusion of structural strain and attitude tilt angle provided by an embodiment of the present invention. The early warning system includes a sensing layer, a data transmission compensation layer, a data processing layer and an early warning execution layer connected in sequence, and a power supply unit supplies power to the system.

[0032] See Figure 4 The flowchart shown in this embodiment of the invention provides a method for early warning of overturning of a cantilevered unloading platform. The method includes: Step S102: Obtain the original state data of the cantilevered unloading platform through the perception layer; wherein, see Figure 5The illustrated embodiment of the present invention provides a schematic diagram of the arrangement of sensing units in a planar manner. Figure 6 The diagram shown is an elevation view of the sensor unit arrangement position according to an embodiment of the present invention; the original state data includes: original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and tilt sensor arranged at the center of the bottom plate of the cantilevered unloading platform. The raw tilt angle data collected.

[0033] Specifically, the strain sensors are arranged at key stress points of the main steel beam, including the lower flange at the mid-span of the cantilever end, the upper and lower flanges at the root of the cantilever end, and the upper flange at the support anchorage, to capture axial and shear strain. Simultaneously, enhanced strain sensors are arranged at the mid-span of the wire rope to monitor its stress state. The tilt sensor is arranged at the center of the platform base plate, integrating an accelerometer and a gyroscope to output the platform's tilt angle and angular velocity data. Through this multi-point, multi-type sensor arrangement, the system can simultaneously acquire the internal stress state and external attitude information of the structure, providing a comprehensive and reliable data foundation for subsequent fusion analysis, thereby overcoming the problems of limited monitoring and missed alarms caused by single sensors.

[0034] Furthermore, in some preferred embodiments of the present invention, the stress concentration locations include: the lower flange of the steel beam at the mid-span of the cantilever end, the upper and lower flanges of the main beam at the root of the cantilever end, the upper flange of the steel beam for anchoring the support, and the mid-span of the wire rope.

[0035] For details, please refer to [link / reference]. Figure 5 and Figure 6 First strain sensor L ε1 Arranged on the lower flange of the steel beam at the mid-span of the cantilever end; second strain sensor L ε2 Arranged at the root of the cantilever end (50mm inside the connection between the main beam and the main structure) on the upper and lower flanges of the main beam; third strain sensor L ε3 Arranged on the upper flange of the steel beam anchored at the support (approximately 50mm from the innermost U-bolt ring); Fourth strain sensor L ε4 An enhanced fiber optic strain sensor is deployed in the middle of the steel wire rope span. Through the deployment of multiple points and various types of sensors, the system can simultaneously capture the internal stress state and overall attitude information of the structure, providing a comprehensive and reliable data foundation for subsequent fusion analysis, thereby effectively overcoming the shortcomings of single-sensor monitoring, such as partiality and easy omissions.

[0036] Step S104: The data transmission compensation layer preprocesses the original strain data and converts it into a digital signal to obtain digitized real state data; wherein, the preprocessing includes: amplification, filtering, zero-point correction and dynamic compensation.

[0037] Specifically, the acquired raw analog signals are amplified and filtered, then converted into digital signals by a high-precision analog-to-digital converter. Based on this, the system performs zero-point calibration, determining the reference values ​​of each sensor under stable, unloaded conditions. For strain data, a combination of hardware and algorithmic compensation is used for temperature compensation to eliminate measurement errors caused by ambient temperature variations. For tilt angle data, a Kalman filter-based vibration compensation algorithm is employed, fusing accelerometer and gyroscope data to effectively filter out construction vibration interference and estimate the platform's true tilt angle in real time. This compensation mechanism significantly improves the accuracy and stability of data in complex construction site environments, providing reliable input for subsequent risk assessment.

[0038] Furthermore, in some preferred embodiments of the present invention, zero-point correction is constrained by the following formula: ; ;in, This is the current zero-point strain value; This is the previous zero-point strain value; The strain value of the cantilevered unloading platform when unloaded; This is the current zero-point value of the tilt angle; This is the previous zero-point value of the tilt angle; This is the tilt angle value of the cantilevered unloading platform when it is unloaded.

