Safety monitoring system for whole process of field arrangement and evacuation of mobile crossing frame

Abstract

The utility model relates to a safety monitoring system for the whole process of on-site arrangement and evacuation of a mobile crossing frame, and belongs to the technical field of automatic equipment for power transmission line crossing construction. The system compares whether the initial position of the mobile umbrella-shaped crossing frame is consistent with the reviewed crossing construction special scheme through an RTK high-precision measurement technology, and uses the real-time distance measurement and positioning functions of a laser radar distance measurement system as a final detection means in the field arrangement and evacuation process of the mobile umbrella-shaped crossing frame. When the minimum linear distance value between the crane and the spanned line is detected to reach the safety distance value set by the system, the system gives an alarm and performs safety control, so that the safety of the parking position of the crane when a constructor works is ensured, and the difficulty of operating the crane by the constructor is reduced. The problem that the RTK high-precision measurement system is not enough in measurement precision and stability due to the fact that the RTK high-precision measurement system is limited by the satellite state, influenced by the ionosphere and influenced by the data transmission distance is solved.

Description

Technical Field

[0001] The utility model relates to a safety monitoring system for the whole process of on-site layout and evacuation of a mobile spanning frame, belonging to the technical field of mechanized equipment for power line crossing construction. Background Technique

[0002] In the line construction of power construction, it is inevitable to carry out triple-cross operations, that is, crossing highways, railways and power lines. To protect these facilities and ensure the safety of construction personnel, it is necessary to set up spanning frames to protect them. In triple-cross operations, especially the contradiction of crossing energized lines is the most prominent. The traditional spanning frame erection or layout technology mainly uses wood, bamboo or steel pipes as the main materials, and manual workers build the spanning frame from bottom to top on both sides of the object to be crossed to ensure the formation of a safe supporting device during line construction and meet the safety requirements of line construction. Using the ordinary spanning frame erection or layout technology, in order to ensure the construction safety of working conditions such as spanning frame body erection, mesh enclosure layout, mesh enclosure evacuation, and spanning frame body demolition, the energized power line to be crossed must be de-energized. However, ensuring the continuous power supply of the power supply line is the social responsibility and the service goal pursued by the power industry. The State Grid clearly stipulates in the "State Grid Corporation of China Power Supply Service Specification" that for customers with a power supply voltage of 35 kV and above, the number of power outages per year should not exceed 1 time; for customers with a power supply voltage of 10 kV, it should not exceed 3 times per year. Therefore, when crossing an energized line during the line construction of power construction, ensuring power supply and ensuring safety are two difficult-to-reconcile contradictions, resulting in great difficulty in obtaining approval for power outage applications from the line construction department. In desperation, some construction units even carry out illegal construction of crossing without power outage at all.

[0003] To solve this difficult-to-reconcile contradiction, a mobile automatic and rapid deployment spanning frame is disclosed in the prior art, with the publication number of CN205452971U. This spanning frame realizes the protection of the object to be crossed by supporting the umbrella-shaped spanning frame above the object to be crossed through a truck crane. This mobile spanning frame has been widely used due to its safety, convenience, economy, and the solution to the problems of manual high-altitude operation and near-electric operation.

[0004] To meet the needs of construction and ensure that the mobile spanning tower does not touch the energized line during on-site layout and evacuation, thus ensuring construction safety, the applicant applied for a "near-electrical alarm system for ensuring the power-off layout and disassembly of a mobile umbrella-shaped spanning tower" in 2023, with the authorization announcement number CN 221175552 U. This patent can monitor the mobile spanning tower during layout and evacuation at the construction site. When the distance from the energized line is less than the safe distance, it will give an alarm to remind construction workers to pay attention. This patent has played a good warning role for construction workers during use and can adapt to most construction conditions. However, this patent uses a near-electrical sensor for near-electrical monitoring, and some imperfections have also emerged in the application of completely power-off spanning construction. For example, the inaccuracy and instability of the near-electrical sensor in a complex electromagnetic environment, the inability to install a near-electrical sensor on the crane boom for near-electrical monitoring, the tense layout space of the spanning tower due to multiple parallel power supply lines, and the non-standard operation of the crane and the spanning tower. There is still a possibility that the crane boom and the spanning tower body are too close to or in contact with the energized line, which may lead to the tripping of the energized line being spanned at least, causing significant economic losses to power users, or at worst, causing electric shock and serious safety accidents to crane operators and construction workers near the construction line.

[0005] Therefore, in order to further ensure construction safety and eliminate the impact of human errors and environmental factors on the safety of spanning construction, it is necessary to further improve the safety guarantee function of the mobile spanning tower during layout and evacuation in the state of the energized power line being spanned, and completely solve the potential safety hazard problems in this regard. Summary of the Invention

[0006] The purpose of the present utility model is to provide a full-process safety monitoring system for on-site layout and evacuation of a mobile spanning tower in view of the above-mentioned deficiencies of the prior art. After measuring the initial position of the mobile umbrella-shaped spanning tower through RTK high-precision measurement technology, it is compared with the special spanning construction plan to confirm whether they match. And in the dangerous area during layout and evacuation, the real-time ranging and positioning function of the lidar ranging system is used as the final detection means during the on-site layout and evacuation of the mobile umbrella-shaped spanning tower. When the lidar ranging system detects that the minimum linear distance value from the spanned line and other adjacent lines reaches the safe distance value set by the system, the system issues an alarm and performs safety control to solve the problems of insufficient measurement accuracy and stability of the RTK high-precision measurement system caused by satellite status limitations, ionospheric influence, and data transmission distance influence.

