A double-flow composite hoisting boundary invasion safety judgment and control method

Abstract

The application discloses a double-process composite hoisting boundary invasion safety judgment and control method, which comprises a static judgment process and a real-time dynamic judgment process. The static judgment process comprises the following steps: collecting operation scenes and parameters, constructing a three-dimensional space reference model, generating a pre-judgment boundary invasion risk list and an operation feasible path through working condition boundary invasion pre-play, and outputting a safe working condition operation pre-play scheme. The real-time dynamic judgment process comprises the following steps: collecting and transmitting real-time data, generating a real-time space state model through real-time space posture monitoring analysis, calculating and grading the boundary invasion risk in real time, and dynamically correcting and adaptively adjusting. The double-process composite verification and closed-loop control can realize the accurate identification and graded early warning of the boundary invasion risk of the hoisting operation in the whole cycle through the composite process method of fusing the static pre-judgment and dynamic real-time judgment on the site, remote real-time control, data intercommunication and cross verification, and solve the problems of low judgment accuracy, poor adaptability and easy misjudgment and omission of a single process.

Description

Technical Field

[0001] This invention belongs to the field of safety control technology for lifting and hoisting operations, and specifically relates to a dual-process composite lifting boundary intrusion safety judgment and control method, which is applicable to the on-site and remote dual intelligent judgment of spatial boundary intrusion and collision risks in various lifting and hoisting operation scenarios such as building construction and equipment installation. Background Technology

[0002] During lifting operations, the boom, lifting equipment, and the lifted load can easily encroach upon surrounding buildings, municipal traffic, or restricted areas, potentially leading to collisions, overturning, and other safety accidents. Existing lifting boundary intrusion safety assessment technologies have the following main shortcomings:

[0003] Limitations of single judgment: Traditional methods mostly adopt a single process of static pre-judgment or real-time monitoring. Static pre-judgment is based only on site survey and parameter calculation before operation, which cannot adapt to the dynamic interference of crane posture, load swing and environmental changes during operation. Real-time monitoring of hoisting equipment relies only on the parameters of the equipment itself, and lacks predictive ability for the surrounding environment, obstruction and other factors, which is prone to misjudgment or omission.

[0004] Relying on on-site safety command: During hoisting operations, relying on safety command in blind spots may lead to missed risks and errors in the angle of construction operations.

[0005] Lack of process integration: Pre-judgment, real-time judgment, and remote control are independent of each other, and there is no data exchange or composite verification mechanism, which leads to a disconnect between pre-operation plans and in-operation controls, making it impossible to form a closed-loop safety management system for the entire process.

[0006] Therefore, existing technologies cannot meet the requirements for accurate, efficient, and stable judgment of hoisting boundary intrusion safety in complex scenarios. There is an urgent need for a composite control method that integrates static pre-judgment and dynamic on-site judgment, as well as remote real-time control, to achieve full-cycle, multi-dimensional, and highly reliable boundary intrusion safety control. Summary of the Invention

[0007] This invention aims to provide a dual-process composite method for judging and controlling boundary intrusion safety during hoisting operations. By integrating static pre-judgment and dynamic on-site judgment, as well as remote real-time control, this composite process method, with data exchange and cross-verification, solves the problems of low accuracy, poor adaptability, and easy misjudgment and omission in single-process judgment, and achieves accurate identification and graded early warning of boundary intrusion risks throughout the entire hoisting operation cycle.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0009] A dual-process composite hoisting boundary intrusion safety judgment and control method includes the following steps:

[0010] Step 1, Static Judgment Process

[0011] The system collects operational scenarios and parameters, constructs a three-dimensional spatial benchmark model, generates a list of pre-judged boundary intrusion risks and feasible operational paths through operational condition boundary intrusion pre-simulation, and outputs a safe operational condition pre-simulation plan.

[0012] Step 2, Real-time Dynamic Judgment Process

[0013] Real-time data acquisition and transmission are performed, and a real-time spatial state model is generated through real-time spatial attitude monitoring and analysis. Intrusion risk is calculated and graded in real time, and dynamic correction and adaptive adjustment are carried out.

[0014] Step 3: Dual-process composite verification and closed-loop control

[0015] Step 31, Data Interoperability and Cross-validation

[0016] The three-dimensional spatial reference model, pre-judgment of boundary risk list, and safe working condition simulation plan of the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of boundary risk of the real-time dynamic judgment process; the two are cross-validated at a limited time to eliminate single process errors and avoid misjudgment;

[0017] Step 32, Process Linkage and Closed-Loop Management

[0018] The real-time assessment results of boundary intrusion risks are synchronously output to the back-end management platform to achieve a closed-loop safety control process of "early warning-alarm-braking-explanation".