[0039] Specifically, if the strain fluctuation is less than 20 με and the tilt angle is stable at less than 0.1° for 10 consecutive minutes, it is determined to be unloaded.

[0040] Furthermore, temperature compensation is applied to the strain data: a) Hardware compensation. A full-bridge compensation circuit is used, and a "compensation gauge" of the same model and material as the working strain gauge is attached to a specimen of the same material as the tested structure but not subjected to stress, and placed in the same temperature environment. The influence of temperature changes on the strain gauge resistance is offset through the bridge balance principle, initially reducing temperature interference; b) Algorithm compensation. Based on the acquired real-time ambient temperature T, nonlinear temperature errors are corrected.

[0041] Furthermore, in some preferred embodiments of the present invention, dynamic compensation includes: temperature compensation; an algorithm is used to perform temperature compensation on the strain value using the following formula: ; ;in, The actual strain value after compensation; These are strain measurement values; Strain caused by temperature change; This is the preset linear temperature influence coefficient; This is a preset nonlinear temperature influence coefficient; Real-time ambient temperature; This is the preset calibration reference temperature.

[0042] Specifically, k T and α T These are the linear and nonlinear temperature influence coefficients, respectively. Based on experimental calibration, if no experimental data is available, take 0.0012με / ℃ and 0.004με / ℃, respectively. T0 is the calibration reference temperature, taken as 25℃.

[0043] In dynamic working conditions at construction sites, such as tower crane operation, concrete pouring, and worker operations, structural platforms are often subjected to high-frequency mechanical vibrations or instantaneous impacts. These external disturbances can cause severe fluctuations in the accelerometer output of the inclinometer, resulting in spurious fluctuations in the measured inclinometer data, which deviate significantly from the true attitude.

[0044] While accelerometers can provide an absolute tilt reference (based on the direction of gravity), they are extremely sensitive to vibration—the additional acceleration caused by vibration can be misinterpreted as a change in the direction of gravity, leading to distorted tilt measurements. In contrast, gyroscopes measure angular velocity ω, exhibiting excellent high-frequency response characteristics and resistance to vibration interference. Although the relative angle can be obtained by integrating a gyroscope, it suffers from drift issues. Therefore, using either sensor alone is insufficient to meet the requirements for high-precision and high-stability tilt monitoring.

[0045] Therefore, multi-sensor fusion technology is required, combining the accelerometer and gyroscope in the inclinometer to achieve accurate estimation of the true tilt angle. While traditional low-pass filtering can smooth noise, it introduces phase lag, affecting system response speed and potentially causing delayed judgment in safety warning scenarios. Kalman filtering, based on a state-space model, can distinguish between low-frequency true attitude changes and high-frequency vibration noise from a dynamic perspective, achieving real-time, lag-free, and optimal estimation to provide the platform's true tilt angle.

[0046] Therefore, in some preferred embodiments of the present invention, dynamic compensation includes: vibration compensation; vibration compensation of the tilt angle value is performed using the following formula: ;in, Let k be the optimized prediction state at time k. The first element in the final optimized prediction state is the compensated true dip angle value. The state transition matrix is ​​based on the sampling interval constraint. Let K be the Kalman gain at time k, based on the prediction error covariance constraint; The inclination angle measurement value corresponding to time k; This is the predicted tilt angle at time k.

[0047] Specifically, this invention proposes a vibration compensation algorithm based on Kalman filtering, which includes: First, state-space modeling: The vibration compensation algorithm based on Kalman filtering is as follows: Definition The state at time k; defined Let k be the unoptimized predicted state; define The optimized predicted state at time k; by Obtain the predicted state Optimize it to get the final result The state equation is: The measurement equation is: .