[0007] The present utility model realizes the above purpose through the following technical solutions:

[0008] A full-process safety monitoring system for on-site layout and evacuation of a mobile spanning tower, including the safety monitoring system body, characterized in that the safety monitoring system body is composed of a spanning tower body control system, a spanning tower remote control operating system, an RTK high-precision measurement system, a lidar ranging system, a switch umbrella state sensor, a rotation angle sensor, and a pitch angle sensor; the spanning tower body control system is installed on the lower base of the spanning tower; the spanning tower remote control operating system uses a handheld operation box or is placed on the ground near the mobile umbrella-shaped spanning tower; the RTK high-precision measurement system consists of a satellite positioning system, an RTK reference station, an RTK mobile station on the spanning tower body, an RTK mobile station at the rotation center of the crane boom, an RTK mobile station at the spanning point of the spanned conductor, an RTK mobile station along the direction of the spanned conductor, an RTK mobile station at the nearest point of the adjacent conductor, and an RTK mobile station along the direction of the adjacent line; the RTK reference station is placed in an open area on the ground with good satellite signals and can communicate well with the spanning tower body control system and is fixed; the RTK mobile station on the spanning tower body is installed on the umbrella-shaped spanning tower body; the RTK mobile station at the rotation center of the crane boom is placed at the rotation center position of the crane turntable; the RTK mobile station at the spanning point of the spanned conductor is placed directly below the spanning point of the spanned line; the RTK mobile station along the direction of the spanned conductor is placed directly below the spanned line at a certain distance from the spanning point; the RTK mobile station of the adjacent line is placed directly below the nearest conductor of the other adjacent line to the mobile umbrella-shaped spanning tower and at a certain distance; the RTK mobile station along the direction of the adjacent line is placed directly below the nearest conductor of the other adjacent line to the mobile umbrella-shaped spanning tower and at a certain distance, and is at a certain distance from the RTK mobile station of the adjacent line; the lidar ranging system includes a front lidar ranging radar device and a rear lidar ranging radar device, which are respectively installed on the lower umbrella base and the upper umbrella base of the umbrella-shaped spanning tower body; the switch umbrella state sensor is installed at the tail of the switch umbrella drive motor; the rotation angle sensor is installed at the tail of the rotation drive motor; the pitch angle sensor is installed at the tail of the pitch drive motor; the spanning tower body control system is wirelessly connected to the spanning tower remote control operating system and the RTK high-precision measurement system, and the spanning tower body control system is connected to the lidar ranging system, the switch umbrella state sensor, the rotation angle sensor, and the pitch angle sensor through signal transmission lines.

[0009] The control system of the span frame body consists of a control system circuit board, a data integration and processing unit, a body wireless data communication module, and a body wired communication module. The data integration and processing unit, the body wireless data communication module, and the body wired communication module are integrated on the control system circuit board. The data integration and processing unit is responsible for information reception, data calculation and processing, danger situation discrimination, and providing danger alarm signals and control signals. The body wireless data communication module is responsible for wireless signal communication with the remote control operation system of the span frame and the RTK high-precision measurement system. The body wired communication module is responsible for wired signal communication with the drive motor, angle detection sensor, and lidar ranging system of the umbrella-shaped span frame body.

[0010] The remote control operation system of the span frame consists of a remote control circuit board, a remote data processing module, operation buttons, a display screen, a USB data transmission interface, a buzzer alarm, and a remote control wireless communication module. The remote data processing module, operation buttons, display screen, USB data transmission interface, buzzer alarm, and remote control wireless communication module are installed on the remote control circuit board. The remote control operation system of the span frame inputs the operation data of the distance between the rotation center of the crane boom and the span point, the angle between the axis of the mobile umbrella-shaped span frame and the spanned line at the initial layout position, the boom lifting angle, the boom extension length, the rotation angle, and the safety distance value parameter between the umbrella-shaped span frame body and the spanned line required by the special construction plan for span construction through the operation buttons. After being processed by the remote data processing module, it is transmitted to the control system of the span frame body through the remote control wireless communication module and stored in the data integration and processing unit of the control system of the span frame body.

[0011] The RTK reference station and each RTK mobile station have a similar structure, that is, all reference stations and mobile stations include a reference station circuit board, an RTK satellite positioning chip, a signal conversion chip, a reference station wireless communication module, and a satellite signal receiving antenna. The RTK satellite positioning chip, signal conversion chip, and reference station wireless communication module are installed on the reference station circuit board. The reference station circuit board is connected to the satellite signal receiving antenna through a signal cable.

[0012] The lidar ranging system consists of a front lidar ranging radar device and a rear lidar ranging radar device. The front lidar ranging radar device is installed on the umbrella-shaped lower base of the umbrella-shaped span frame body. The rear lidar ranging radar device is installed on the umbrella-shaped upper base of the umbrella-shaped span frame body.

[0013] The front laser ranging radar device and the rear laser ranging radar device have a similar structure, and both include a pan base plate, a horizontal motor, a vertical motor, a laser ranging radar, a horizontal angle sensor, and a vertical angle sensor; the pan base plate is installed on the umbrella-shaped spanning frame body, the horizontal motor is installed on the pan base plate, the output shaft of the horizontal motor is installed with the vertical motor, the horizontal angle sensor is installed on the horizontal motor, and the vertical angle detection sensor is installed on the vertical motor; the pan base plate, the horizontal motor, and the vertical motor jointly form a two-axis pan-tilt head that rotates around both the horizontal axis and the vertical axis, and the laser ranging radar is installed on the pan-tilt head, and the laser ranging radar is used to detect the distance and angle between it and the obstacle; the horizontal angle sensor and the vertical angle sensor are used to detect the horizontal rotation angle and the vertical rotation angle of the two-axis pan-tilt head; the horizontal motor, the vertical motor, the laser ranging radar, the horizontal angle sensor, and the vertical angle sensor are all connected to the spanning frame body control system through transmission lines.