[0019] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, the static judgment process specifically includes:

[0020] Step 11, Operation Scenario and Parameter Collection

[0021] Collect basic information and three-dimensional spatial data of the hoisting operation area, and set safety thresholds;

[0022] Step 12, Construction of 3D Spatial Reference Model

[0023] Based on the collected basic information and three-dimensional spatial data of the hoisting operation area, a three-dimensional spatial reference model is established using BIM or spatial modeling software. The three-dimensional spatial reference model includes a three-dimensional model of the crane operation, a three-dimensional model of obstacles, and a model of the restricted area. A unified spatial coordinate system is established, and the relative positional relationships of each model are determined.

[0024] Step 13, Pre-calculation of Working Condition Boundary Entry

[0025] The motion envelope space of the boom, lifting equipment, and load is calculated for all typical working conditions of the crane. Spatial collision interference analysis is performed between the motion envelope space and the obstacle 3D model and the restricted area model. The pre-intrusion area, critical safety area, and safety area are marked, and a list of pre-judged intrusion risks and feasible operation paths are generated.

[0026] Step 14, Output the safety condition operation simulation plan

[0027] Output a safe working condition simulation plan: allowable working range, prohibited working area, recommended hoisting route and initial safety parameters, and generate a safety red line.

[0028] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, the real-time dynamic judgment process specifically includes:

[0029] Step 21, Real-time Data Acquisition and Transmission

[0030] The following real-time data are collected by sensors in the construction area: real-time boom length, luffing angle, and slewing angle; real-time lifting height and horizontal position; real-time load posture, sway angle, and amplitude; and real-time spatial data of dynamic obstacles in the work area.

[0031] Step 22, Real-time Spatial Attitude Monitoring and Analysis

[0032] Based on the collected real-time data, the real-time three-dimensional coordinates and motion trajectory of the boom, lifting device, and load are calculated, and the real-time motion space of the load is updated synchronously to generate a real-time spatial state model;

[0033] Step 23: Real-time calculation and classification assessment of boundary intrusion risk

[0034] Real-time spatial interference calculations are performed between the real-time spatial state model and the restricted area model, and the risk of intrusion is classified and assessed according to the degree of risk.

[0035] Step 24, Dynamic Correction and Adaptive Adjustment

[0036] Based on the deviation between real-time data and the safety operation simulation plan, the safety threshold and real-time spatial state model are dynamically corrected; if new obstacles that were not pre-judged are found, they are automatically included in the real-time spatial state model, and the pre-judged boundary intrusion risk list and feasible operation path are updated.

[0037] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, all data are recorded throughout the process, an operation safety log is generated, and post-event risk retrospective and scheme optimization are supported.

[0038] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 11, the safety threshold includes a horizontal safety distance threshold, a vertical safety distance threshold, and a sway allowable angle threshold.

[0039] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 11, the basic information of the hoisting operation construction area includes the crane model, maximum / working length of the boom, boom luffing angle range, slewing radius, and maximum lifting height of the lifting equipment; the weight, dimensions, and center of gravity of the hoisted object; and the three-dimensional spatial data of the operation area includes the coordinates, height, and outline information of buildings, equipment, overhead lines, pipelines, and restricted areas.

[0040] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 13, all typical working conditions of the crane include full-angle rotation of the boom, full-amplitude luffing, and full-height lifting of the lifting device.

[0041] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 21, the sensors in the construction area include tilt sensors, angle encoders, pressure sensors, GPS or Beidou positioning, UWB positioning, lidar, and monitoring video; dynamic obstacles in the work area include temporary equipment and personnel.

[0042] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, the boundary intrusion risk includes:

[0043] Level 1 security: No tendency to intrude, distance from the security threshold ≥ 1.5 times the threshold;

[0044] Level 2 warning: When an intruder approaches the boundary and the distance to the safety threshold is between 1.0 and 1.5 times the threshold, an audible and visual warning will be activated.

[0045] Level 3 alarm: Imminent boundary intrusion, distance from the safety threshold ≤ 1.0 times the threshold, triggers a strong alarm and restricts dangerous crane actions;

[0046] Level 4 boundary violation: Boundary violation has occurred. Immediately trigger the emergency brake and cut off the crane's power.

[0047] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 31, the three-dimensional spatial reference model, initial safety parameters, and pre-intrusion area pre-simulated in the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of boundary intrusion risk in the real-time judgment process.