[0048] in, , is the state vector. The angle of inclination, Angular velocity; , where is the state transition matrix, and Δt is the sampling interval; , is the observation matrix; w k-1 Let v be the process noise and v be the measurement noise, both following a Gaussian distribution. Throughout the algorithm, the state at time k is always related to the state at time k-1. The Kalman filter continuously iterates through two steps, "prediction" and "update," to obtain the most accurate tilt angle value.

[0049] Second, prediction: Define the predicted state Define predictive measurement Define the observation of new information This is used to reflect the combined impact of process noise wk⁻¹ and measurement noise v on the system state. Prediction error covariance. ; To predict the observation noise covariance, it is dynamically updated with the acceleration amplitude.

[0050] Third, update: Kalman gain Covariance of prediction error Relevant. The Kalman gain is a "trade-off" that determines whether we should place more trust in the predicted or measured values: The larger the value of Kk, the greater the weighting of feedback measurement; conversely, the greater the weighting of predicted values.

[0051] Therefore, optimize the predicted state. ;in, The term "news" characterizes the difference between the measured and predicted values, expressed through Kalman gain. We adjust the forecast by weighting this new information.

[0052] Fourth, extraction: After obtaining the optimal state estimate After that, vector The first element This is the tilt angle value that most closely approximates the true tilt angle after vibration compensation. This value is a fusion value "calculated" by the Kalman filter based on the dynamic model and data from multiple sensors through optimal estimation theory. It utilizes both the absolute angle information from the tiltmeter and the dynamic information from the gyroscope regarding vibration interference resistance, thereby achieving accurate, stable, and real-time monitoring of the platform's true attitude under strong vibration environments.

[0053] In step S106, the data processing layer inputs the real state data into the preset strain-tilt angle dual-dimensional collaborative analysis model to obtain the comprehensive safety index, and outputs the warning signal corresponding to the comprehensive safety index based on the preset hierarchical early warning decision mechanism.

[0054] Specifically, the strain-tilt angle dual-dimensional collaborative analysis model first calculates the strain risk factor, eccentric load risk factor, tilt angle risk factor, and tilt angle change rate factor separately. Then, by introducing a dynamic weight gain mechanism, these factors are fused to calculate a unified comprehensive safety index. This index not only reflects the individual risks of overload or overturning but also quantifies the degree of danger of their coupled effect. Based on the numerical range of the comprehensive safety index, the system activates a graded early warning decision-making mechanism, dividing the risk into four levels: safe, early warning, severe early warning, and emergency alarm, and outputs corresponding early warning signals. This dynamic fusion and graded decision-making method enables the system to more accurately identify the risk development stage and make timely and appropriate responses.

[0055] Furthermore, in some preferred embodiments of the present invention, the strain-tilt angle dual-dimensional collaborative analysis model determines the comprehensive safety index using the following formula: ;in, The overall safety index; The dynamic weight of the strain at time t; The strain risk factor is based on the maximum reading of the strain sensor and the strain value constraint under a preset safety factor. The inclination angle dynamic weight at time t; The tilt risk factor is based on the readings of the tilt sensor and the preset tilt constant constraint; The dynamic weights of the coupling terms at time t; The off-center load risk factor is based on the readings of two symmetrically arranged strain sensors and the strain value constraint under the safety factor. The inclination rate change factor is based on the inclination rate change at time t and a preset inclination rate change constant constraint.

[0056] Specifically, response risk factors ; The maximum reading of all strain sensors. The main beam yield strain is 67% (i.e., a safety factor of 1.5); eccentric load risk factor. ;ε i and ε j For symmetrically arranged strain sensor readings, such as the same type of sensor with supports arranged on both sides of a cantilevered unloading platform, ε biasthreshold = 0.25ε threshold Tilt risk factor θ is the reading from the tilt sensor. threshold = 3° tilt angle change rate factor ; Take 0.4° / s.

