CN110805081B - Excavator personnel safety protection system - Google Patents
Excavator personnel safety protection system Download PDFInfo
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- CN110805081B CN110805081B CN201910980809.8A CN201910980809A CN110805081B CN 110805081 B CN110805081 B CN 110805081B CN 201910980809 A CN201910980809 A CN 201910980809A CN 110805081 B CN110805081 B CN 110805081B
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- excavator
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- safety
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an excavator personnel safety protection system which can collect and extract key information, identify field personnel in real time and take appropriate measures in time according to the danger degree so as to avoid the safety accidents of the personnel on the excavator construction field. The technical scheme of the invention is as follows: an excavator personnel safety protection system comprises an environment monitoring module, a control module and an executing mechanism, wherein the executing mechanism comprises a crawler-type travelling mechanism, a slewing mechanism, a movable arm, a bucket rod, a bucket, a movable arm oil cylinder, a bucket rod oil cylinder and a bucket oil cylinder; the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safety state value f of the excavator; a trigger value A of a safety state value f is preset, and when the safety state value f is not less than A, the control module outputs an execution signal to the execution mechanism to limit the movement speed of the execution mechanism not to exceed a preset value B.
Description
Technical Field
The invention belongs to the field of safety protection of engineering machinery, and particularly relates to a personnel safety protection system of an excavator.
Background
The engineering machine is widely applied to various fields of engineering construction, has the advantages of high operation efficiency, high construction speed and the like, wherein the excavator is a representative engineering machine, has wide application range and good site adaptability, and can flexibly complete various construction tasks.
With the development of society, the construction safety of engineering machinery is increasingly important, and taking an excavator as an example, the safety of a construction operation site mainly comprises the following aspects:
1. safety of personnel on the construction site, including safety of a driver of the excavator and other personnel on the site;
2. the equipment safety of the construction site comprises an excavator and the safety of other equipment in the site construction range;
3. the construction site is safe in environment, including site foundation, surrounding buildings, structures and the like.
For the safety of personnel on the construction site of the excavator, the technical measure adopted by the prior art is to install a camera on the excavator, wherein the camera is used for shooting the video of the visual blind area of a driver, and displaying the shot video on a display screen in a cab to provide the driver with the video as a reference.
The technical measures adopted by the prior art have the following disadvantages:
1. the video contains more information, and the personnel information is not extracted for key processing;
2. personnel safety of a construction site depends on the attention of a driver to a great extent and is properly treated, and actually, the attention of the driver is mainly given to an excavator operating mechanism and the periphery of the excavator operating mechanism, and only a small part of attention is paid to a display screen;
3. when a safety accident is about to occur in a construction site, the excavator cannot automatically take measures so as to avoid the safety accident.
Disclosure of Invention
This scheme provides an excavator job site personnel safety protection system, can gather and draw key information, real-time identification site personnel, in time take suitable measure according to the danger degree, and then avoid the emergence of excavator job site personnel incident. The technical scheme of the invention is as follows:
an excavator personnel safety protection system comprises an environment monitoring module, a control module and an actuating mechanism,
the environment monitoring module is connected with the control module, and signals monitored by the environment monitoring module are input into the control module; the control module is connected with the execution mechanism and sends an execution signal to the execution mechanism for operating and controlling the excavator;
the actuating mechanism comprises a crawler-type travelling mechanism, a slewing mechanism, a movable arm, an arm, a bucket, a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder;
the environment monitoring module comprises a video detector for detecting and detecting video images around the excavator;
the control module is connected with the cloud server through a remote communication device, so that data exchange between the control module and the cloud server is realized;
the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safety state value f of the excavator; presetting a trigger value A of a safety state value f, and when the safety state value f is not less than A, outputting an execution signal to an execution mechanism by a control module to limit the movement speed of the execution mechanism not to exceed a preset value B;
further, the safe state value f is calculated as follows:
wherein, a is a weighting coefficient,
x is a zone set value around the excavator,
n is the number of people in each zone,
v is the speed of movement of each person, positive indicating closer to the more dangerous area and negative indicating closer to the less dangerous area.
