CN112938768B - Positioning technology-based lifting crane falling early warning and emergency danger avoiding method and system - Google Patents
Positioning technology-based lifting crane falling early warning and emergency danger avoiding method and system Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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Abstract
The invention relates to a lifting object falling early warning and emergency risk avoiding method and system based on a positioning technology, belongs to the field of construction site safety guarantee, and is used for solving the problem that a sense influence factor in a construction site can increase the possibility of occurrence of casualties when a lifting object falls accidentally.
Description
Technical Field
The application relates to the field of construction site safety guarantee, in particular to a lifting object falling early warning and emergency danger avoiding method and system based on a positioning technology.
Background
Lifting and hoisting operation by using hoisting mechanical equipment is a common construction scene on a construction site.
If the lifting object is found to fall accidentally, a driver operating lifting mechanical equipment needs to make correct reflection in time, such as whistling, emergency braking and other safety measures, and personnel on a construction site need to avoid the falling area of the lifting object in time so as to reduce casualties to the greatest extent.
However, there are some factors influencing the sense, such as blind areas of sight, noise, insufficient illumination, dust emission, etc., so that it is difficult for the personnel on the construction site to find the falling of the lifting object in time, and the driver operating the lifting mechanical equipment is unfavorable for finding the accidental falling of the lifting object in time and making a correct reaction in time, and is also unfavorable for the personnel on the construction site to avoid the falling area of the lifting object in time. Namely, the factors influencing the sense of the construction site can greatly increase the possibility of casualties when the lifting object falls accidentally.
Disclosure of Invention
In order to reduce the possibility of casualties when a lifting object accidentally falls, the application provides a lifting object falling early warning and emergency risk avoiding method and system based on a positioning technology.
In a first aspect, the application provides a method for pre-warning falling and emergency danger avoidance of a lifting object based on a positioning technology. The method comprises the following steps:
acquiring hanging object position information and personnel position information in real time, wherein the hanging object position information and the personnel position information are three-dimensional space positions;
judging whether the lifting object is in a falling state according to the position information of the lifting object;
if yes, determining falling track information of the lifting object according to the position information of the lifting object;
determining the person endangered by the lifting crane in a falling state according to the personnel position information and the falling track information;
and generating prompt information, wherein the prompt information is used for prompting related personnel.
Through adopting above-mentioned technical scheme, whether can judge the lifting object and fall according to lifting object position information, can confirm the track information that falls of lifting object according to lifting object position information when the lifting object falls, the personnel that the lifting object was endangered of falling is confirmed according to the track information that falls of lifting object and job site personnel's personnel position information, later with the suggestion information suggestion relevant personnel avoid to the driver of suggestion lifting mechanical equipment in time makes the exact reflection, and the personnel of suggestion job site in time avoid the lifting object that falls, in order to effectively reduce the possibility that the accidental accident of personnel casualties takes place when lifting object accidentally falls.
Optionally, the method for judging whether the lifting object is in a falling state according to the position information of the lifting object includes:
determining the vertical acceleration of the lifting object according to the position information of the lifting object obtained in real time;
judging whether the vertical downward acceleration is larger than a vertical downward acceleration threshold value or not;
if yes, judging that the lifting object is in a falling state.
Optionally, the method for determining the falling track information of the lifting object according to the lifting object position information includes:
determining acceleration information and initial speed information of the lifting object according to the position information of the lifting object obtained in real time, wherein the acceleration information is three-dimensional space acceleration, and the initial speed information is three-dimensional space initial speed;
determining a three-dimensional component of the three-dimensional space acceleration and a three-dimensional component of the three-dimensional space initial velocity based on a space rectangular coordinate system;
determining the height data of the lifting object and the ground according to the position information of the lifting object;
determining falling time information according to the height data, the three-dimensional component of the three-dimensional space acceleration and the three-dimensional component of the three-dimensional space initial speed;
and determining the falling track information according to the falling time information, the three-dimensional component of the three-dimensional space acceleration and the three-dimensional component of the three-dimensional space initial speed.
