CN-121583076-B - Method and system for early warning of boundary crossing of crane operation area based on three-dimensional fence

CN121583076BCN 121583076 BCN121583076 BCN 121583076BCN-121583076-B

Abstract

The invention discloses a three-dimensional fence-based crane operation area boundary crossing early warning method and system, which belong to the technical field of crane safety monitoring, capture all-attitude data of a crane through a distributed monitoring mechanism, construct a three-dimensional scene model to set an initial fence, cover a dangerous area and an operation range, reduce monitoring blind areas, dynamically update the fence according to engineering progress and environment data, avoid the defects of disjointing a fixed boundary from construction propulsion and environment change, ensure that safety thresholds under different working conditions always match actual risks, predict future tracks of the crane, and reserve sufficient time for risk disposal by combining with the predicted risk of the dynamic fence.

Inventors

ZHAO LUZHEN
TAO BINGQUAN
CAO NINGNING
WANG JIE
PAN QING
LV SHIBIN
QUAN CHAO
CAI ZHENYU
JIANG JIONGTING
HU HUAJIE
ZUO HAOXIN
SHAO ZHIPENG
XIE HANG
YAN LING
FANG ZHONGSHAN
YU YIDONG
BAO ZHENYU
HUA ZHENGXUAN
SHI KAILUN

Assignees

国网浙江省电力有限公司宁波供电公司

Dates

Publication Date: 20260508
Application Date: 20260126

Claims (7)

1. The crane operation area boundary crossing early warning method based on the three-dimensional fence is characterized by comprising the following steps of: s1, monitoring the operation state of the crane in real time based on a distributed monitoring mechanism to obtain current attitude data of the crane, wherein the current attitude data specifically comprises the following steps: monitoring nodes are respectively arranged at the top end, the middle part and the lifting hook of the suspension arm of the crane, and are all positioned on the same longitudinal axis of the suspension arm; determining the space position coordinates of the monitoring nodes based on satellite positioning signals, and determining the current vibration acceleration and the current swing angular velocity of the corresponding parts of the suspension arm based on the change condition of the space position coordinates to serve as current attitude data of the crane; Constructing a three-dimensional scene model of a construction area, and setting an initial three-dimensional fence based on different area types; S2, based on a three-dimensional fence dynamic adjustment mechanism, combining engineering progress and current environment data to update an initial three-dimensional fence in real time to obtain a dynamic fence, wherein the dynamic fence comprises the steps of collecting construction data of a construction area in real time; The environment data comprise wind speed and visibility, and the construction data comprise floor pouring completion height, component mounting positions and material stacking area migration information; determining a current construction scene based on the environment data and the construction data, obtaining a threshold adjustment value based on a dynamic threshold calculation rule corresponding to the current construction scene, and updating the initial three-dimensional fence in real time based on the threshold adjustment value to obtain a dynamic fence; The construction scene comprises a conventional operation scene, a severe environment scene, a progress changing scene, a man-machine intensive scene and a mixed scene; the severe environment scene is matched with an environment dynamic threshold calculation rule, a wind speed influence coefficient and a visibility influence coefficient are generated based on the change of wind speed and visibility, and an initial safety threshold is updated in a linear association mode; The progress changing scene is matched with a progress dynamic threshold calculation rule, and an initial safety threshold is directly updated based on construction data; The man-machine dense scene is matched with a density dynamic threshold calculation rule, a safety buffer zone with the radius r is generated by taking the boundary of a man-machine dense area as the center, and an initial safety threshold is expanded to the boundary of the safety buffer zone; the mixed scene carries out weighted summation on threshold adjustment values of initial safety thresholds of all single-type scenes to obtain comprehensive adjustment values, and the initial safety thresholds are adjusted based on the comprehensive adjustment values; constructing a crane attitude prediction model, and taking current attitude data and current environment data of the crane as model input to obtain a crane predicted attitude; And S3, determining a risk level based on the position relation between the crane predicted attitude and the target fence, and executing early warning action based on the risk level.
2. The three-dimensional fence-based crane operation area boundary crossing early warning method of claim 1, wherein the method comprises the following steps of: S1, constructing a three-dimensional scene model of a construction area, and setting an initial three-dimensional fence based on different area types, wherein the method comprises the following steps of: Acquiring three-dimensional point cloud information of a construction area based on a laser radar, and performing three-dimensional modeling on the construction area according to a fixed proportion based on the three-dimensional point cloud information to obtain a three-dimensional model of the construction area; Marking fixed dangerous objects in the three-dimensional model of the construction site with different colors according to the dangerous degree, and setting corresponding initial safety thresholds for the fixed dangerous objects with different colors to generate an initial three-dimensional fence; the fixed dangerous objects comprise high-voltage lines, buildings, foundation pits, operation areas and personnel channels.
3. The three-dimensional fence-based crane operation area boundary crossing early warning method of claim 1, wherein the method comprises the following steps of: S2, constructing an crane attitude prediction model, and taking current attitude data and current environment data of the crane as model input to obtain a crane attitude prediction model, wherein the method comprises the following steps: Correlating the historical operation data of n cranes of the same type with the environmental data of the corresponding period of time to obtain experimental samples; Taking the coordinate change of the top end of the suspension arm in the future T period of the crane as a model target, and training an experimental sample by using a neural network to obtain a crane posture prediction model; And taking the current attitude data and the current environment data of the crane as model input to obtain a three-dimensional coordinate prediction sequence of the top end of the suspension arm of the crane in a future T period as the predicted attitude of the crane.
4. The three-dimensional fence-based crane operation area boundary crossing early warning method according to claim 3, wherein the method comprises the following steps of: In S3, determining a risk level based on a position relationship between the crane predicted attitude and the target fence, and executing an early warning action based on the risk level, including the following steps: If the boundary distance between a certain coordinate point and the dynamic fence in the three-dimensional coordinate prediction sequence is between a first distance threshold value and a second distance threshold value, the boundary distance is a slight risk, and if the boundary distance is between the second distance threshold value and a third distance threshold value, the boundary distance is a moderate risk, and if the boundary distance is smaller than the third distance threshold value, the boundary distance is a heavy risk; And determining early warning advance time based on the risk level, wherein the early warning advance time is reduced along with the increase of the risk level, and starting the warning lamp based on the early warning advance time.
5. The three-dimensional fence-based crane operation area boundary crossing early warning system is suitable for the three-dimensional fence-based crane operation area boundary crossing early warning method according to any one of claims 1-4, and is characterized by comprising a data acquisition module, a scene construction module, a gesture prediction module, an early warning module and an alarm device; The data acquisition module monitors the operation state of the crane in real time based on a distributed monitoring mechanism to obtain current attitude data of the crane and acquires current environment data; The scene construction module constructs a three-dimensional scene model of a construction area, sets an initial three-dimensional fence based on different area types, and updates the initial three-dimensional fence in real time based on a three-dimensional fence dynamic adjustment mechanism and combining engineering progress and current environment data to obtain a dynamic fence; the attitude prediction module is carried with an crane attitude prediction model, and current attitude data and current environment data of the crane are used as model input to obtain a crane predicted attitude; and the early warning module determines a risk level based on the position relation between the predicted attitude of the crane and the target fence, and controls the warning equipment to execute early warning action based on the risk level.
6. The three-dimensional fence-based crane operation area out-of-range warning system of claim 5, wherein: the positioning module comprises a local differential network and a fixed RTK base station and is used for positioning coordinates of each part of the suspension arm of the crane according to satellite differential signals and reference position data of the fixed RTK base station.
7. The three-dimensional fence-based crane operation area out-of-range warning system of claim 5, wherein: the communication module is used for realizing information interaction among the modules.