The area set value x around the excavator is set according to the following modes:
a working area: an excavator construction site area;
the construction area is as follows: an area within the working radius of the excavator;
high risk area: the reciprocating operation range of the arm support is the range through which the arm support reciprocates when the excavator performs operations such as ditching, loading, soil scattering, leveling and the like;
the value of the working area x is less than the value of the area under construction x is less than the value of the high-risk area x;
further, the monitoring area of the video detector comprises: a driver vision blind area, an excavator operation range area and the ground where the excavator is located;
further, the area set value x around the excavator is:
the working area x is 2, the under-construction area x is 10, and the high-risk area x is 100;
further, the trigger value a of the safety state value f is 70;
further, limiting the motion speed value B of the actuator to be 0;
the principle of the invention is as follows:
1. system composition and connection relationships
The excavator is provided with an environment monitoring module, and the environment monitoring module comprises part or all of an electromagnetic wave detector, a radar detector and a video detector. The environment monitoring module is used for detecting and detecting signals such as video images, object shapes and object distances around the excavator.
The environment monitoring module is connected with a control module of the excavator, and signals monitored by the environment monitoring module are input into the control module.
The control module is arranged on the excavator and used for controlling the whole excavator. The control module is used for receiving, storing, processing and outputting the safety state information and the process data of the excavator.
The control module is connected with the cloud server through the remote communication device, and data exchange between the control module and the cloud server is achieved. The control module and the cloud server jointly undertake the safety protection of the excavator.
In order to realize the safety protection of the excavator, the control module outputs a safety protection signal for the control module to operate and control the excavator so as to improve the safety of the excavator and a construction site.
2. Working principle of safety protection system in scheme
The environment monitoring module carries out real-time supervision to the environment around the excavator, and main monitoring area includes:
the blind area of the vision of the driver is,
the working range area of the excavator,
the ground where the excavator is located,
after the real-time data of the environment monitoring module is input into the control module, the control module processes the environment monitoring data, calls the human shape recognition module and carries out local real-time operation to obtain preliminary local conclusion information including the number of people in different areas and the moving speed of the people; meanwhile, the control module sends the environment monitoring data and the preliminary calculation conclusion to the cloud server through communication with the cloud server, and receives cloud conclusion information sent by the cloud server. The local conclusion information and the cloud conclusion information describe the following security-related information:
monitoring the number of people in the area;
monitoring the location of personnel within the area;
monitoring the moving speed of personnel in the area;
and integrating the local conclusion information and the cloud conclusion information, and outputting an execution signal by the control module. The execution signals are sent to the corresponding execution mechanisms and used for controlling the components of the excavator or the whole excavator to act, so that dangers are avoided, and the safety of the excavator is improved.
3. Control method adopted in working process of scheme
Through a predefined and set mode, according to the distance from the excavator to the excavator, dividing the area around the excavator into a plurality of areas contained layer by layer, wherein the area dividing mode is as follows:
a working area: excavator construction site area;
the construction area is as follows: an area within the working radius of the excavator;
high risk area: the excavator comprises a crawler belt, a movable arm, a bucket rod and an arm support reciprocating operation range, wherein the crawler belt is arranged in the operation radius area of the excavator, the movable arm and the bucket rod are arranged below the movable arm and the arm support reciprocating operation range, and the arm support reciprocating operation range refers to the range through which the arm support moves when the excavator conducts operations such as ditching, loading, soil scattering, leveling and the like;
the high-risk area is a part of a construction area, and the construction area is a part of a working area. Setting a region value x for the region;
and integrating the local conclusion information and the cloud conclusion information, and outputting the number n of the personnel in the area and the moving speed v of each personnel by the control module.
Based on the zone set value x, the number of people n in each zone and the moving speed v of each person, the control module calculates a safety state value f (x, n, v) as follows:
in the period, a is a weighting coefficient;
v is the speed of movement of the person, positive meaning closer to the more dangerous area and negative meaning closer to the less dangerous area.
The above calculation method can be equivalently modified into other calculation methods. Other equivalent calculation methods are within the scope of the present invention.
A trigger value A of a safety state value f (x, n, v) is preset, and when the safety state value f (x, n, v) ≧ A, the control module outputs a safety protection signal to the actuating mechanism to limit the movement speed of the actuating mechanism to be not more than a preset value B. The actuating mechanism comprises a crawler-type travelling mechanism, a slewing mechanism, a movable arm, an arm, a bucket, a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder.