Optionally, the method for determining the person endangered by the crane in the falling state according to the personnel position information and the falling track information comprises the following steps:
determining drop point information of the lifting object according to the drop track information;
determining endangered area information of the lifting object according to the drop point information based on a space influence range preset relative to the lifting object;
and judging the personnel endangered by the lifting object in the falling state based on the personnel position information and the endangered area information.
Optionally, the method for judging the person endangered by the crane in the falling state based on the personnel position information and the endangered area information further comprises:
determining whether corresponding personnel are in a moving state according to the personnel position information;
if yes, expanding the area corresponding to the endangered area information in a first preset mode;
if not, expanding the area corresponding to the endangered area information in a second preset mode;
judging whether the position corresponding to the personnel position information is in the finally determined region corresponding to the endangered region information or not;
if yes, judging that the lifting object in the falling state endangers the personnel corresponding to the personnel position information.
In a second aspect, the application provides a lifting crane falling early warning and emergency risk avoiding system based on a positioning technology. The system comprises: the system comprises a positioning base station, a hanging object positioning tag, a personnel positioning tag and a server;
the lifting object positioning tag is used for being configured on a lifting object so as to be matched with the positioning base station to acquire lifting object position information of the lifting object;
the personnel positioning tag is used for being configured on personnel to cooperate with the positioning base station to acquire personnel position information of the personnel;
the server is used for determining the related personnel based on any one of the methods in the first aspect, and sending an early warning trigger signal to personnel positioning labels of the related personnel;
the personnel positioning label is also provided with an alarm device, and the early warning trigger signal is used for triggering the alarm device to work.
Optionally, the alarm device comprises a buzzer and/or a voice prompt module.
Optionally, the hanging object positioning tag is in a card form and can be adsorbed on the hanging object by binding and/or a magnet;
and/or the personnel positioning tag is in the form of a safety helmet, comprising a tag card and a safety helmet with a card holder for mounting the tag card.
Optionally, the hanging object positioning tag and the personnel positioning tag are provided with an RFID card swiping function.
It should be understood that the description in this summary is not intended to limit key or critical features of embodiments of the present application, nor is it intended to be used to limit the scope of the present application. Other features of the present application will become apparent from the description that follows.
Drawings
The above and other features, advantages and aspects of embodiments of the present application will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, wherein like or similar reference numerals denote like or similar elements, in which:
fig. 1 shows a block diagram of a lifting object fall early warning and emergency risk avoiding system based on a positioning technology in an embodiment of the application.
Fig. 2 shows a flowchart of a method for pre-warning a falling of a lifting object and avoiding danger in an emergency based on a positioning technology in an embodiment of the application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the application, whether the lifting object is in a falling state or not is determined through the real-time position of the lifting object, the falling track of the lifting object is determined when the lifting object is in the falling state, the endangered person of the lifting object is determined according to the position of the person on the construction site, and a driver operating lifting mechanical equipment is prompted to make correct reflection in time and the endangered person of the lifting object makes evasion in time, so that the possibility of casualties caused by accidental falling of the lifting object is effectively reduced.
Fig. 1 shows a block diagram of a crane fall early warning and emergency risk avoidance system 100 based on positioning technology in an embodiment of the present application. The system 100 includes a positioning base station 110, a pendant positioning tag 120, a personnel positioning tag 130, and a server 140 coupled to the positioning base station 110, the pendant positioning tag 120, and the personnel positioning tag 130, respectively.
There are a plurality of positioning base stations 110, and a wireless positioning technology based on ultra-narrow pulse technology is constructed. The number of the positioning base stations 110 can be specifically four, and the four positioning base stations 110 are distributed and arranged on a construction site to construct a high-precision wireless positioning system, so that the high-precision wireless positioning system can realize high-precision positioning of the suspended object positioning tag 120 and the personnel positioning tag 130, and the suspended object position and the personnel position can be accurately determined. The basic principle of the high-precision positioning system for positioning the suspended object positioning tag 120 and the personnel positioning tag 130 is to determine the positions of the suspended object positioning tag 120 and the personnel positioning tag 130 based on the pre-stored position of each positioning base station 110 and the distance between the suspended object positioning tag 120 and the personnel positioning tag 130, which can be simply understood as a three-point positioning principle.