[0014] The full-process safety monitoring system for the on-site layout and evacuation of the mobile spanning frame mainly has the following functions:

[0015] I. Have the function of re-surveying the on-site layout of the mobile umbrella-shaped spanning frame: After the umbrella-shaped spanning frame body is docked with the crane, use RTK high-precision measurement technology (real-time kinematic carrier phase differential technology) to check whether the initial position of the mobile umbrella-shaped spanning frame conforms to the approved special spanning construction plan, avoid on-site layout mistakes, and at the same time provide the actual on-site data basis for the layout and evacuation trajectory monitoring of the mobile umbrella-shaped spanning frame;

[0016] II. Have the function of safety monitoring during the on-site layout and evacuation process of the mobile spanning frame: According to the determined actual operation plan for the layout and evacuation of the spanning frame, monitor whether the operations of the crane and the umbrella-shaped spanning frame body during the layout and evacuation of the spanning frame conform to the determined actual special spanning plan, alarm for illegal operations, and conduct safety control over the operations of the spanning frame;

[0017] III. It has the function of lidar ranging in the danger area: The real-time ranging and positioning functions of the lidar ranging system are used as the final detection means during the on-site layout and evacuation processes of the mobile umbrella-shaped spanning frame. When the lidar ranging system detects that the minimum straight-line distance value from the spanned line and other adjacent lines reaches the safety distance value set by the system, the system issues an alarm and conducts safety control, improving the safety of the system. It can overcome the problems such as the insufficient measurement accuracy and stability caused by the satellite status limitation, ionospheric influence, and data transmission distance influence of the RTK high-precision measurement system, etc.; The lidar ranging devices are arranged vertically and horizontally to solve the safety problems caused by the interference between the newly built line and the spanning frame after the wire laying construction is completed; The lidar ranging system is used to replace the proximity electric sensor to solve the problems such as the inaccuracy and instability of the proximity electric sensor in a complex electromagnetic environment and the inability to install the proximity electric sensor on the crane boom for proximity electric monitoring, etc.; At the same time, the real-time ranging function of the lidar ranging system can also further improve the status change alarm system after the layout to ensure the reliability and safety of the system.

[0018] The beneficial effects of the present utility model compared with the prior art are as follows:

[0019] The whole-process safety monitoring system for on-site layout and evacuation of the mobile spanning frame compares whether the initial position of the mobile umbrella-shaped spanning frame conforms to the approved special construction plan for spanning construction through the RTK high-precision measurement technology, and uses the real-time ranging and positioning functions of the lidar ranging system as the final detection means during the on-site layout and evacuation processes of the mobile umbrella-shaped spanning frame. When the lidar ranging system detects that the minimum straight-line distance value from the spanned line and other adjacent lines reaches the safety distance value set by the system, the system issues an alarm and conducts safety control, ensuring the accuracy of the parking position and posture of the crane passed by during the operation of the construction personnel, reducing the operation difficulty of the operators for the crane, and reducing the risk of overturning of the crane during operation. And through the combined application of the RTK high-precision measurement technology and the lidar measurement technology, the crane and the umbrella-shaped spanning frame body are kept at a minimum distance value not less than the system requirements from the spanned line and the currently constructed conductor, improving the safety of the operation. At the same time, it also solves the problems of insufficient measurement accuracy and stability caused by the satellite status limitation, ionospheric influence, and data transmission distance influence of the RTK high-precision measurement system. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of a whole-process safety monitoring system for on-site layout and evacuation of a mobile spanning frame during fully non-stop power operation;

[0021] Figure 2 It is a top view of the construction process of a mobile spanning frame;

[0022] Figure 3Schematic diagram of the installation of the control system of the span frame body on the span frame base;

[0023] Figure 4 Schematic diagram of the structure of the remote control operating system of the span frame;

[0024] Figure 5 Schematic diagram of the structure of the RTK reference station;

[0025] Figure 6 Schematic diagram of the structure of the lidar ranging device with pan-tilt feedback signal;

[0026] Figure 7 Principle diagram of the ranging of the lidar;

[0027] Figure 8 Schematic diagram of the structure of the lower base of the span frame umbrella;

[0028] Figure 9 Schematic diagram of the structure of the upper base of the span frame umbrella;

[0029] Figure 10 Principle diagram of the operation of the RTK ranging system;

[0030] Figure 11 Electrical principle diagram of a safety monitoring system for the whole process of on-site layout and evacuation of a mobile span frame.

[0031] In the figure: 1. Mobile umbrella-shaped spanning frame, 101. Crane, 102. Umbrella-shaped spanning frame body, 10201. Spanning frame base, 10202. Spanning frame pitching seat, 10202. Lower base of umbrella frame, 10203. Upper base of umbrella frame, 10204. Switching umbrella drive motor, 10205. Rotation drive motor, 10206. Pitching drive motor, 2. Safety monitoring system, 201. Control system of spanning frame body, 20101. Control system circuit board, 20102. Data integration and processing unit, 20103. Wireless data communication module of the body, 20104. Wired communication module of the body, 202. Remote control operating system of spanning frame, 20201. Remote control circuit board, 20202. Remote data processing module, 20203. Operation button, 20204. Display screen, 20205. USB data transmission interface, 20206. Buzzer alarm, 20207. Wireless communication module of remote control, 203. RTK high-precision measurement system, 20301. Satellite positioning system, 20302. RTK reference station, 2030201. Reference station circuit board, 2030202. RTK satellite positioning chip, 2030203. Signal conversion chip, 2030204. Wireless communication module of reference station, 2030205. Satellite signal transceiver antenna, 20303. RTK mobile station of spanning frame body, 20304. RTK mobile station at the rotation center of crane boom, 20305. RTK mobile station at the crossing point of the conductor to be crossed, 20306. RTK mobile station along the direction of the conductor to be crossed, 20307. RTK mobile station of adjacent line, 20308. RTK mobile station along the direction of adjacent line, 204. Lidar ranging system, 20401. Front lidar ranging device, 2040101. Cloud platform base plate, 2040102. Horizontal motor, 2040103. Vertical motor, 2040104. Lidar ranging radar, 2040105. Horizontal angle sensor, 2040106. Vertical angle sensor, 20402. Rear lidar ranging device, 205. Switching umbrella state sensor, 206. Rotation angle sensor, 207. Pitching angle sensor, 3. Conductor to be crossed, 4. Newly built line, 5. Installation bolt, 6. Adjacent line. Detailed implementation mode