Drawings
FIG. 1 is a schematic diagram of the connection relationship between modules of the present invention
FIG. 2 is a flow chart of a control method of the present invention
FIG. 3 is a schematic view of region setting around the excavator
Detailed Description
The technical solution of the present invention is further illustrated by the following embodiments:
1. system composition and connection relationships
The excavator is provided with an environment monitoring module, and the environment monitoring module adopts a video detector and is used for detecting and detecting video images around the excavator.
The video detector is connected with a control module of the excavator through a control bus, and signals monitored by the video detector are input into the control module through the control bus.
The excavator is provided with a main controller serving as a control module, the main controller is connected with a remote communication device through a control bus, and the remote communication device is connected with a cloud server through wireless communication and exchanges data.
In order to realize the safety protection of the excavator, the main controller outputs a safety protection signal to the executing mechanism, and the safety protection signal is used for the main controller to operate and control the excavator so as to improve the safety of personnel on the construction site of the excavator. The executing mechanism comprises a crawler-type travelling mechanism, a swing mechanism, a movable arm, an arm, a bucket, a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder of the excavator. The connection relationship of the modules is shown in fig. 1.
2. Working principle of safety protection system in scheme
The video detector carries out real-time supervision to the environment around the excavator, and main monitoring area includes:
the blind area of the vision of the driver is,
the working range area of the excavator,
the ground where the excavator is located,
after real-time data of the video detector is input into the main controller, the main controller processes environment monitoring data, calls the human shape recognition module and carries out local real-time operation to obtain preliminary local conclusion information including the number of people in different areas and the moving speed of the people; meanwhile, the main controller transmits part or all of the environment monitoring data to the cloud server through communication with the cloud server, and receives cloud conclusion information transmitted by the cloud server. The contents of the local conclusion information and the cloud conclusion information describe the following security-related information:
monitoring the number of people in the area;
monitoring the location of personnel within the area;
monitoring the moving speed and direction of personnel in the area;
and integrating the local conclusion information and the cloud conclusion information, and outputting an execution signal by the main controller. The execution signals are sent to the corresponding execution mechanisms and used for controlling the components of the excavator or the whole excavator to act, so that the danger is avoided, and the safety of the excavator is improved.
3. Control method adopted in working process of scheme
As shown in fig. 2, the control method flowchart of the present disclosure divides, in a predefined and set manner, an area around an excavator into three areas included layer by layer according to a distance from the excavator, where the area division manner is:
a working area: the excavator job site area, i.e. the range any part of the excavator may enter;
the construction area is as follows: the area in the current working radius of the excavator is located;
high risk area: the excavator comprises a crawler belt, a movable arm, a bucket rod and an arm support reciprocating operation range, wherein the crawler belt is arranged in the operation radius of the excavator, the front and rear of the crawler belt, the lower sides of the movable arm and the bucket rod, and the arm support reciprocating operation range is the range through which the arm support moves when the excavator performs operations such as ditching, loading, soil scattering, leveling and the like. As shown in fig. 3, when the excavator digs and loads, the area through which the arm support passes is a semicircular area.
The high-risk area is a part of a working area, and the working area is a part of a construction area. Setting an area value x for the area, setting a working area x to be 2, setting a construction area x to be 10, and setting a high-risk area x to be 100;
and according to the information identified by the local personnel information and the information returned by calling the cloud server, the control module outputs personnel data in each area, including the number n and the moving speed v of each personnel.
Based on the zone set value x, the number of people n in each zone and the moving speed v of each person, the control module calculates a safety state value f (x, n, v) as follows:
wherein the weighting coefficient a is 3.
v is the moving speed of the person, positive direction indicates that the moving direction of the person is a more dangerous area, and negative direction indicates that the moving direction of the person is a less dangerous area.
The above calculation method can be equivalently modified into other calculation methods. Other equivalent calculation methods are within the scope of the present invention.
The trigger value a of a safety state value f (x, n, v) is preset to be 70, and when the safety state value f (x, n, v) is not less than 70, the main controller outputs a safety protection signal to the actuating mechanism to limit the movement speed of the actuating mechanism not to exceed a preset value B, wherein B is 0 in the embodiment. The actuating mechanism comprises a crawler-type travelling mechanism, a slewing mechanism, a movable arm, an arm, a bucket, a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder.
The invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the above-described embodiments, and that various modifications may be made without departing from the spirit and scope of the invention.