The crane positioning tag 120 is configured to be disposed on a crane to determine crane position information of the crane based on the positioning base station 110. The personnel positioning tag is used for personnel configured on a construction site to determine personnel position information of the personnel based on the positioning base station.
The hanging object positioning tag 120 and the personnel positioning tag 130 are both constructed by taking a positioning chip constructed by a wireless positioning technology based on an ultra-narrow pulse technology as a main body.
The crane positioning tag 120 is in the form of a card, and can be fixedly arranged on the crane by binding, magnet adsorption or gluing, etc., the specific fixing mode can be determined according to the specific condition of the crane, generally, the crane made of steel material can fix the crane tag 120 on the crane by magnet adsorption, and the crane which cannot be fixed by magnet adsorption can selectively fix the crane positioning tag 120 on the crane by binding, gluing, etc.
The personnel positioning tag 130 is in the form of a safety helmet, specifically includes a tag card and a card holder for mounting the tag card, and the card holder may specifically be a slot provided on one side of the safety helmet for inserting the tag card. Of course, the tag card and the card holder may be any other types, and only the tag card needs to be mounted on the card holder.
The sling location tag 120 determines sling location information based on the location base station 110 and transmits the sling location information to the server 140 in real time. The person location tag 130 determines person location information based on the location base station 110 and transmits the person location information to the server 140. So that the server 140 can acquire the position of the lifted weight and the position of the person.
The positions reflected by the position information of the suspended object and the position information of the personnel are three-dimensional space positions, and a space rectangular coordinate system can be specifically set in the server 140, wherein the vertical direction is taken as a z axis, the two horizontal and orthogonal directions are respectively taken as an x axis and a y axis, and the position information of the suspended object and the position information of the personnel can be expressed by three-dimensional space coordinates.
The crane positioning tag 120 is further configured with a range setting module, where the range setting module is configured to set a spatial influence range of the crane, where the spatial influence range of the crane is determined by a property of the crane, and the spatial influence range reflects a deviation amount between an actual drop point and a theoretical drop point when the crane falls, where the deviation amount is essentially a distance value. The range setting module may include an RFID card reader, and when the related staff configures the suspended object positioning tag 120 on the suspended object, the related staff manually determines the deviation amount of the suspended object, and uses a radio frequency card to record the deviation amount into the suspended object positioning tag. The range setting module may also include a display screen and an adjustment key, the display screen is used for displaying the deviation amount, the adjustment key includes a "+" key and a "-" key, the deviation amount can be increased or decreased by using the adjustment key, for example, the deviation amount can be set to be in a range of 4m to 7m, the deviation amount can be increased or decreased by using the adjustment key each time, and the display screen can display the value of the deviation amount.
The personnel positioning labels 130 also have an RFID card swiping function, namely, the personnel positioning labels can be used for the RFID electronic industry cards of personnel in a construction site to swipe cards, and the personnel positioning labels 130 have an RFID card swiping function, so that each personnel positioning label 130 can be used by anyone, and the identity information and the related information of the personnel using the personnel positioning labels can be determined only by the user to swipe cards.
The personnel positioning tag 130 is further configured with an alarm device, and the alarm device can be specifically selected as a buzzer, or can be selected as a voice prompt module, wherein voice prompt information is prestored in the voice prompt module, or can be also selected as a combination of the buzzer and the voice prompt module. The server 140 can control the personnel to position the tag 130 to control the alarm device to alarm, i.e. the buzzer works to sound and/or the voice prompt module outputs specified voice prompt information.
In summary, the hanging positioning tag 120 may include a positioning chip, a wireless communication module, an RFID card reader, a display screen, an adjusting button, and a terminal processor connected to the positioning chip, the wireless communication module, the RFID card reader, the display screen, and the adjusting button, respectively. The personnel positioning tag 130 is used for positioning a chip, a wireless communication module, an RFID card reader, a buzzer and/or a voice prompt module, and a terminal processor which is respectively connected with the positioning chip, the wireless communication module, the RFID card reader and/or a display screen and an adjusting button, the buzzer and/or the voice prompt module.
Other conventional functions of the hanging object positioning tag 120 and the personnel positioning tag 130, such as a waterproof design, a data interface, an independent chargeable power source, a power charging interface, etc., are not specifically disclosed.