[0057] Furthermore, in some preferred embodiments of the present invention, the dynamic weights are constrained by the following formula: ; ; ; ; ; ; ; ; ; in, For strain weight gain, As a risk factor for response, The root mean square of the vibration acceleration; It is the rotational angular velocity; This is the tilt angle weighted gain; For the tilt angle risk factor; This represents the coupling term gain.

[0058] Specifically, regarding strain weight gain The first item The first term is the master control term, a sigmoid activation function that controls the fundamental driving effect of Fε on the gain. The second term... As a dynamic suppression term, the active rotational response and the passive vibration response work together to suppress vibration disturbances.

[0059] For tilt angle weight gain The first item The first term is the control term, using a sigmoid activation function, which is more sensitive than the strain term. The second term... This is the response term for a sudden increase in angular velocity.

[0060] For coupling term gain The first item This is the product-driven term, with fundamental nonlinear amplification. The second term... For two sigmoid functions, the step function is approximated by a conditional abrupt change.

[0061] Furthermore, in some preferred embodiments of the present invention, the graded early warning decision mechanism includes: if the comprehensive safety index is less than a preset first early warning value, outputting an early warning signal representing safety; if the comprehensive safety index is greater than or equal to the first early warning value and less than a preset second early warning value, outputting an early warning signal representing a warning; if the comprehensive safety index is greater than or equal to the second early warning value and less than a preset third early warning value, outputting an early warning signal representing a severe warning; and if the comprehensive safety index is greater than or equal to the third early warning value, outputting an early warning signal representing an emergency alarm.

[0062] For example, taking a first warning value of 0.8, a second warning value of 1.2, and a third warning value of 1.8 as an example, the tiered warning decision-making mechanism is shown in Table 1: Table 1

[0063] This invention constructs a strain-tilt angle dual-dimensional collaborative analysis model, defines key risk factors, integrates them to form a unified SSI, and establishes a hierarchical early warning decision-making mechanism to improve the accuracy of risk identification and the timeliness of response.

[0064] Step S108: The warning execution layer executes a preset warning action based on the warning signal; wherein the warning action includes at least one of local audio-visual prompts and remote notifications.

[0065] Specifically, the early warning execution layer triggers corresponding local and remote early warning actions based on the received early warning signals (early warning levels). For example, at the initial early warning level, the system controls a yellow LED to flash slowly; at the severe early warning level, a red LED flashes rapidly and a buzzer is activated; at the emergency alarm level, a high-sound-pressure audible and visual alarm is activated continuously. Simultaneously, all early warning information is pushed synchronously to the remote monitoring platform and the mobile terminals of relevant management personnel via wireless network, including via APP push, SMS, and telephone alerts. This execution mechanism combines on-site intuitive warnings with remote collaborative supervision, ensuring that risk information can be quickly and effectively transmitted and responded to, thereby guiding on-site personnel to take correct measures and ensuring construction safety.

[0066] For example, based on Table 1, the contextual actions are shown in Table 2: Table 2

[0067] This invention embodiment constructs a "sensing" compensate analyze The "Execution" full-process early warning system integrates strain and tilt angle information, combined with environmental compensation and dynamic weighting mechanisms, to achieve accurate, real-time identification and graded early warning of overload and overturning risks of cantilevered unloading platforms, significantly improving the safety management capabilities and risk response efficiency of construction sites.

[0068] This invention provides a method for early warning of overturning of a cantilevered unloading platform, applied to a cantilevered unloading platform overturning early warning system based on dynamic fusion of structural strain and attitude tilt angle. The system includes: a perception layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer. The method includes: acquiring the original state data of the cantilevered unloading platform through the perception layer; wherein, the original state data includes: original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and original tilt angle data collected by tilt angle sensors arranged at the center of the bottom plate of the cantilevered unloading platform; the data transmission compensation layer preprocesses the original strain data and converts it into digital signals to obtain digitized real state data; wherein, the preprocessing includes: amplification, filtering, zero-point correction, and dynamic compensation; the data processing layer inputs the real state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and outputs an early warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism; the early warning execution layer executes preset early warning actions based on the early warning signal; wherein, the early warning actions include at least one of local audio-visual prompts and remote notifications; by constructing a perception layer... Transmission compensation Data processing The four-layer architecture for early warning execution combines targeted temperature and vibration compensation technologies, and pioneers strain... The tilt angle dual-dimensional collaborative analysis model and dynamic weight comprehensive safety index realize all-round, high-precision perception and intelligent assessment of the structural status of the cantilever unloading platform. It effectively overcomes environmental interference, significantly improves the accuracy and real-time performance of early warning, and can accurately identify the evolution process from overload to overturning, providing reliable decision support for on-site safety management.