[0032] Some components of the safety monitoring system 2 of the on-site layout and evacuation whole-process safety monitoring system for the mobile spanning frame are installed on the mobile umbrella-shaped spanning frame 1, forming a complete equipment with it, ensuring that there is enough safety distance between the mobile umbrella-shaped spanning frame 1 during operation and the spanned line 3, other adjacent lines 6 and the new line 4, and improving the safety during the operation process of the mobile umbrella-shaped spanning frame 1. The safety monitoring system 2 mainly realizes its safety functions by using two technical means. One is to use the RTK high-precision measurement technology (real-time kinematic carrier phase differential technology) to realize the correct layout and re-survey functions of the layout points of the mobile umbrella-shaped spanning frame 1 including the crane 101 at the current spanning position, and to realize the precise monitoring function of the movement trajectories such as the telescopic, pitching and rotation of the boom when the crane 101 installed with the umbrella-shaped spanning frame body 102 lifts the umbrella-shaped spanning frame body 102. The other is to use the lidar measurement technology to measure the distances between the lidar 2040104 and the spanned line 3, adjacent line 6 and new line 4 in real time, and through the analysis and calculation of the spanning frame body control system 201, obtain the distances and positions of the closest points when the umbrella-shaped spanning frame body 102 and the boom of the crane 101 are close to the spanned line 3, adjacent line 6 and new line 4, etc.

[0033] The following further describes the specific implementation embodiments of the present utility model in conjunction with the attached Figures 1-11 drawings as follows.

[0034] The full-process safety monitoring system for on-site layout and evacuation of the mobile spanning tower mainly includes a mobile umbrella-shaped spanning tower 1 and a safety monitoring system 2. The safety monitoring system 2 is composed of a spanning tower body control system 201, a remote control operating system 202 for the spanning tower, an RTK high-precision measurement system 203, a lidar ranging system 204, an umbrella-opening / closing state sensor 205, a rotation angle sensor 206, and a pitch angle sensor 207. The spanning tower body control system 201 is installed on the lower base 10201 of the spanning tower, responsible for information reception, data calculation and processing, danger discrimination, and providing danger alarm signals, control signals, etc. The remote control operating system 202 for the spanning tower is a portable box structure, which can be operated by hand or placed on the ground near the mobile umbrella-shaped spanning tower 1 to realize functions such as parameter setting, display, operation, and alarm. The RTK high-precision measurement system 203 consists of a satellite positioning system 20301, an RTK reference station 20302, an RTK mobile station 20303 on the spanning tower body, an RTK mobile station 20304 at the rotation center of the crane boom, an RTK mobile station 20305 at the crossing point of the spanned conductor, an RTK mobile station 20306 for the direction of the spanned conductor, an RTK mobile station 20307 for the adjacent line, and an RTK mobile station 20308 for the direction of the adjacent line. The RTK reference station 20302 is placed in an open area on the ground with good satellite signals and can communicate well with the spanning tower body control system 201 and is fixed. The RTK mobile station 20303 on the spanning tower body is installed on the umbrella-shaped body 102 of the umbrella-shaped spanning tower. The RTK mobile station 20304 at the rotation center of the crane boom is placed at the rotation center position of the turntable of the crane 101. The RTK mobile station 20305 at the crossing point of the spanned conductor is placed directly below the crossing point of the spanned line 3. The RTK mobile station 20306 for the direction of the spanned conductor is placed directly below the spanned line 3 at a certain distance from the crossing point. The RTK mobile station 20307 for the adjacent line is placed directly below the closest conductor of the other adjacent line 6 to the mobile umbrella-shaped spanning tower 1 at a certain distance. The RTK mobile station 20308 for the direction of the adjacent line is placed directly below the closest conductor of the other adjacent line 6 to the mobile umbrella-shaped spanning tower 1 at a certain distance and is at a certain distance from the RTK mobile station 20307 for the adjacent line. The lidar ranging system 204 includes a front lidar ranging device 20401 and a rear lidar ranging device 20402, which are respectively installed on the lower umbrella-shaped base 10202 and the upper umbrella-shaped base 10203 of the umbrella-shaped body 102 of the umbrella-shaped spanning tower. The umbrella-opening / closing state sensor 205 is installed at the tail of the umbrella-opening / closing drive motor 10204. The rotation angle sensor 206 is installed at the tail of the rotation drive motor 10205. The pitch angle sensor 207 is installed at the tail of the pitch drive motor 10206.The control system 201 of the span frame body is communicatively connected to the remote control operating system 202 of the span frame and the RTK high-precision measurement system 203 through wireless signals. The control system 201 of the span frame body is connected to the lidar ranging system 204, the switch umbrella state sensor 205, the rotation angle sensor 206, and the pitch angle sensor 207 through signal transmission lines.

[0035] Further, the control system 201 of the span frame body is composed of a control system circuit board 20101, a data integration and processing unit 20102, an on-body wireless data communication module 20103, and an on-body wired communication module 20104. The data integration and processing unit 20102, the on-body wireless data communication module 20103, and the on-body wired communication module 20104 are integrated on the control system circuit board 20101. The data integration and processing unit 20102 is responsible for information reception, data calculation and processing, danger situation discrimination, and providing danger alarm signals and control signals. The on-body wireless data communication module 20103 is responsible for wireless signal communication with the remote control operating system 202 of the span frame and the RTK high-precision measurement system 203. The on-body wired communication module 20104 is responsible for wired signal communication with the drive motor and angle detection sensors of the umbrella-shaped span frame body 102 and the lidar ranging system 204.

