Scanning detection device based on power construction scene

Abstract

The utility model discloses a scanning detection device based on an electric power construction scene, which is arranged on a suspension arm of a crane and comprises a first laser radar and a second laser radar, the telescopic supporting frame is fixed on a suspension arm of the crane, the telescopic supporting frame is provided with a sliding rail bin, a first sliding part and a second sliding part, and the first sliding part and the second sliding part are respectively adjusted in setting position along a sliding rail of the sliding rail bin so as to be matched with the space structure of the suspension arm; the first sliding piece is provided with a first bearing end for bearing the first laser radar; the second sliding piece is provided with a second bearing end for bearing the second laser radar. The scanning detection device based on the electric power construction scene is arranged on the suspension arm of the crane, realizes scanning detection on the suspension arm of the crane in the electric power construction scene, and provides field laser three-dimensional data for collision monitoring.

Description

Technical Field

[0001] This utility model relates to the field of lidar technology based on photoelectric detection, and in particular to a scanning detection device for power construction scenarios. Background Technology

[0002] The power transmission network is a crucial component of the power system, its primary function being to transmit electrical energy generated by power plants to load centers or end users via high-voltage lines. During the construction, maintenance, and repair of the transmission network, mobile work platforms such as cranes or construction vehicles frequently enter and exit the vicinity of various energized components within the network, posing a risk of contact with power lines or other live conductors. Without prior monitoring measures, this can easily lead to serious consequences such as damage to power facilities and personal injury during actual construction.

[0003] Monitoring power construction sites requires the design of a detection device that can be mounted on crane booms, is highly compatible with various boom sizes and models on site, and has accurate positioning, so as to provide first-hand three-dimensional spatial data for collision monitoring. Summary of the Invention

[0004] The technical problem solved by this utility model is to provide a scanning and detection device based on a power construction scenario, which is installed on the boom of a crane to monitor the movement of the crane boom in a power construction scenario and provide on-site laser three-dimensional data for collision monitoring.

[0005] Furthermore, this scanning and detection device can be adapted to the booms of various crane models, and its setting position can be set according to requirements, demonstrating good adaptability.

[0006] Furthermore, the monitoring field of view will be expanded to further improve security.

[0007] Furthermore, it allows two LiDARs to be adapted to the same coordinate system, increasing the amount of point cloud data in the same scene, thereby increasing scanning resolution and improving the accuracy of target recognition.

[0008] This utility model discloses a scanning and detection device based on a power construction scenario, which is installed on the boom of a crane and includes:

[0009] First lidar and second lidar;

[0010] A telescopic support frame is fixed to the boom of a crane. The telescopic support frame has a slide rail compartment and a first sliding member and a second sliding member. The first sliding member and the second sliding member are respectively adjusted and set along the slide rail of the slide rail compartment to adapt to the spatial structure of the boom.

[0011] The first sliding member has a first bearing end to bear the first lidar;

[0012] The second slider has a second bearing end to support the second lidar.

[0013] The first and second lidars are located on opposite sides of the boom.

[0014] The scanning and detection device based on the power construction scenario also includes a third lidar, which is installed in the slide rail compartment.

[0015] The first, second, and third lidars are located on three different sides of the boom, and their scanning directions are different.

[0016] The first slider is L-shaped, and the second slider is L-shaped.

[0017] The scanning and detection device based on power construction scenarios also includes a waterproof and dustproof box, which contains a network transmission unit and / or an attitude capture unit.

[0018] The attitude capture unit includes an inclinometer or an IMU.

[0019] The scanning and detection device based on the power construction scenario also includes a positioning steel belt, which is used to fix the telescopic support frame to the boom.

[0020] The scanning fields of the first and second lidars overlap.

[0021] The first and second bearing ends are respectively equipped with positioning marks to ensure that the relative positions of the first and second lidar remain fixed.