The system 100 may further include a field alarm device 150, where the field alarm device 150 is connected to the server 140, and the field alarm device 150 may alarm under the control of the server 140, and the field alarm device 150 may specifically include an audible and visual alarm, where the audible and visual alarm is disposed at a construction site.
The above description of the structure of the system 100 mainly describes the functions of the system 100 according to a method executed in the server 140, and the following description will further describe the present application with reference to the method embodiment.
Fig. 2 shows a flowchart of a method 200 for pre-warning a fall of a lifting object and avoiding danger in an embodiment of the present application based on a positioning technology. The method 200 includes the steps of:
s210: and acquiring the position information of the suspended object and the position information of the personnel in real time.
The suspended solids positioning tag 120 acquires suspended solids position information in real time based on the positioning base station 110, and the personnel positioning tag acquires personnel position information in real time based on the positioning base station 130. The server 140 is connected with the hanging object positioning tag 120 and the personnel positioning tag 130, and a data acquisition module in the server 140 acquires hanging object position information and personnel position information in real time or based on preset frequency so as to acquire the hanging object position information and the personnel position information by the server 140.
The server 140 pre-stores a space rectangular coordinate system as described in the system 100, and the hanging object position information and the personnel position information are three-dimensional space coordinates determined based on the space rectangular coordinate system.
S220: and judging whether the lifting object is in a falling state according to the position information of the lifting object, and if so, executing step S230.
The method comprises the following steps: the server 140 determines the vertical acceleration of the lifting object according to the lifting object position information acquired in real time, judges whether the vertical downward acceleration of the lifting object is larger than a vertical downward acceleration threshold value prestored in the server 140, if so, indicates that the vertical downward acceleration of the lifting object is too fast, and judges that the lifting object is in a falling state.
Specifically, if the server 140 is at the first time t 1 The acquired hanging object position information is (x) 1 ，y 1 ，z 1 ) At a second time t after a preset time interval Δt 2 The acquired hanging object position information is (x) 2 ，y 2 ，z 2 ) Then the crane can be calculated at the first time t 1 To a second time t 2 Average velocity v and average acceleration a.
In the two formulas, i, j and k are unit vectors in the x, y and z axis directions of the space rectangular coordinate system respectively;
first time t 1 To a second time t 2 The preset time interval delta t can be preset in the server 140, when the server 140 acquires the position information of the suspended object in real time, the real-time moment can be taken as the second moment, the moment of the preset time interval delta t before the real-time moment is taken as the first moment, and the average speed v and the average acceleration a of the suspended object at the real-time moment are respectively determined to be the real-time speed and the real-time acceleration of the suspended object; if the server 140 collects the position information of the suspended object based on the preset frequency, the collecting time interval may be directly used as the preset time interval Δt, and the average velocity v and the average acceleration a of the suspended object may be determined as the real-time velocity and acceleration of the suspended object in the foregoing manner.
Based on the above, the first time t 1 To a second time t 2 The smaller the preset time interval Δt, the closer the calculated average velocity v and average acceleration a are to the actual velocity and acceleration. Taking the first time t from the comprehensive consideration of cost and data precision 1 To a second time t 2 The preset time interval deltat between them is 0.5s. Of course, the preset time interval Δt may take other values, such as 0.1s or even 50ms, depending on the cost of the server 140, the data precision requirement and the technological development degree.
The server 140 is also preset with a vertical downward acceleration threshold value a' z ，a′ z The size of (2) may be specifically selected to be 9.0m/s 2 The direction is along the negative direction of the z-axis of the space rectangular coordinate system, namely a' z Is-9.0 m/s 2 。
Based on the acceleration a, the longitudinal acceleration of the crane can be determined, i.eIf a is z <a′ z It is indicated that the vertical downward acceleration of the lifting object is greater than the vertical downward acceleration threshold pre-stored in the server 140, thereby determining that the lifting object is in a falling condition.
S230: and determining the falling track information of the lifting object according to the position information of the lifting object.
When the server 140 determines that the lifting weight is in a falling state, the server 140 may perform the method of this step.