[0036] Further, the remote control operating system 202 of the span frame is composed of a remote control circuit board 20201, a remote data processing module 20202, operation buttons 20203, a display screen 20204, a USB data transmission interface 20205, a buzzer alarm 20206, and a remote control wireless communication module 20207. The remote data processing module 20202, the operation buttons 20203, the display screen 20204, the USB data transmission interface 20205, the buzzer alarm 20206, and the remote control wireless communication module 20207 are installed on the remote control circuit board 20201. The remote control operating system 202 of the span frame inputs the distance between the rotation center of the boom of the crane 101 and the spanning point, the angle between the axis of the mobile umbrella-shaped span frame and the spanned line at the initial layout position, the boom lifting angle, the boom extension length, the rotation angle operation data, and the safety distance value parameter between the umbrella-shaped span frame body 102 and the spanned line 3 required by the spanning construction special plan through the operation buttons 20203. After being processed by the remote data processing module 20202, it is transmitted to the control system 201 of the span frame body through the remote control wireless communication module 20207 and stored in the data integration and processing unit 20102 of the control system 201 of the span frame body.

[0037] Further, after the crane 101 enters the designated position at the site and completes the docking with the mobile umbrella-shaped spanning frame body 102, a re-survey is first carried out to confirm whether the distance between the boom rotation center and the spanning point, and the angle between the axis of the mobile umbrella-shaped spanning frame 1 and the spanned line 3 are in line with the special spanning construction plan. When the crane 101 is operating, if the driver's operation does not match the operation data currently stored in the data integration and processing unit 20102 or the distance value L1 at the minimum distance point is equal to or less than the set safety distance value, the spanning frame body control system 201 will send an operation error alarm signal, which is transmitted to the remote control operating system 202 of the spanning frame through the body wireless data communication module 20104. After being processed by the remote data processing module 20202, the operation error alarm signal is displayed on the display screen 20204, and the buzzer alarm 20206 gives an alarm; when the operator of the mobile umbrella-shaped spanning frame 1 operates the umbrella-shaped spanning frame body 102 through the operation button 20203 and the distance value L2 at the minimum distance point is equal to or less than the set safety distance value, the spanning frame body control system 201 will send an operation error alarm signal, which is transmitted to the remote control operating system 202 of the spanning frame through the body wireless data communication module 20104. After being processed by the remote data processing module 20202, the operation error alarm signal is displayed on the display screen 20204, and the buzzer alarm 20206 gives an alarm. At the same time, the operations related to the umbrella-shaped spanning frame body 102 will be automatically stopped, and the operation buttons will be restricted in their functions.

[0038] Further, the RTK reference station 20302 and each RTK rover are of similar structures, that is, both the reference stations and the rovers include a reference station circuit board 2030201, an RTK satellite positioning chip 2030202, a signal conversion chip 2030203, a reference station wireless communication module 2030204, and a satellite signal receiving antenna 2030205; the RTK satellite positioning chip 2030202, the signal conversion chip 2030203, and the reference station wireless communication module 2030204 are installed on the reference station circuit board 2030201; the reference station circuit board 2030201 is connected to the satellite signal receiving antenna 2030205 through a signal cable.

[0039] Further, the RTK satellite positioning chip 2030202 in the RTK reference station 20302 receives the signals of the satellite positioning system 20301 in real time through the satellite signal receiving antenna 2030205 to generate a carrier phase signal data packet A. After being converted by the signal conversion chip 2030203, the carrier phase data packet A is transmitted to the spanning frame body control system 201 through the reference station wireless communication module 2030204.

[0040] Further, the RTK satellite positioning chips 2030202 of the crossing frame body RTK mobile station 20303, the crane boom rotation center RTK mobile station 20304, the RTK mobile station 20305 at the crossing point of the crossed conductor, the RTK mobile station 20306 in the direction of the crossed conductor, the adjacent line RTK mobile station 20307, and the adjacent line direction RTK mobile station 20308 respectively receive the signals of the satellite positioning system 20301 in real time through the satellite signal receiving antenna 2030205, and generate carrier phase signal data packets B, C, D, E, N, M.

[0041] Further, the carrier phase data packet A is simultaneously transmitted to the wireless communication modules 2030204 of the crossing frame body RTK mobile station 20303, the crane boom rotation center RTK mobile station 20304, the RTK mobile station 20305 at the crossing point of the crossed conductor, the RTK mobile station 20306 in the direction of the crossed conductor, the adjacent line RTK mobile station 20307, and the adjacent line direction RTK mobile station 20308 respectively through the crossing frame body control system 201. After being converted by their respective signal conversion chips 2030203, it is transmitted to their respective RTK satellite positioning chips 2030202. The respective RTK satellite positioning chips 2030202 calculate the coordinate data J, K, M, N, P, Q relative to the RTK reference station by subtracting the carrier phase data packet A from the carrier phase data packets B, C, D, E, H, I generated inside respectively. After being converted by their respective self-signal conversion chips 2030203, the coordinate data J, K, M, N, P, Q are transmitted to the crossing frame body control system 201 by their respective reference station wireless communication modules 2030204, and then the relative positions of each mobile station are calculated by the data integration processing unit 20102 of the crossing frame body control system 201.

[0042] Further, the lidar ranging system 204 is composed of a front lidar ranging device 20401 and a rear lidar ranging device 20402; the front lidar ranging device 20401 is installed on the umbrella-shaped lower base 10202 of the umbrella-shaped crossing frame body 102, and its function is to measure the distance and azimuth between the lidar and the front of the crane 101 boom and the crossed conductor 3 under the umbrella-shaped crossing frame body 102 in real time; the rear lidar ranging device 20402 is installed on the umbrella-shaped upper base 10203 of the umbrella-shaped crossing frame body 102, and its function is to measure the distance and azimuth between the lidar and the adjacent conductor 6 and the newly built conductor 4 above the umbrella-shaped crossing frame body 102 in real time.