[0022] This invention relates to a scanning and detection device based on a power construction scenario. The device is installed on the boom of a crane and enables scanning and detection of the crane boom in a power construction scenario, providing on-site laser three-dimensional data for collision monitoring.

[0023] The structure of this scanning detection device is adaptable to the booms of various crane models, and its placement can be customized to meet specific needs, offering excellent adaptability. The device's placement method also expands the monitoring field of view, further enhancing safety. Furthermore, the structure facilitates the integration of two lidar units into the same coordinate system, increasing the amount of point cloud data in the same scene, thereby increasing scanning resolution and improving target recognition accuracy. Attached Figure Description

[0024] Figure 1 The diagram shows the installation scenario of the scanning and detection device based on a power construction scenario according to this utility model.

[0025] Figure 2The diagram shows the structure of the scanning and detection device based on a power construction scenario according to this utility model.

[0026] Figure 3 The diagram shown is a rear view of the scanning and detection device based on a power construction scenario according to this utility model.

[0027] Figure 4 The diagram shown is a schematic of the scanning field of view distribution of the lidar of this utility model.

[0028] Figure 5 The figure shown is a plan view of the first bearing end and the second bearing end of this utility model. Detailed Implementation

[0029] The following description of the implementation process of the technical solution of this utility model with reference to specific embodiments is not intended to limit the utility model.

[0030] Safety is the top priority for power grid companies in production. According to the relevant requirements of China Southern Power Grid, for power construction operations involving large mobile operating platforms such as cranes, the distance between the crane boom and surrounding live conductors must be strictly controlled to prevent accidents such as line tripping and electric shock to workers and machines.

[0031] Currently, the method of installing height-limiting ropes is still used at construction sites to restrict the distance between the crane boom and live electrical components. However, this method is limited in effectiveness and carries the risk of human error.

[0032] In order to provide effective early warning when the mobile control console enters the vicinity of a live electrical target and to prevent damage to power facilities caused by the mobile control console during construction, it is necessary to install scanning detection devices on the mobile control console to monitor the operation of the mobile control console, especially the boom of the crane, to obtain its spatial relationship with the surrounding live electrical targets at any time, and to provide early warning of possible collisions.

[0033] Therefore, this utility model proposes a scanning and detection device based on a power construction scenario, which is installed on the boom of a crane to monitor the movement of the crane boom in a power construction scenario and provide on-site laser three-dimensional data for collision monitoring.

[0034] Furthermore, the structure of this scanning detection device is adaptable to the booms of various crane models, and its placement can be customized according to requirements, demonstrating good adaptability. The installation method of this invention can also expand the monitoring field of view, further improving safety. In addition, the structure of this invention facilitates the adaptation of two lidar units to the same coordinate system, increasing the amount of point cloud data in the same scene, thereby increasing scanning resolution and improving the accuracy of target recognition.

[0035] Figure 1The diagram shows the installation scenario of the scanning and detection device based on a power construction scenario according to this utility model.

[0036] Figure 2 , 3 The diagram shows the structure of the scanning and detection device based on a power construction scenario according to this utility model.

[0037] Mobile control platforms such as cranes are large engineering equipment frequently used in power grid construction. Figure 1 As shown in the installation scenario diagram, the crane has a fixed support base 1 and a boom 2. The boom 2 has a fixed boom 21 and a telescopic boom 22, which extends and retracts along the extension line of the fixed boom 21. One end of the fixed boom 21 is connected to the support base 1 via a rotary table. The fixed boom 21 can rotate under the drive of the rotary table, and the fixed boom 21 can change its pitch angle relative to the rotary table. Consequently, the telescopic boom 22 also changes its pitch angle or azimuth angle, allowing for large-scale mobile construction. When the crane is located near power poles, substations, or other power facilities, there is a possibility that the end of the boom may come into contact with live conductors during construction, causing an accident.