The method comprises the following steps: the server 140 determines acceleration information and initial velocity information of the hoisted object according to the hoisted object position information acquired in real time, determines height data of the hoisted object and the ground according to the hoisted object position information, and then determines falling time information and falling track information according to the height data, the acceleration information and the initial velocity information.
Specifically, server 140 determines the speed v and acceleration a of the crane in the manner described in step 220. In the space rectangular coordinate system, the ground is preset to be z=z when the server 140 is initialized 0 For ease of calculation, z is generally chosen 0 ＝0。
If the lifting object falls accidentally at the time t=m, the position of the lifting object at the time of accidental falling is (x m ，y m ，z m ) And determining the speed v of the lifting object when falling m ＝(v mx ，v my ，v mz ) Acceleration is a m ＝(a mx ，a my ，a mz )；
Height data h=z reflecting the height at which the lifting object accidentally falls 0 -z m 。
Vertical velocity v of the corresponding crane falling to the ground z0 Can be determined by the following formula:wherein g= -9.8m/s 2 。
Based on vertical velocity v of lifting object during landing z0 And the vertical direction component speed v of the lifting crane in case of accidental falling mz And the gravity acceleration g can determine the falling time of the lifting object
Based on the velocity v of the lifting object when falling m The trajectory of the crane in the event of a fall, i.e. at t=t, can also be determined m Time to t=t 0 The position of each time between the times is set to t=t p For t=t m Time to t=t 0 At any time between moments, then t=t p The position of the lifting object at the moment is (x) p ，y p ，z p )。
Wherein x is p ＝x m +v mx t mp ；y p ＝y m +v my t mp ；Wherein t is mp For t=t m Time to t=t p Time interval between moments.
Based on the method of this step, the server 140 can determine the drop trajectory information of the lifting object.
S240: and determining the person endangered by the lifting crane in the falling state according to the personnel position information and the falling track information.
In the method of this step, the server 140 first determines drop point information of the lifting object based on drop trajectory information of the lifting object, then determines endangered area information of the dropped lifting object based on a preset spatial influence range with respect to the lifting object according to the drop point information, and determines personnel endangered by the dropped lifting object according to a relationship between the personnel position information and the endangered area information.
In particularAfter server 140 determines the drop trajectory information for the crane, it may determine t=t 0 The position of the lifting object at the moment is the falling point (x 0 ，y 0 ，z 0 )；
Wherein x is 0 ＝x m +v mx t m0 ；y p ＝y m +v my t m0 ；z p =0; wherein t is m0 For t=t m Time to t=t 0 Time interval between moments.
The server 140 is provided with a specified spatial influence range relative to a lifting object, the spatial influence range is a possible range of an actual falling point when the lifting object falls, the falling point information reflects a theoretical falling point of the lifting object, and due to different properties of the lifting object, a deviation exists between the actual falling point and the theoretical falling point, a spatial influence range is preset based on the properties of the lifting object, and the size of the spatial influence range is determined by the experience of a setting person, so that the calculated falling point information (theoretical falling point) and the spatial influence range always fall within the spatial influence range of the theoretical falling point. Because the deviation direction of the actual drop point and the theoretical drop point is arbitrary, the spatial influence range in the embodiment of the application can be specifically that the point reflected by the drop point information is used as the center of a circle and the preset radius R 0 For the spatial extent of the radius, a preset radius R is specifically selected 0 The size of the preset radius of the space influence range can be adjusted to 7m according to the requirement.
The drop point information and the corresponding space influence range of the lifting object are determined by the server 140, the server 140 can also acquire real-time personnel position information of personnel at a construction site, the personnel position information is also three-dimensional space coordinates, and by judging whether each personnel position information falls in the space influence range determined according to the drop point information, the personnel influenced by the falling lifting object can be judged, and the personnel with the position in the space influence range of the falling lifting object are endangered personnel of the falling lifting object.
Specifically, the person position information is set to (x q ，y q ，z q ) Due to personnel at the construction siteIs positioned on the ground, so z q ＝0。
Whether the person is located in the space influence range of the falling lifting object can be determined according to the distance d reflected by the position information of the person and the falling point information,
the server 140 determines d and R 0 Relation between d>R 0 And otherwise, the personnel is in the space influence range of the lifting object, and the personnel belongs to the personnel endangered by the falling lifting object.