[0043] Further, the front laser ranging radar device 20401 and the rear laser ranging radar device 20402 have a similar structure, both including a pan base plate 2040101, a horizontal motor 2040102, a vertical motor 2040103, a laser ranging radar 2040104, a horizontal angle sensor 2040105, and a vertical angle sensor 2040106. Bolt mounting holes are machined on the pan base plate 2040101 and are mounted on the umbrella-shaped spanning frame body 102 through the bolt mounting holes. A horizontal motor 2040102 is mounted on the pan base plate 2040101. A vertical motor 2040103 is mounted on the output shaft of the horizontal motor 2040102. A horizontal angle sensor 2040105 is mounted on the horizontal motor 2040102. A vertical angle detection sensor 2040106 is mounted on the vertical motor 2040103. The pan base plate 2040101, the horizontal motor 2040102, and the vertical motor 2040103 together form a two-axis pan-tilt head that rotates simultaneously around the horizontal axis and the vertical axis. A laser ranging radar 2040104 is mounted on the pan-tilt head. The laser ranging radar 2040104 is used to detect the distance and angle between it and the obstacle. The horizontal angle sensor 2040105 and the vertical angle sensor 2040106 are used to detect the horizontal rotation angle and the vertical rotation angle of the two-axis pan-tilt head. Cooperating with the spanning frame body control system 201, the laser ranging radar 2040104 can always scan the obstacle. The horizontal motor 2040102, the vertical motor 2040103, the laser ranging radar 2040104, the horizontal angle sensor 2040105, and the vertical angle sensor 2040106 are all connected to the spanning frame body control system 201 through transmission lines for wired signal communication.

[0044] Further, the laser ranging radar 2040104 is composed of a laser transmitter, a receiver, a turntable, and a signal processing unit. By measuring the time difference between the emitted laser pulse and the received laser pulse and the turntable angle, the straight-line distance S between the lidar and the obstacle and the angle β between the obstacle-lidar connection line and the turntable zero point are calculated. The distance value S and the angle value β are transmitted to the data integration processing unit in the spanning frame body control system by means of wired transmission.

[0045] Furthermore, the mobile umbrella-shaped spanning frame 1 is composed of a crane 101 and an umbrella-shaped spanning frame body 102; the umbrella-shaped spanning frame body 102 includes a spanning frame base 10201, an umbrella frame lower base 10202, an umbrella-shaped upper base 10203, a switch umbrella drive motor 10204, a rotation drive motor 10205, and a pitching drive motor 10206; the switch umbrella drive motor 10204, the rotation drive motor 10205, and the pitching drive motor 10206 are all controlled by the spanning frame body control system 201, and the above drive motors can be operated through the operation buttons 20203 of the spanning frame remote control operating system 202 to adjust the switch umbrella state, rotation, and pitching attitude of the umbrella-shaped spanning frame body 102; the switch umbrella state sensor 205, the rotation angle sensor 206, and the pitching angle sensor 207 transmit the collected attitude data of the umbrella-shaped spanning frame body 102 to the spanning frame body control system 201 in a wired transmission manner, and the spanning frame body control system 201 obtains the spatial attitude of the umbrella-shaped spanning frame body 102 through data processing.

[0046] Furthermore, the control system 201 of the spanning frame body collects the data of the angle detection sensors of the driving motors of all the umbrella-shaped spanning frame bodies 102, the RTK high-precision measurement system 203, and the lidar ranging system 204 mentioned above. After calculation and processing by the data integration processing unit 20102, the real-time data including the spanned line 3, other adjacent lines 6, the new line 4, the crane 101, and the umbrella-shaped spanning frame body 102 is obtained, and this real-time data is transmitted to the remote control operating system 202 of the spanning frame. The remote control operating system 202 of the spanning frame processes it and displays it on the display 20204; the data integration processing unit 20102 also calculates based on the real-time parameters such as the relative spatial position of the boom of the crane 101 and the umbrella-shaped spanning frame body 102, the attitude of the umbrella-shaped spanning frame body 102, and the lidar ranging system 204, and obtains the distance value L of the real-time minimum distance point between the boom of the crane 101 and the umbrella-shaped spanning frame body 102 from the conductor, and transmits this distance value L to the remote control operating system 202 of the spanning frame, which is displayed by the remote control operating system 202 of the spanning frame; the data integration processing unit 20102 uses the data of the spanned line 3, adjacent lines 6, and new line 4 collected to generate the safety ranges of the spanned line 3, adjacent lines 6, and new line 4 based on the set safety distances around the spanned line 3, adjacent lines, and new line 4; at the same time, the data integration processing unit 20102 also detects the distances between the safety ranges of the spanned line 3, adjacent lines 6, and new line 4 and the crane 101 and the umbrella-shaped spanning frame body 102. When approaching the limit distance, the operation instructions related to the umbrella-shaped spanning frame body 102 by the control system 201 of the spanning frame body will be subject to safety judgment, and dangerous operations will be restricted; at the same time, the data integration processing unit 20102 will send an alarm signal to the remote control operating system 202 of the spanning frame. The alarm signal will be displayed on the display screen 20204, and at the same time, the buzzer alarm 20206 will also emit an alarm sound.

[0047] The working process of the full-process safety monitoring system for the on-site layout and evacuation of the mobile spanning frame is as follows: (The layout of the mobile umbrella-shaped spanning frame 1 is described as an example, and the evacuation process is the reverse operation.)

[0048] Stop the rotation center of the boom of the crane 101 at the center C point determined through on-site investigation when formulating the special plan, and ensure that the parking direction of the crane 101 is consistent with the special plan. Connect and install the umbrella-shaped spanning frame body 102 with the crane 101, and turn on the power supply of the control system 201 of the spanning frame body.

[0049] Turn on the remote control operating system 202 of the spanning frame, enter the on-site re-survey interface, and input the following operation data and parameters into the remote control operating system 202 of the spanning frame: the height value H1 of the spanned line 3 at the spanning point determined in the special plan for this spanning operation, the height value H2 of the adjacent line 6, the safety distance value L2 of the spanned line 3, the distance between the rotation center of the crane boom and the spanning point, the angle between the axis of the mobile umbrella-shaped spanning frame and the spanned line, the boom lifting angle, the boom extension length, the rotation angle, etc. After being processed by the remote data processing module 20202, it is transmitted to the control system 201 of the spanning frame body through the wireless communication module 20207 of the remote controller and stored in the data integration processing unit 20102.