[0038] This invention includes a scanning and detection device at the fixed boom 21. This device comprises a first lidar 31, a second lidar 32, and a telescopic support frame. At least two lidars are provided; in an optimized embodiment, a third lidar 33 may be used.

[0039] LiDAR can be a wide-field scanning lidar with a vertical field of view of 59 degrees and a horizontal field of view of 360 degrees to expand the scanning range. Figure 2 The diagrams 311 and 321 show the boundaries of the lidar and its scanning field of view.

[0040] The telescopic support frame is fixed to the boom 21 of the crane. The telescopic support frame has a slide rail compartment 40 and a first sliding member 41 and a second sliding member 42.

[0041] The lower edges of the two sides of the slide rail compartment 40 have two slide rails 401, which limit the first sliding member 41 and the second sliding member 42. The two slide rails 401 can hold the first sliding member 41 and the second sliding member 42.

[0042] The first sliding member 41 and the second sliding member 42 can slide along the slide rail to adjust their positions and increase the spacing. After selecting a position, the positions of the first and second sliding members relative to the slide rail are fixed by fixing members. The first sliding member 41 has a first bearing end 43 to support the first lidar; the second sliding member 42 has a second bearing end 44 to support the second lidar. Due to the first bearing end 43, the first sliding member 41 is L-shaped, and similarly, the second sliding member is also L-shaped. By adjusting the positions of the first sliding member 41 and the second sliding member 42 in the slide rail, the spacing between the first and second bearing ends can be matched with the width of the boom, so that the telescopic support frame can fit the three sides of the boom to adapt to the spatial structure of the boom. It is applicable to crane booms of different models and widths, and the setting position on the boom can be set according to needs, avoiding obstructions or key positions, and has good adaptability to the site.

[0043] Furthermore, by adjusting the spacing between the first and second bearing ends to match the width of the boom, the first lidar 31 and the second lidar 32 are positioned on two opposite sides of the boom, back-to-back with their bottom surfaces parallel to each other. The scanning fields of the first and second lidars overlap to maximize the scanning and monitoring field of view, further enhancing safety. Figure 4 The diagram shown is a schematic of the scanning field of view distribution of the lidar of this utility model.

[0044] The first lidar 31 forms the field of view V1. Figure 4 V1 shown in the diagram represents the vertical field of view distribution, and the second lidar 32 forms a field of view V2 (where V1 is the vertical field of view distribution). Figure 4 As shown in the diagram, V2 represents the vertical field of view distribution. V1 and V2 each form a 360-degree scanning field of view in the horizontal direction. V1 and V2 partially overlap, so the lidars 31 and 32 surround the boom 21 to form a 360-degree horizontal field of view, enabling comprehensive monitoring of the construction scene and expanding the scanning range.

[0045] Furthermore, since the distance between the first and second bearing ends can be kept fixed, the relative position between the first and second lidars can be kept fixed at all times, allowing the first and second lidars to be adapted to the same coordinate system. The point cloud data of the two lidars can be fused into the same scene, thereby increasing the amount of point cloud data in the same scene, improving the overall scanning resolution of the scanning detection device of this utility model, and enhancing the accuracy of target identification.

[0046] In addition to the scheme of setting two lidars, the scanning and detection device of this utility model can also be equipped with a third lidar. The third lidar 33 can be set in the slide rail compartment 40.

[0047] In another embodiment, the scanning and detection device of this utility model may also be provided with a waterproof and dustproof box 60, which is disposed on the surface of the slide rail compartment 40, and the third laser radar 33 is disposed on the surface of the waterproof and dustproof box, such as... Figure 2 As shown, the first, second, and third lidars are located on three different sides of the boom, each with a different scanning direction, further expanding the scanning range.