It can be understood that if the personnel position of the construction site is not on the ground, the personnel position information is set as (x q ，y q ，z q ) The falling track information can be calculated in a similar manner to that described above at z=z q And determining whether the personnel position information is within the spatial influence range of the lifting object based on the spatial influence range of the lifting object.
I.e. for a specific personnel position, it can be determined by calculation whether it is in the spatial influence range of the crane.
The space influence range is determined according to the property of a specific lifting object, the actual influence range of the lifting object when the lifting object falls can be accurately reflected, specifically, because the materials of the lifting object are different, the actual falling point of the space influence range is possibly deviated from the theoretical falling point calculated in the mode, but the actual falling point always falls in the space influence range of the theoretical falling point, and the personnel on the construction site can avoid the actual falling point of the lifting object only by avoiding the space influence range of the theoretical falling point, so that the personal safety of the personnel on the construction site is ensured.
The method is an ideal method for determining the endangered personnel of the falling lifting object, and considering that in the actual situation, the stability of the installation of the lifting object positioning tag may be abnormal when the lifting object falls, the position of the lifting object obtained by the lifting object positioning tag and the real-time position of the lifting object may be delayed, the uncertainty caused by the personnel walking in the construction site and the like, and the space influence range should be expanded according to the specific situation of the construction site.
The external expansion mode specifically comprises the following steps: the server 140 first determines whether the corresponding person is in a moving state according to the person position information, if the person is in the moving state, expands the space influence range in a first preset manner when determining the relationship between the person position information and the space influence range of the person, and if the person is in a stationary state, expands the space influence range in a second preset manner when determining the relationship between the person position and the space influence range. Whether the person is in a static state or a moving state, whether the person is in the space influence range or not is determined according to the space influence range after the final expansion.
Let the transmission signal interval between the hanging object positioning tag 120 and the personnel positioning tag 130 be t A The delay of signal transmission in the system is t B The fastest moving speed of the personnel on the construction site is V C The general moving speed is V D The fastest horizontal moving speed of the lifting object is V E The movement speed of the horizontal plane is V F . Based on the experience of the inventor, t is preset in the server 140 in the embodiment of the present application A ＝0.5s、t B ＝0.5s、V C ＝1.5m/s、V D ＝1m/s、V E ＝5.5m/s、V F ＝2.8m/s。
Considering the most unfavorable case, the maximum delay time t of the trigger space influence range max ＝t A +t B +t m0 The method comprises the steps of carrying out a first treatment on the surface of the Wherein t is m0 For lifting the object at t=t m Time (initial moment of accidental fall) to t=t 0 Time interval between moments (moment of landing of lifting object).
Personnel move towards the falling point of the lifting object at the fastest moving speed, the lifting object moves towards the personnel at the fastest horizontal moving speed, the personnel horizontally approach the lifting object at the fastest speed, and the maximum speed V of mutual approaching is achieved max ＝V C +V E 。
The staff is provided withThe lifting crane moves towards the falling point of the lifting crane at a normal horizontal moving speed, the personnel and the lifting crane horizontally approach each other at a normal speed V mid ＝V D +V F 。
The personnel are stationary, the lifting object approaches the personnel at a common horizontal moving speed, the personnel and the lifting object approach horizontally at a minimum speed, and the minimum speed of mutual approaching is V min ＝V F 。
The server 140 needs to first determine whether the person is in a moving state, and determine whether the person is in a moving state according to the person position information acquired in real time, where the specific principle is also that whether the person moves is determined according to the positions reflected by the person position information acquired twice successively, and the specific principle is not disclosed.