[0050] Place the RTK reference station 20302 at a safe location A with good communication conditions and that cannot be moved. Place the RTK mobile station 20304 at the rotation center above the boom at position C. Place the RTK mobile station 20305 at the ground projection point D of the spanning point of the spanned line 3 required by the special plan and determined during the on-site survey. Place the RTK mobile station 20306 for the direction of the spanned line at the reference point E of the direction of the spanned line 3 required by the special plan and determined during the on-site survey. Place the RTK mobile station 20307 for the adjacent line at point H directly below the closest conductor of the other adjacent line 6 to the mobile umbrella-shaped spanning frame 1 and at a certain distance. Place the RTK mobile station 20308 for the direction of the adjacent line at point I directly below the closest conductor of the other adjacent line 6 to the mobile umbrella-shaped spanning frame 1 and at a certain distance, and at a certain distance from the RTK mobile station 20307 for the adjacent line.

[0051] After the RTK high-precision measurement system 203, the control system 201 of the spanning frame body, and the remote control operating system 202 of the spanning frame are running normally, select the on-site re-survey function on the remote control operating system 202 of the spanning frame. The on-site re-survey interface will display the horizontal distance L1 value between the rotation center of the crane boom 101 and the spanning point of the spanned line, the angle γ value between the axis of the crane boom 101 and the direction of the spanned line 3, etc. If the error value compared with the special plan for spanning exceeds 10%, the parking position of the crane 101 needs to be readjusted until the requirements of the special plan are met.

[0052] After the on-site re-survey is completed, switch to the layout operation interface. On the layout operation interface, the confirmed operation parameters such as the boom lifting angle, boom extension length, and boom rotation angle of the crane 101, as well as their real-time parameters, will be displayed. During the operation of the crane 101 and the umbrella-shaped spanning frame body 102, the spanning frame body control system 201 collects various sensor data in real time. At the same time, it compares the safety ranges of the energized line 3, other adjacent lines 6 (if any), and the new line 4 with the real-time distance detection between the crane 101 and the umbrella-shaped spanning frame body 102. When the actual distance value reaches the alarm value during the operation, an alarm message is displayed on the display 20204 of the spanning frame remote control system 202, and an alarm prompt sound is emitted. At this time, the correction data is calculated by the data integration processing unit 20102 of the spanning frame body control system 201, and the correction data is transmitted to the spanning frame remote control operation system 202 and displayed on the display 20204 to guide the operator to perform correction operations. Continue to operate according to this process until the spanning frame layout operation is completed.

Claims

1. A full-process safety monitoring system for on-site layout and evacuation of a mobile spanning frame, comprising the body of a safety monitoring system (2), characterized in that The body of the safety monitoring system (2) consists of a span frame body control system (201), a span frame remote control operation system (202), an RTK high-precision measurement system (203), a lidar ranging system (204), a switch umbrella state sensor (205), a rotation angle sensor (206), and a pitch angle sensor (207); the span frame body control system (201) is installed on the lower base (10201) of the span frame; the span frame remote control operation system (202) is placed on the ground near the mobile umbrella-shaped span frame (1); the RTK high-precision measurement system (203) consists of a satellite positioning system (20301), an RTK reference station (20302), an RTK mobile station on the span frame body (20303), an RTK mobile station at the rotation center of the crane boom (20304), an RTK mobile station at the crossing point of the spanned conductor (20305), an RTK mobile station along the direction of the spanned conductor (20306), an RTK mobile station for the adjacent line (20307), and an RTK mobile station along the direction of the adjacent line (20308); the RTK reference station (20302) is placed in an open area on the ground where the satellite signal can communicate with the span frame body control system (201) and is fixed; the RTK mobile station on the span frame body (20303) is installed on the umbrella-shaped span frame body (102); the RTK mobile station at the rotation center of the crane boom (20304) is placed at the rotation center position of the turntable of the crane (101); the RTK mobile station at the crossing point of the spanned conductor (20305) is placed directly below the crossing point of the spanned line (3); the RTK mobile station along the direction of the spanned conductor (20306) is placed directly below the spanned line (3) at a specified distance from the crossing point; the RTK mobile station for the adjacent line (20307) is placed directly below the closest conductor of the adjacent line (6) to the mobile umbrella-shaped span frame (1) and at a certain distance; the RTK mobile station along the direction of the adjacent line (20308) is placed directly below the closest conductor of the adjacent line (6) to the mobile umbrella-shaped span frame (1) and at a certain distance, and is at a certain distance from the RTK mobile station for the adjacent line (20307); the lidar ranging system (204) includes a front lidar ranging radar device (20401) and a rear lidar ranging radar device (20402), which are respectively installed on the lower umbrella base (10202) and the upper umbrella base (10203) of the umbrella-shaped span frame body (102); the switch umbrella state sensor (205) is installed at the tail of the switch umbrella drive motor (10204); the rotation angle sensor (206) is installed at the tail of the rotation drive motor (10205); the pitch angle sensor (207) is installed at the tail of the pitch drive motor (10206).The described control system (201) of the span frame body is connected by wireless signal communication with the remote control operating system (202) of the span frame and the RTK high-precision measurement system (203). The control system (201) of the span frame body is connected with the lidar ranging system (204), the switch umbrella state sensor (205), the rotation angle sensor (206) and the pitch angle sensor (207) through signal transmission lines.; 2. The safety monitoring system for the whole process of on-site layout and evacuation of a mobile spanning frame according to claim 1, characterized in that, The control system (201) of the span frame body consists of a control system circuit board (20101), a data integration and processing unit (20102), an on-body wireless data communication module (20103), and an on-body wired communication module (20104). The data integration and processing unit (20102), the on-body wireless data communication module (20103), and the on-body wired communication module (20104) are integrated on the control system circuit board (20101). The data integration and processing unit (20102) is responsible for information reception, data calculation and processing, danger situation discrimination, and providing danger alarm signals and control signals. The on-body wireless data communication module (20103) is responsible for wireless signal communication with the remote control operation system (202) of the span frame and the RTK high-precision measurement system (203). The on-body wired communication module (20104) is responsible for wired signal communication with the drive motor, angle detection sensor, and lidar ranging system (204) of the umbrella-shaped span frame body (102).