[0048] The waterproof and dustproof box can house a network transmission unit and / or an attitude capture unit. The attitude capture unit includes an inclinometer or IMU, and the network transmission unit includes an industrial-grade network switch and a 4G module. The network transmission unit transmits the point cloud data acquired by the LiDAR to a remote processing unit for identifying targets at the construction site. This remote processing unit can be located in the crane's cab and is compatible with the cab's control system, or it can be a standalone processing terminal. The attitude capture unit acquires the current attitude information of the LiDAR, thereby understanding the changes in the LiDAR's coordinate system origin. This attitude information can also be transmitted to the remote processing unit via the network transmission unit.

[0049] Since the waterproof and dustproof housing is also mounted on the retractable support frame and maintains a relatively fixed position with the lidar, and since the waterproof and dustproof housing is located in the scanning blind zone between the two lidars, its structure does not obstruct the scanning field of view of the lidar, resulting in a wider coverage of the surrounding environment and stronger anti-interference ability.

[0050] The scanning and detection device of this utility model also includes a positioning steel band 50, which is used to fix the telescopic support frame to the boom. The positioning steel band 50 has through holes, which can be used with positioning pins to fix the positioning steel band to the surface of the boom.

[0051] In one optimized embodiment, the first bearing end and the second bearing end each have positioning marks to ensure that the relative positions of the first lidar and the second lidar remain fixed. For example... Figure 5 The diagram shows a planar view of the first and second support ends. Positioning marks 45 are provided on the surface of the first support end 43, and multiple positioning marks 45 define the placement position of the first lidar 31. Similarly, positioning marks 45 are provided on the surface of the second support end 44, and multiple positioning marks 45 define the placement position of the second lidar 32. This ensures that the relative positions of the first and second lidars remain fixed during the installation process, facilitating the determination of their relative positions and calibration to the same coordinate system, thus making the establishment of the coordinate system more accurate.

[0052] This invention relates to a scanning and detection device based on a power construction scenario. The device is installed on the boom of a crane and enables scanning and detection of the crane boom in a power construction scenario, providing on-site laser three-dimensional data for collision monitoring.

[0053] The structure of this scanning detection device is adaptable to the booms of various crane models, and its placement can be customized to meet specific needs, offering excellent adaptability. The device's placement method also expands the monitoring field of view, further enhancing safety. Furthermore, the structure facilitates the integration of two lidar units into the same coordinate system, increasing the amount of point cloud data in the same scene, thereby increasing scanning resolution and improving target recognition accuracy.

[0054] The above embodiments are only used to describe the technical solution of this utility model and are not to be regarded as a limitation of this utility model.

Claims

1. A scanning and detection device based on a power construction scenario, mounted on the boom of a crane, characterized in that, include: First lidar and second lidar; A telescopic support frame is fixed to the boom of a crane. The telescopic support frame has a slide rail compartment and a first sliding member and a second sliding member. The first sliding member and the second sliding member are respectively adjusted and set along the slide rail of the slide rail compartment to adapt to the spatial structure of the boom. The first sliding member has a first bearing end to bear the first lidar; The second slider has a second bearing end to support the second lidar.

2. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, The first and second lidars are located on opposite sides of the boom.

3. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, It also includes a third lidar, which is installed in the slide rail compartment.

4. The scanning and detection device based on power construction scenarios as described in claim 3, characterized in that, The first, second, and third lidars are located on three different sides of the boom, and their scanning directions are different.

5. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, The first slider is L-shaped, and the second slider is L-shaped.

6. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, It also includes a waterproof and dustproof box, which houses a network transmission unit and / or an attitude capture unit.

7. The scanning and detection device based on power construction scenarios as described in claim 6, characterized in that, The attitude capture unit includes an inclinometer or an IMU.

8. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, It also includes a positioning steel strap for securing the telescopic support frame to the boom.

9. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, The scanning fields of the first and second lidars overlap.

10. The scanning and detection device based on power construction scenarios as described in claim 1, characterized in that, The first and second bearing ends are respectively equipped with positioning marks to ensure that the relative positions of the first and second lidar remain fixed.

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