[0048] As can be seen from the above-disclosed technical solutions, the beneficial effects of the present invention compared with the prior art are as follows:

[0049] 1. Dual-process integration for improved accuracy: It combines the comprehensiveness of static pre-simulation with the timeliness of dynamic real-time judgment, and eliminates single-process errors through cross-verification, adapting to complex and ever-changing construction scenarios.

[0050] 2. Multi-dimensional coverage and comprehensive prevention and control: Simultaneously cover all objects, attitudes and trajectory parameters of cranes, lifting tools, heavy objects and dynamic obstacles to achieve full-domain boundary intrusion risk identification in three-dimensional space with no monitoring blind spots.

[0051] 3. Full-cycle closed loop, safe and controllable: A complete closed loop is formed from pre-operation planning to in-operation control, with hierarchical early warning and linkage control, realizing "advance prediction, real-time identification and immediate handling" of risks, greatly reducing the rate of hoisting collisions and boundary violations.

[0052] 4. Highly adaptable and widely applicable: Suitable for various types of cranes such as truck cranes, crawler cranes, gantry cranes, and bridge cranes, compatible with lifting operations in multiple fields such as construction, power, and equipment installation. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating the dual-process composite hoisting boundary intrusion safety judgment and control method. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The technical content and features of the present invention will be described in detail below with reference to the listed embodiments and the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the embodiments of the present invention. For ease of description, the terms "upper" and "lower" used below are consistent with the upper and lower directions in the drawings, but this should not be construed as a limitation of the technical solution of the present invention.

[0055] Please see Figure 1 This embodiment discloses a dual-process composite hoisting boundary intrusion safety judgment and control method, including the following steps:

[0056] Step 1, Static Judgment Process

[0057] The system collects operational scenarios and parameters, constructs a three-dimensional spatial benchmark model, generates a list of pre-judged boundary intrusion risks and feasible operational paths through operational condition boundary intrusion pre-simulation, and outputs a safe operational condition pre-simulation plan.

[0058] Preferably, the static judgment process specifically includes:

[0059] Step 11, Operation Scenario and Parameter Collection

[0060] Collect basic information and three-dimensional spatial data of the hoisting operation area, and set safety thresholds;

[0061] Step 12, Construction of 3D Spatial Reference Model

[0062] Based on the collected basic information and three-dimensional spatial data of the hoisting operation area, a three-dimensional spatial reference model is established using BIM or spatial modeling software. The three-dimensional spatial reference model includes a three-dimensional model of the crane operation, a three-dimensional model of obstacles, and a model of the restricted area. A unified spatial coordinate system is established, and the relative positional relationships of each model are determined.

[0063] Step 13, Pre-calculation of Working Condition Boundary Entry

[0064] The motion envelope space of the boom, lifting equipment, and load is calculated for all typical working conditions of the crane. Spatial collision interference analysis is performed between the motion envelope space and the obstacle 3D model and the restricted area model. The pre-intrusion area, critical safety area, and safety area are marked, and a list of pre-judged intrusion risks and feasible operation paths are generated.

[0065] Step 14, Output the safety condition operation simulation plan

[0066] Output a safe working condition simulation plan: allowable working range, prohibited working area, recommended hoisting route and initial safety parameters, and generate a safety red line.

[0067] Step 2, Real-time Dynamic Judgment Process

[0068] Real-time data acquisition and transmission are performed, and a real-time spatial state model is generated through real-time spatial attitude monitoring and analysis. Intrusion risk is calculated and graded in real time, and dynamic correction and adaptive adjustment are carried out.

[0069] Preferably, the real-time dynamic judgment process specifically includes:

[0070] Step 21, Real-time Data Acquisition and Transmission

[0071] The following real-time data are collected by sensors in the construction area: real-time boom length, luffing angle, and slewing angle; real-time lifting height and horizontal position; real-time load posture, sway angle, and amplitude; and real-time spatial data of dynamic obstacles in the work area.

[0072] Preferably, in step 21, the sensors in the construction area include tilt sensors, angle encoders, pressure sensors, GPS or BeiDou positioning, UWB positioning, lidar, and monitoring video; dynamic obstacles in the work area include temporary equipment and personnel. Specifically, the tilt sensors, angle encoders, pressure sensors, and GPS / BeiDou positioning are used for equipment; UWB positioning is used for personnel; and lidar and monitoring video are used for the construction area.

[0073] Step 22, Real-time Spatial Attitude Monitoring and Analysis

[0074] Based on the collected real-time data, the real-time three-dimensional coordinates and motion trajectory of the boom, lifting device, and load are calculated, and the real-time motion space of the load is updated synchronously to generate a real-time spatial state model;

[0075] Step 23: Real-time calculation and classification assessment of boundary intrusion risk

[0076] Real-time spatial interference calculations are performed between the real-time spatial state model and the restricted area model, and the risk of intrusion is classified and assessed according to the degree of risk.