[0069] Example 2 Based on the above embodiments, this invention provides a cantilevered unloading platform overturning early warning device, applied to a cantilevered unloading platform overturning early warning system based on dynamic fusion of structural strain and attitude tilt angle. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer; see also Figure 7 The diagram shown is a structural schematic of a cantilevered unloading platform overturning early warning device according to an embodiment of the present invention. The device includes: The data acquisition module 310 is used to acquire the original state data of the cantilevered unloading platform through the sensing layer; wherein, the original state data includes: the original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and the original tilt angle data collected by tilt sensors arranged at the center of the bottom plate of the cantilevered unloading platform.

[0070] The data preprocessing module 320 is used to preprocess the original strain data of the data transmission compensation layer and convert it into digital signals to obtain digitized real state data; the preprocessing includes amplification, filtering, zero-point correction and dynamic compensation.

[0071] The data processing module 330 is used to input real-state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and output an early warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism.

[0072] The early warning value module 340 is used by the early warning execution layer to execute preset early warning actions based on the early warning signal; wherein, the early warning action includes at least one of local audio-visual prompts and remote notifications.

[0073] Furthermore, in some preferred embodiments of the present invention, the stress concentration locations include: the lower flange of the steel beam at the mid-span of the cantilever end, the upper and lower flanges of the main beam at the root of the cantilever end, the upper flange of the steel beam for anchoring the support, and the mid-span of the wire rope.

[0074] Furthermore, in some preferred embodiments of the present invention, the data preprocessing module 320 is used to constrain zero-point correction using the following formula: ; ;in, This is the current zero-point strain value; This is the previous zero-point strain value; The strain value of the cantilevered unloading platform when unloaded; This is the current zero-point value of the tilt angle; This is the previous zero-point value of the tilt angle; This is the tilt angle value of the cantilevered unloading platform when it is unloaded.

[0075] Furthermore, in some preferred embodiments of the present invention, dynamic compensation includes: temperature compensation; a data preprocessing module 320 is used to perform temperature compensation on the strain value using the following formula: ; ;in, The actual strain value after compensation; These are strain measurement values; Strain caused by temperature change; This is the preset linear temperature influence coefficient; This is a preset nonlinear temperature influence coefficient; Real-time ambient temperature; This is the preset calibration reference temperature.

[0076] Furthermore, in some preferred embodiments of the present invention, dynamic compensation includes: vibration compensation; a data preprocessing module 320, used to perform vibration compensation on the tilt angle value using the following formula: ;in, Let k be the optimized prediction state at time k. The first element in the final optimized prediction state is the compensated true dip angle value. The state transition matrix is ​​based on the sampling interval constraint. Let K be the Kalman gain at time k, based on the prediction error covariance constraint; The inclination angle measurement value corresponding to time k; This is the predicted tilt angle at time k.

[0077] Furthermore, in some preferred embodiments of the present invention, the data processing module 330 is used to determine the comprehensive safety index using the strain-tilt angle dual-dimensional collaborative analysis model through the following formula: ;in, The overall safety index; The dynamic weight of the strain at time t; The strain risk factor is based on the maximum reading of the strain sensor and the strain value constraint under a preset safety factor. The inclination angle dynamic weight at time t; The tilt risk factor is based on the readings of the tilt sensor and the preset tilt constant constraint; The dynamic weights of the coupling terms at time t; The off-center load risk factor is based on the readings of two symmetrically arranged strain sensors and the strain value constraint under the safety factor. The inclination rate change factor is based on the inclination rate change at time t and a preset inclination rate change constant constraint.