3. The full-process safety monitoring system for on-site layout and evacuation of a mobile spanning frame according to claim 1, characterized in that, The remote control operation system (202) of the span frame consists of a remote control circuit board (20201), a remote data processing module (20202), operation buttons (20203), a display screen (20204), a USB data transmission interface (20205), a buzzer alarm (20206), and a remote control wireless communication module (20207). The remote data processing module (20202), operation buttons (20203), display screen (20204), USB data transmission interface (20205), buzzer alarm (20206), and remote control wireless communication module (20207) are installed on the remote control circuit board (20201). The remote control operation system (202) inputs the operation data of the boom lifting angle, boom extension length, and rotation angle of the crane (101) and the safety distance value parameter between the umbrella-shaped span frame body (102) and the spanned line (3) required by the special construction plan for span crossing through the operation buttons (20203). After being processed by the remote data processing module (20202), it is transmitted to the control system (201) of the span frame body through the remote control wireless communication module (20207) and stored in the data integration and processing unit (20102) of the control system (201) of the span frame body.

4. A safety monitoring system for the whole process of on-site layout and evacuation of a mobile spanning frame according to claim 1, characterized in that, The RTK high-precision measurement system (203) consists of a satellite positioning system (20301), an RTK reference station (20302), an RTK mobile station on the umbrella-shaped span frame body (20303), an RTK mobile station at the rotation center of the crane boom (20304), an RTK mobile station at the spanning point of the spanned conductor (20305), an RTK mobile station along the direction of the spanned conductor (20306), an RTK mobile station for the adjacent line (20307), and an RTK mobile station along the direction of the adjacent line (20308); the RTK reference station (20302) is placed in an open area on the ground where the satellite signal can communicate with the control system of the umbrella-shaped span frame body (201) and is fixed; the RTK mobile station on the umbrella-shaped span frame body (20303) is installed on the umbrella-shaped span frame body (102); the RTK mobile station at the rotation center of the crane boom (20304) is placed at the rotation center position of the turntable of the crane (101); the RTK mobile station at the spanning point of the spanned conductor (20305) is placed directly below the spanning point of the spanned line (3); the RTK mobile station along the direction of the spanned conductor (20306) is placed directly below the position at a specified distance from the spanned point of the spanned line (3); the RTK mobile station for the adjacent line (20307) is placed directly below the same conductor of the adjacent line (6) closest to the mobile umbrella-shaped span frame (1) and at a specified distance; the RTK mobile station along the direction of the adjacent line (20308) is placed directly below a conductor of the adjacent line (6) closest to the mobile umbrella-shaped span frame (1) and at a certain distance, and is also at a certain distance from the RTK mobile station for the adjacent line (20307).

5. The full-process safety monitoring system for on-site layout and evacuation of a mobile spanning frame according to claim 4, characterized in that, The RTK reference station (20302) and each RTK mobile station have a similar structure, that is, both the reference station and the mobile station include a reference station circuit board (2030201), an RTK satellite positioning chip (2030202), a signal conversion chip (2030203), a reference station wireless communication module (2030204), and a satellite signal receiving antenna (2030205); the RTK satellite positioning chip (2030202), the signal conversion chip (2030203), and the reference station wireless communication module (2030204) are installed on the reference station circuit board (2030201); the reference station circuit board (2030201) is connected to the satellite signal receiving antenna (2030205) through a signal cable.

6. The full-process safety monitoring system for on-site layout and evacuation of a mobile spanning frame according to claim 1, wherein The lidar ranging system (204) consists of a front lidar ranging device (20401) and a rear lidar ranging device (20402); the front lidar ranging device (20401) is installed on the umbrella-shaped lower base (10202) of the umbrella-shaped span frame body (102); the rear lidar ranging device (20402) is installed on the umbrella-shaped upper base (10203) of the umbrella-shaped span frame body (102).

7. A safety monitoring system for the whole process of on-site layout and evacuation of a mobile spanning frame according to claim 6, characterized in that, The front laser ranging radar device (20401) and the rear laser ranging radar device (20402) have a similar structure, and both include a pan base plate (2040101), a horizontal motor (2040102), a vertical motor (2040103), a laser ranging radar (2040104), a horizontal angle sensor (2040105), and a vertical angle sensor (2040106); the pan base plate (2040101) is installed on the umbrella-shaped spanning frame body (102), the horizontal motor (2040102) is installed on the pan base plate (2040101), the vertical motor (2040103) is installed on the output shaft of the horizontal motor (2040102), the horizontal angle sensor (2040105) is installed on the horizontal motor (2040102), and the vertical angle detection sensor (2040106) is installed on the vertical motor (2040103); the pan base plate (2040101), the horizontal motor (2040102), and the vertical motor (2040103) together form a two-axis pan-tilt that rotates simultaneously around the horizontal axis and the vertical axis, and the laser ranging radar (2040104) is installed on the pan-tilt, and the laser ranging radar (2040104) is used to detect the distance and angle between it and the obstacle; the horizontal angle sensor (2040105) and the vertical angle sensor (2040106) are used to detect the horizontal rotation angle and the vertical rotation angle of the two-axis pan-tilt; the horizontal motor (2040102), the vertical motor (2040103), the laser ranging radar (2040104), the horizontal angle sensor (2040105), and the vertical angle sensor (2040106) are all connected to the spanning frame body control system (201) through transmission lines.

Images