[0077] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 23, the boundary intrusion risk includes:

[0078] Level 1 security: No tendency to intrude, distance from the security threshold ≥ 1.5 times the threshold;

[0079] Level 2 warning: When an intruder approaches the boundary and the distance to the safety threshold is between 1.0 and 1.5 times the threshold, an audible and visual warning will be activated.

[0080] Level 3 alarm: Imminent boundary intrusion, distance from the safety threshold ≤ 1.0 times the threshold, triggers a strong alarm and restricts dangerous crane actions;

[0081] Level 4 boundary violation: Boundary violation has occurred. Immediately trigger the emergency brake and cut off the crane's power.

[0082] Step 24, Dynamic Correction and Adaptive Adjustment

[0083] Based on the deviation between real-time data and the safety operation simulation plan, the safety threshold and real-time spatial state model are dynamically corrected; if new obstacles that were not pre-judged are found, they are automatically included in the real-time spatial state model, and the pre-judged boundary intrusion risk list and feasible operation path are updated.

[0084] Step 3: Dual-process composite verification and closed-loop control

[0085] Step 31, Data Interoperability and Cross-validation

[0086] The three-dimensional spatial reference model, pre-judgment of boundary risk list, and safety operation simulation plan of the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of boundary risk of the real-time dynamic judgment process; cross-validation of the two is carried out at a fixed period, such as weekly or daily, to eliminate errors in a single process and avoid misjudgment;

[0087] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, in step 31, the three-dimensional spatial reference model, initial safety parameters, and pre-intrusion area pre-simulated in the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of boundary intrusion risk in the real-time judgment process.

[0088] Step 32, Process Linkage and Closed-Loop Management

[0089] The real-time assessment results of boundary intrusion risks are synchronously output to the back-end management platform to achieve a closed-loop safety control process of "early warning-alarm-braking-explanation".

[0090] Preferably, in the above-mentioned dual-process composite hoisting boundary intrusion safety judgment and control method, all data are recorded throughout the process, an operation safety log is generated, and post-event risk retrospective and scheme optimization are supported.

[0091] In summary, the beneficial effects of the present invention are as follows:

[0092] 1. Dual-process (i.e., static judgment process and real-time dynamic judgment process) combination, improving accuracy: It integrates the comprehensiveness of static pre-simulation with the timeliness of dynamic real-time judgment, and eliminates single-process errors through cross-verification, adapting to complex and ever-changing construction scenarios.

[0093] 2. Multi-dimensional coverage and comprehensive prevention and control: Simultaneously cover all objects, attitudes and trajectory parameters of cranes, lifting tools (i.e. hooks), heavy objects and dynamic obstacles to achieve full-domain boundary intrusion risk identification in three-dimensional space with no monitoring blind spots.

[0094] 3. Full-cycle closed loop, safe and controllable: From pre-operation planning (i.e., static judgment process) to operation (i.e., dual-process composite verification and closed-loop control), a complete closed loop is formed, with hierarchical early warning and linkage control, realizing risk "pre-judgment, real-time identification and immediate handling", which greatly reduces the rate of hoisting collisions and boundary intrusion accidents.

[0095] 4. Highly adaptable and widely applicable: Suitable for various types of cranes such as truck cranes, crawler cranes, gantry cranes, and bridge cranes, compatible with lifting operations in multiple fields such as construction, power, and equipment installation.

[0096] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A dual-process composite hoisting boundary intrusion safety judgment and control method, characterized in that, Includes the following steps: Step 1, Static Judgment Process The system collects operational scenarios and parameters, constructs a three-dimensional spatial benchmark model, generates a list of pre-judged boundary intrusion risks and feasible operational paths through operational condition boundary intrusion pre-simulation, and outputs a safe operational condition pre-simulation plan. Step 2, Real-time Dynamic Judgment Process Real-time data acquisition and transmission are performed, and a real-time spatial state model is generated through real-time spatial attitude monitoring and analysis. Intrusion risk is calculated and graded in real time, and dynamic correction and adaptive adjustment are carried out. Step 3: Dual-process composite verification and closed-loop control Step 31, Data Interoperability and Cross-validation The three-dimensional spatial benchmark model, pre-judged boundary risk list, and safe working condition simulation plan of the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of boundary risks of the real-time dynamic judgment process. Cross-validation of both processes is performed within a specified period to eliminate errors from a single process and avoid misjudgments; Step 32, Process Linkage and Closed-Loop Management The real-time assessment results of boundary intrusion risks are synchronously output to the back-end management platform to achieve a closed-loop safety control process of "early warning-alarm-braking-explanation".

2. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 1, characterized in that, The static judgment process specifically includes: Step 11, Operation Scenario and Parameter Collection Collect basic information and three-dimensional spatial data of the hoisting operation area, and set safety thresholds; Step 12, Construction of 3D Spatial Reference Model Based on the collected basic information and three-dimensional spatial data of the hoisting operation area, a three-dimensional spatial reference model is established using BIM or spatial modeling software. The three-dimensional spatial reference model includes a three-dimensional model of the crane operation, a three-dimensional model of obstacles, and a model of the restricted area. A unified spatial coordinate system is established, and the relative positional relationships of each model are determined. Step 13, Pre-calculation of Working Condition Boundary Entry The motion envelope space of the boom, lifting equipment, and load is calculated for all typical working conditions of the crane. Spatial collision interference analysis is performed between the motion envelope space and the obstacle 3D model and the restricted area model. The pre-intrusion area, critical safety area, and safety area are marked, and a list of pre-judged intrusion risks and feasible operation paths are generated. Step 14, Output the safety condition operation simulation plan Output a safe working condition simulation plan: allowable working range, prohibited working area, recommended hoisting route and initial safety parameters, and generate a safety red line.

3. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 1, characterized in that, The real-time dynamic judgment process specifically includes: Step 21, Real-time Data Acquisition and Transmission The following real-time data are collected by sensors in the construction area: real-time boom length, luffing angle, and slewing angle; real-time lifting height and horizontal position; real-time load posture, sway angle, and amplitude; and real-time spatial data of dynamic obstacles in the work area. Step 22, Real-time Spatial Attitude Monitoring and Analysis Based on the collected real-time data, the real-time three-dimensional coordinates and motion trajectory of the boom, lifting device, and load are calculated, and the real-time motion space of the load is updated synchronously to generate a real-time spatial state model; Step 23: Real-time calculation and classification assessment of boundary intrusion risk Real-time spatial interference calculations are performed between the real-time spatial state model and the restricted area model, and the risk of intrusion is classified and assessed according to the degree of risk. Step 24, Dynamic Correction and Adaptive Adjustment Based on the deviation between real-time data and the safety operation simulation plan, the safety threshold and real-time spatial state model are dynamically corrected; if new obstacles that were not pre-judged are found, they are automatically included in the real-time spatial state model, and the pre-judged boundary intrusion risk list and feasible operation path are updated.

4. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 1, characterized in that, Record all data throughout the process, generate an operation safety log, and support post-event risk review and solution optimization.

5. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 2, characterized in that, In step 11, the safety thresholds include a horizontal safety distance threshold, a vertical safety distance threshold, and a sway allowable angle threshold.

6. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 2, characterized in that, In step 11, the basic information of the hoisting operation construction area includes the crane model, maximum / working length of the boom, boom luffing angle range, slewing radius, and maximum lifting height of the lifting equipment; the weight, dimensions, and center of gravity of the hoisted object; and the three-dimensional spatial data of the operation area includes the coordinates, height, and outline information of buildings, equipment, overhead lines, pipelines, and restricted areas.

7. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 2, characterized in that, In step 13, all typical operating conditions of the crane include full-angle rotation of the boom, full-amplitude luffing, and full-height lifting of the lifting device.

8. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 3, characterized in that, In step 21, the sensors in the construction area include tilt sensors, angle encoders, pressure sensors, GPS or BeiDou positioning, UWB positioning, lidar, and monitoring video; dynamic obstacles in the work area include temporary equipment and personnel.

9. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 1, characterized in that, The aforementioned risks of boundary intrusion include: Level 1 security: No tendency to intrude, distance from the security threshold ≥ 1.5 times the threshold; Level 2 warning: When an intruder approaches the boundary and the distance to the safety threshold is between 1.0 and 1.5 times the threshold, an audible and visual warning will be activated. Level 3 alarm: Imminent boundary intrusion, distance from the safety threshold ≤ 1.0 times the threshold, triggers a strong alarm and restricts dangerous crane actions; Level 4 boundary violation: Boundary violation has occurred. Immediately trigger the emergency brake and cut off the crane's power.

10. The dual-process composite hoisting boundary intrusion safety judgment and control method as described in claim 1, characterized in that, In step 31, the three-dimensional spatial reference model, initial safety parameters, and pre-intrusion area simulated in the static judgment process are exchanged and optimized with the real-time data, real-time spatial state model, and real-time assessment results of intrusion risk in the real-time judgment process.

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