Claims (1)
1. An excavator personnel safety protection system is characterized by comprising an environment monitoring module, a control module and an actuating mechanism,
the environment monitoring module is connected with the control module, and signals monitored by the environment monitoring module are input into the control module; the control module is connected with the executing mechanism and sends an executing signal to the executing mechanism for operating and controlling the excavator;
the actuating mechanism comprises a crawler-type travelling mechanism, a slewing mechanism, a movable arm, an arm, a bucket, a movable arm oil cylinder, an arm oil cylinder and a bucket oil cylinder;
the environment monitoring module comprises a video detector for detecting and detecting video images around the excavator;
the control module is connected with the cloud server through a remote communication device, so that data exchange between the control module and the cloud server is realized;
the control module and the cloud server collect signals of the video detector to carry out real-time calculation to obtain a safety state value f of the excavator; presetting a trigger value A of a safety state value f, and when the safety state value f is larger than or equal to A, outputting an execution signal to an execution mechanism by a control module to limit the movement speed of the execution mechanism not to exceed a preset value B;
the calculation method of the safety state value f is as follows:
wherein, a is a weighting coefficient,
x is a zone set value around the excavator,
n is the number of people in each zone,
v is the speed of movement of each person, positive indicating closer to a more dangerous area and negative indicating closer to a less dangerous area;
the area set value x around the excavator is set according to the following modes:
a working area: an excavator construction site area;
the construction area is as follows: an area within the working radius of the excavator;
high risk area: the reciprocating operation ranges of the crawler front and back, the movable arm and the lower part of the bucket rod and the arm support in the area within the operation radius of the excavator are set;
the value of the working area x is less than the value of the area under construction x is less than the value of the high-risk area x;
the monitoring area of the video detector comprises: a driver vision blind area, an excavator operation range area and the ground where the excavator is located;
the area set value x around the excavator is as follows:
the working area x is 2, the under-construction area x is 10, and the high-risk area x is 100;
the trigger value a of the safety state value f is 70;
and limiting the motion speed value B of the actuating mechanism to be 0.
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| CN201910980809.8A CN110805081B (en) | 2019-10-16 | 2019-10-16 | Excavator personnel safety protection system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4198206A1 (en) * | 2021-01-27 | 2023-06-21 | Hitachi Construction Machinery Co., Ltd. | Work machine |
| CN113012315B (en) * | 2021-02-23 | 2022-07-05 | 浙江三一装备有限公司 | Safety monitoring system and method for working machine and working machine |
| CN114032807A (en) * | 2021-11-26 | 2022-02-11 | 中国二十冶集团有限公司 | Warning device for dangerous range of excavator during night construction |
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| JP2000170202A (en) * | 1998-12-08 | 2000-06-20 | Hitachi Constr Mach Co Ltd | Interference preventing device for working apparatus of construction machine |
| CN201865138U (en) * | 2010-07-02 | 2011-06-15 | 三一集团有限公司 | Rotary mechanical safety warning device and rotary machine |
| CN202887408U (en) * | 2012-07-25 | 2013-04-17 | 三一重机有限公司 | Alarm device and engineering machine provided with the alarm device |
| CN105297817A (en) * | 2014-07-28 | 2016-02-03 | 西安众智惠泽光电科技有限公司 | Method for monitoring excavator |
-
2019
- 2019-10-16 CN CN201910980809.8A patent/CN110805081B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998036337A1 (en) * | 1997-02-12 | 1998-08-20 | Komatsu Ltd. | Vehicle monitor |
| JP2000170202A (en) * | 1998-12-08 | 2000-06-20 | Hitachi Constr Mach Co Ltd | Interference preventing device for working apparatus of construction machine |
| CN201865138U (en) * | 2010-07-02 | 2011-06-15 | 三一集团有限公司 | Rotary mechanical safety warning device and rotary machine |
| CN202887408U (en) * | 2012-07-25 | 2013-04-17 | 三一重机有限公司 | Alarm device and engineering machine provided with the alarm device |
| CN105297817A (en) * | 2014-07-28 | 2016-02-03 | 西安众智惠泽光电科技有限公司 | Method for monitoring excavator |
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Effective date of registration: 20220729 Address after: 264000 No. 10, Binglun Road, Zhifu District, Yantai City, Shandong Province Applicant after: Yantai Binghui excavator Co.,Ltd. Address before: 322100 room 1402-1, West building, building a, 23 Guangfu East Street, Jiangbei street, Dongyang City, Jinhua City, Zhejiang Province Applicant before: Jinhua Shenlian Network Technology Co.,Ltd. |
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