[0078] Furthermore, in some preferred embodiments of the present invention, the data processing module 330 is used to constrain dynamic weights based on the following formula: ; ; ; ; ; ; ; ; ;in, For strain weight gain, As a risk factor for response, The root mean square of the vibration acceleration; It is the rotational angular velocity; This is the tilt angle weighted gain; For the tilt angle risk factor; This represents the coupling term gain.

[0079] Furthermore, in some preferred embodiments of the present invention, the graded early warning decision mechanism includes: if the comprehensive safety index is less than a preset first early warning value, outputting an early warning signal representing safety; if the comprehensive safety index is greater than or equal to the first early warning value and less than a preset second early warning value, outputting an early warning signal representing a warning; if the comprehensive safety index is greater than or equal to the second early warning value and less than a preset third early warning value, outputting an early warning signal representing a severe warning; and if the comprehensive safety index is greater than or equal to the third early warning value, outputting an early warning signal representing an emergency alarm.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the overturning warning device for the cantilevered unloading platform described above can be referred to the corresponding process in the embodiments of the aforementioned overturning warning method for the cantilevered unloading platform, and will not be repeated here.

[0081] Example 3 This invention also provides a device for operating a method for early warning of overturning of a cantilevered unloading platform; see [link to related document]. Figure 8 The schematic diagram of an embodiment of the present invention provided shows a device including a memory 400 and a processor 401. The memory 400 is used to store one or more computer instructions, which are executed by the processor 401 to implement the above-mentioned overturning warning method for the cantilevered unloading platform.

[0082] Furthermore, Figure 8 The device shown also includes a bus 402 and a communication interface 403, with the processor 401, communication interface 403 and memory 400 connected via the bus 402.

[0083] The memory 400 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 403 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 402 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0084] Processor 401 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 401 or by instructions in software form. Processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 400, and processor 401 reads information from memory 400 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0085] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the aforementioned overturning warning method for the cantilevered unloading platform. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0086] The computer program product of the overturning warning method, device, equipment and storage medium of the cantilever unloading platform provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0087] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and / or device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0088] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0089] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for early warning of overturning of a cantilevered unloading platform, characterized in that, An overturning early warning system for a cantilevered unloading platform based on dynamic fusion of structural strain and attitude tilt angle is provided. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer; the method includes: The original state data of the cantilevered unloading platform is obtained through the sensing layer; wherein, the original state data includes: original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and original tilt angle data collected by tilt sensors arranged at the center of the bottom plate of the cantilevered unloading platform. The data transmission compensation layer preprocesses the original strain data and converts it into a digital signal to obtain digitized real-state data; wherein, the preprocessing includes: amplification, filtering, zero-point correction and dynamic compensation; The data processing layer inputs the real state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and outputs the warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism. The warning execution layer executes a preset warning action based on the warning signal; wherein the warning action includes at least one of local audio-visual prompts and remote notifications.

2. The overturning early warning method for a cantilevered unloading platform according to claim 1, characterized in that, The locations of concentrated stress include: the lower flange of the steel beam at the mid-span of the cantilever end, the upper and lower flanges of the main beam at the root of the cantilever end, the upper flange of the steel beam anchored at the support, and the mid-span of the wire rope.

3. The overturning early warning method for a cantilevered unloading platform according to claim 1, characterized in that, The zero-point correction is constrained by the following formula: ； ； in, This is the current zero-point strain value; This is the previous zero-point strain value; The strain value of the cantilevered unloading platform when it is unloaded; This is the current zero-point value of the tilt angle; This is the previous zero-point value of the tilt angle; The tilt angle value of the cantilevered unloading platform when it is unloaded.