If the person is in a moving state, a first preset mode can be determined according to the maximum speed, namely, the space influence range is defined by a radius R 0 Is expanded into a space sphere with radius R max Wherein R is max ＝R 0 +V max t max Of course, the first preset mode can also be determined according to the general speed, namely, the space influence range is defined by a radius R 0 Is expanded into a space sphere with radius R mid Wherein R is mid ＝R 0 +V mid t max 。
If the person is in a stationary state, a second preset mode can be determined according to the minimum speed, namely, the space influence range is defined by a radius R 0 Is expanded into a space sphere with radius R min Wherein R is min ＝R 0 +V min t max 。
Aiming at whether a specific person is in a moving state or not and whether the specific person is in the moving state or not, the server 140 expands the space influence range in a preset mode to determine whether the specific person is in the expanded space influence range or not, if the person is in the expanded space influence range, the possibility that the person is endangered by the falling lifting object is described, the server 140 determines that the specific person is a relevant person, whether the falling lifting object affects the person or not can be specifically determined according to the condition of the specific person in the above mode, the determining mode is more accurate and reasonable, and the safety of the person is further guaranteed.
S250: and generating prompt information.
The server 140 generates a prompt message, i.e., a message for sending to the server 140 the relevant person judged to be compromised by the falling crane.
Specifically, when the personnel positioning tag 130 is within the spatial influence range of the falling crane after expanding for the state of the personnel to which the personnel positioning tag 130 belongs, the server 140 will send an early warning trigger signal to the personnel positioning tag 130, so that the alarm device of the personnel positioning tag 130 outputs an early warning signal, if the personnel positioning tag 130 is within the original spatial influence range, the server will send an alarm trigger signal to the personnel positioning tag 130 and make the personnel positioning tag 130 output an alarm signal, and the early warning signal and the alarm signal can work in different forms for the alarm device, for example, the early warning signal is a sound of a buzzer with a first intensity, and the alarm signal is a sound of a second intensity higher than the first intensity.
The server 140 sends prompt information to the personnel location tag 130 of the driver operating the lifting mechanical equipment in addition to the personnel location tag 130 of the personnel entering the expanding and original space influence range, specifically, when the driver operates the lifting mechanical equipment, the card is firstly swiped on the lifting mechanical equipment through the electronic work card, and when the lifting mechanical equipment lifts the lifting crane, the attribute information of the lifting crane stored in the lifting crane location tag can be firstly obtained, so that the driver, the lifting mechanical equipment and the lifting crane correspond to each other, the corresponding driver can be determined by the falling lifting crane, so that the server 140 sends the prompt information to the personnel location tag 130 of the driver operating the lifting crane, and the driver is prompted to make correct reflection in time, thereby further reducing the possibility of occurrence of casualty accidents.
The server 140 triggers the on-site alarm device 150 to output the holy light alarm signal when sending the output early warning trigger signal and the alarm trigger signal.
It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required in the present application.
It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the disclosure. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (8)
1. The method for pre-warning the falling of the lifting object and avoiding the danger in emergency based on the positioning technology is characterized by comprising the following steps:
acquiring hanging object position information and personnel position information in real time, wherein the hanging object position information and the personnel position information are three-dimensional space positions;
judging whether the lifting object is in a falling state according to the position information of the lifting object;
if yes, determining falling track information of the lifting object according to the position information of the lifting object;
determining a person endangered by the crane in the falling state according to the personnel position information and the falling track information, wherein the method for determining the person endangered by the crane in the falling state according to the personnel position information and the falling track information comprises the following steps:
determining drop point information of the lifting object according to the drop track information;
determining endangered area information of the lifting object according to the drop point information based on a space influence range preset relative to the lifting object;
judging the person endangered by the crane in the falling state based on the personnel position information and the endangered area information, wherein the method for judging the person endangered by the crane in the falling state based on the personnel position information and the endangered area information further comprises the following steps:
determining whether corresponding personnel are in a moving state according to the personnel position information;
if so, expanding the area corresponding to the endangered area information in a first preset mode, wherein the first preset mode is to make the space influence range be defined by a radius R 0 Is expanded into a space sphere with radius R max Wherein R is max ＝R 0 +V max t max ，R 0 Radius, V, representing a predetermined spatial range of influence max Indicating the maximum speed at which the person and the crane approach each other horizontally at the fastest speed, t max The maximum delay time of the triggering space influence range is represented, wherein the space influence range is a space range taking a point reflected by the falling point information as a circle center and taking a preset radius R0 as a radius, the preset radius R0 is specifically selected to be 7m, the size of the preset radius of the space influence range can be adjusted according to the requirement, and V max ＝V C +V E The fastest moving speed of the personnel on the construction site is V C The fastest horizontal moving speed of the lifting object is V E Maximum delay time t max ＝t A +t B +t m0 Wherein t is m0 For lifting the object at t=t m To t=t 0 The time interval between the lifting object landing time and the time interval between the lifting object positioning label and the personnel positioning label transmission signal is t A The delay of signal transmission in the system is t B ；
If not, expanding the area corresponding to the endangered area information in a second preset mode, wherein the second preset mode is that the space influence range is defined by a radius R 0 Is empty of (1)The metasphere expands outwards to have a radius R min Wherein R is min ＝R 0 +V min t max ，V min Indicating the minimum speed at which the person and the lifting object come close to each other horizontally at the minimum speed, wherein when the person is stationary and the lifting object comes close to the person at the normal horizontal movement speed and the person and the lifting object come close to each other horizontally at the minimum speed, V min = V F The general horizontal moving speed of the lifting object is V F ；
Judging whether the position corresponding to the personnel position information is in the finally determined region corresponding to the endangered region information or not;
if yes, judging that the lifting object in the falling state endangers the personnel corresponding to the personnel position information;
and generating prompt information, wherein the prompt information is used for prompting related personnel.