Description

Method and system for early warning of boundary crossing of crane operation area based on three-dimensional fence Technical Field The invention relates to the technical field of crane safety monitoring, in particular to a crane operation area boundary crossing early warning method and system based on a three-dimensional fence. Background Along with the large-scale and complicated development of the constructional engineering, man-machine mixing of crane operation areas is carried out, the traditional physical fence is easy to damage or ignore, and out-of-range collision accidents frequently occur, such as the crane arm impacts a building, mistakenly enters a high-voltage line area and the like. The crane height control depends on manual judgment, the overrun risk is high, and as the building scale is large, the crane out-of-range collision and the height overrun accident rise year by year. In order to reduce the occurrence probability of crane accidents, in recent years, a crane is required to monitor and collide with an electronic fence in real time, meanwhile, a new rule is issued to force a heavy machine to be additionally provided with a positioning safety terminal, the existing monitoring means mostly rely on a positioning system to position all parts of the crane, whether the action of the crane is out of limit is judged according to a set safety threshold, and an alarm is given out if the action of the crane is out of limit, but in actual operation, the action of the crane is influenced by environmental factors and engineering progress, the static threshold is difficult to adapt to environmental change and construction progress, and mainly triggers an alarm, a risk pre-judging mechanism is lacked, when the crane is rapidly approaching a dangerous area, early warning is difficult in time, and the risk of accident expansion in emergency can be caused. CN116281682a discloses a method and a system for monitoring the safety of an oilfield crane, which are characterized in that thermal infrared image detection is carried out on a power cable to determine the thermal faults of the power cable in the operation process, the parameters of a suspension arm and a lifting hook are obtained through calculation to obtain the radius R of a real-time operation area of the suspension arm, the length of the real-time interval L1 between the radius R of the real-time operation area of the suspension arm and the crane main body and an obstacle is judged, whether the real-time rotation angle beta of the lifting hook is within the corresponding angle range epsilon of the obstacle is judged, whether the real-time height h of the lifting hook is higher than the height of the obstacle is judged, if the operation of the crane is influenced, collision early warning is started, all-weather automatic monitoring of the crane is realized, collision between the crane and the obstacle is avoided, the condition of implementing wind speed is obtained, if the wind speed is larger than a preset limit value, the operation of the crane is influenced under the environment condition of the wind speed, and the early warning is started, although the influence of the dynamic change of the environment on the dangerous area is considered to a certain extent, the early warning is still triggered, and when the crane is fast approaching the dangerous area. Disclosure of Invention Aiming at the problems that the existing crane safety monitoring method mostly adopts triggering type early warning and early warning response is slower because of the influence of environment and engineering progress changes on early warning effect, the invention provides a crane operation area out-of-range early warning method and system based on a three-dimensional fence, which captures the full-attitude data of a crane through a distributed monitoring mechanism, builds a three-dimensional scene model to set an initial fence, covers a dangerous area and an operation range, reduces monitoring blind areas, dynamically updates the fence according to engineering progress and environment data, avoids the defects of fixed boundaries, construction propulsion and environmental change disconnection, ensures that the safety threshold value is always matched with actual risks under different working conditions, predicts future tracks of the crane, combines dynamic fence prejudging risks, has higher early warning speed and reserves sufficient time for risk treatment, thereby greatly reducing equipment collision and crane motion out-of-limit accident probability and improving crane operation safety. According to the technical scheme provided by the embodiment of the invention, the method for early warning of out-of-range of the crane operation area based on the three-dimensional fence comprises the following steps: s1, monitoring the operation state of the crane in real time based on a distributed monitoring mechanism to obtain current attitude data of the crane, and collecting curre