4. The overturning early warning method for a cantilevered unloading platform according to claim 3, characterized in that, The dynamic compensation includes temperature compensation and vibration compensation; temperature compensation for strain values ​​is performed using the following formula: ； ； in, The actual strain value after compensation; These are strain measurement values; Strain caused by temperature changes; This is the preset linear temperature influence coefficient; This is a preset nonlinear temperature influence coefficient; Real-time ambient temperature; The preset calibration reference temperature; Vibration compensation for the tilt angle value is performed using the following formula: ； in, Let k be the optimized prediction state at time k, and the first element in the final optimized prediction state is the compensated true tilt angle value. The state transition matrix is ​​based on the sampling interval constraint. Let K be the Kalman gain at time k, based on the prediction error covariance constraint; The inclination angle measurement value corresponding to time k; This is the predicted tilt angle at time k.

5. The overturning early warning method for a cantilevered unloading platform according to claim 1, characterized in that, The strain-tilt angle dual-dimensional collaborative analysis model determines the comprehensive safety index using the following formula: ； in, The comprehensive safety index; The dynamic weight of the strain at time t; The strain risk factor is based on the maximum reading of the strain sensor and the strain value constraint under a preset safety factor. The inclination angle dynamic weight at time t; The tilt risk factor is based on the readings of the tilt sensor and the preset tilt constant constraint; The dynamic weights of the coupling terms at time t; The off-center load risk factor is based on the readings of two symmetrically arranged strain sensors and the strain value constraint under the aforementioned safety factor. The inclination rate change factor is based on the inclination rate change at time t and a preset inclination rate change constant constraint.

6. The overturning early warning method for a cantilevered unloading platform according to claim 5, characterized in that, The dynamic weights are constrained by the following formula: ； ； ； ； ； ； ； ； ； in, For strain weight gain, The aforementioned strain risk factor, The root mean square of the vibration acceleration; It is the rotational angular velocity; This is the tilt angle weighted gain; The tilt angle risk factor; This represents the coupling term gain.

7. The overturning early warning method for a cantilevered unloading platform according to claim 1, characterized in that, The tiered early warning decision-making mechanism includes: If the comprehensive safety index is less than a preset first warning value, the warning signal representing safety is output. If the comprehensive safety index is greater than or equal to the first warning value and less than the preset second warning value, the warning signal representing the warning is output. If the comprehensive safety index is greater than or equal to the second warning value and less than the preset third warning value, the warning signal representing a serious warning is output. If the comprehensive safety index is greater than or equal to the third warning value, the warning signal representing an emergency alarm is output.

8. A tilting early warning device for a cantilevered unloading platform, characterized in that, An overturning early warning system for a cantilevered unloading platform based on dynamic fusion of structural strain and attitude tilt angle is provided. The system includes: a sensing layer, a data transmission compensation layer, a data processing layer, and an early warning execution layer; the device includes: The data acquisition module is used to acquire the original state data of the cantilevered unloading platform through the sensing layer; wherein, the original state data includes: original strain data collected by strain sensors arranged at the stress concentration position of the cantilevered unloading platform, and original tilt angle data collected by tilt sensors arranged at the center of the bottom plate of the cantilevered unloading platform. The data preprocessing module is used by the data transmission compensation layer to preprocess the original strain data and convert it into a digital signal to obtain digitized real state data; wherein, the preprocessing includes: amplification, filtering, zero-point correction and dynamic compensation; The data processing module is used to input the real state data into a preset strain-tilt angle dual-dimensional collaborative analysis model to obtain a comprehensive safety index, and output the warning signal corresponding to the comprehensive safety index based on a preset hierarchical early warning decision mechanism. The early warning value module is used by the early warning execution layer to execute preset early warning actions based on the early warning signal; wherein the early warning actions include at least one of local audio-visual prompts and remote notifications.

9. A device, characterized in that, The device includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the overturning warning method for the cantilever unloading platform according to any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the overturning warning method for the cantilevered unloading platform as described in any one of claims 1 to 7.

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