2. The method of claim 1, wherein the method of determining whether a lifting sling is in a fall condition based on the sling location information comprises:
determining the vertical acceleration of the lifting object according to the position information of the lifting object obtained in real time;
judging whether the vertical acceleration is larger than a vertical acceleration threshold value or not;
if yes, judging that the lifting object is in a falling state.
3. The method of claim 1, wherein the method of determining fall trajectory information for a lifting sling based on the sling position information comprises:
determining acceleration information and initial speed information of the lifting object according to the position information of the lifting object obtained in real time, wherein the acceleration information is three-dimensional space acceleration, and the initial speed information is three-dimensional space initial speed;
determining a three-dimensional component of the three-dimensional space acceleration and a three-dimensional component of the three-dimensional space initial velocity based on a space rectangular coordinate system;
determining the height data of the lifting object and the ground according to the position information of the lifting object;
determining falling time information according to the height data, the three-dimensional component of the three-dimensional space acceleration and the three-dimensional component of the three-dimensional space initial speed;
and determining the falling track information according to the falling time information, the three-dimensional component of the three-dimensional space acceleration and the three-dimensional component of the three-dimensional space initial speed.
4. Lifting crane thing early warning and urgent danger prevention system that falls based on location technique, characterized by comprising: a positioning base station (110), a hanging object positioning tag (120), a personnel positioning tag (130) and a server (140);
the suspended object positioning tag (120) is configured on a suspended object to be lifted, so as to obtain suspended object position information of the suspended object to be lifted in cooperation with the positioning base station (110);
the personnel positioning tag (130) is configured on a personnel to cooperate with the positioning base station (110) to acquire personnel position information of the personnel;
-the server (140) being adapted to determine the relevant person based on the method according to any of claims 1 to 3 and to send an early warning trigger signal to a person location tag (130) of the relevant person;
the personnel positioning tag (130) is also provided with an alarm device, and the early warning trigger signal is used for triggering the alarm device to work.
5. The system of claim 4, wherein the alarm device comprises a buzzer and/or a voice prompt module.
6. The system of claim 4 or 5, further comprising a field alarm device (150), the field alarm device (150) outputting an audible and visual signal in response to the early warning trigger signal
And (5) an alarm signal.
7. The system according to claim 6, characterized in that the crane positioning tag (120) is in the form of a card, which can be attached to the crane by lashing and/or magnets;
and/or the personnel location tag (130) is in the form of a safety helmet comprising a tag card and a safety helmet with a cartridge for mounting the tag card.
8. The system of claim 7, wherein the sling location tag (120) and the personnel location tag (130) are each provided with an RFID swipe function.
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| CN113490272B (en) * | 2021-09-08 | 2021-12-28 | 中铁工程服务有限公司 | UWB positioning-based safe hoisting early warning method, system and medium |
| CN114706343B (en) * | 2022-06-06 | 2022-09-20 | 深圳向一智控科技有限公司 | Security control method and device based on GPS positioning |
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