CN113479801A - All-round intelligent security monitored control system of mobile crane - Google Patents
All-round intelligent security monitored control system of mobile crane Download PDFInfo
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- CN113479801A CN113479801A CN202110807346.2A CN202110807346A CN113479801A CN 113479801 A CN113479801 A CN 113479801A CN 202110807346 A CN202110807346 A CN 202110807346A CN 113479801 A CN113479801 A CN 113479801A
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- crane
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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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
- B66C15/065—Arrangements or use of warning devices electrical
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Emergency Alarm Devices (AREA)
Abstract
本发明公开了一种汽车起重机全方位智能安全监控系统，包括图像采集模块，用于采集起重机附近的待测物体的图像；红外测距模块，用于实时测量起重机运行路线上待测物体与起重机的距离；电场检测模块，用于检测高压电线电场强度；处理器，用于计算危险源与起重机的距离；通信模块，用于各模块间数据的传输；预警模块，用于进行声光报警；控制模块，用于根据距离等级控制起重机做出与距离等级相应的操作。本发明采用了红外传感技术、图像识别技术和电场检测技术相结合的方法对汽车起重机在进行电力吊装作业时的危险源进行实时识别和分析，本发明不仅可对周围障碍物进行监控，还可对作业场所中的工作人员和附近的高压电进行监控。
The invention discloses an all-round intelligent safety monitoring system for a truck crane, comprising an image acquisition module for acquiring images of objects to be measured near the crane; an infrared ranging module for real-time measurement of the objects to be measured and the crane on the running route of the crane distance; electric field detection module, used to detect the electric field strength of high-voltage wires; processor, used to calculate the distance between the danger source and the crane; communication module, used for data transmission between modules; early warning module, used for sound and light alarm; The control module is used to control the crane to perform operations corresponding to the distance level according to the distance level. The invention adopts the method of combining infrared sensing technology, image recognition technology and electric field detection technology to identify and analyze the danger source of the truck crane during the electric hoisting operation in real time. The invention can not only monitor the surrounding obstacles, but also Workers in the workplace and nearby high-voltage electricity can be monitored.
Description
Technical Field
The invention relates to the field of special equipment, in particular to an all-dimensional intelligent safety monitoring system for an automobile crane.
Background
The crane is a backbone of the main industrial industry, is widely applied to various fields of electric power, metallurgy, chemical industry, ports, construction, manufacturing industry and the like, and in addition, the modern logistics production mainly depends on the crane to finish the material carrying operation. The crane becomes an important infrastructure of national economy in China, but the crane is typical mechanical equipment with more hidden danger factors and higher accident occurrence probability, and a large number of equipment damages and even personal casualty accidents caused by crane operation occur at home and abroad every year. The automobile crane has good mobility, can be conveniently transferred in various places, does not need to be disassembled and assembled on the transfer operation site, and is widely used hoisting equipment in various engineering constructions.
However, due to the characteristics of the automobile crane that the operation environment changes at any time, the operation range is large, the transfer speed is high, the structure is complex, the operation difficulty is large and the like, the risk factors are more, and the accident rate is obviously higher than that of other cranes. In particular, when a power system is operated, large-area power failure, casualties, property loss and other accidents are often caused by the fact that parts such as a suspension arm and a steel wire rope of an automobile crane touch or closely contact surrounding obstacles such as a high-voltage power grid line and a transformer. In addition, the operators in the operating environment of the power system are not only special obstacles, but also extend from the body of the automobile crane, and are often impacted by the automobile crane or the obstacles, so that casualty accidents are caused; meanwhile, because high voltage is generally distributed in the operating environment of the power system, workers are often easily attacked by 'electric tigers', and casualty accidents are caused.
A large amount of researches on the crane safety monitoring system at home and abroad show that the crane safety monitoring system is very important to ensure the operation safety of the crane when being installed. However, the current research mainly has the following defects: the identification capability of the hazard source is poor: dangerous sources such as electric wires and transformers around the crane cannot be accurately identified, and operating personnel and high voltage cannot be accurately identified; monitoring information is incomplete: only the monitoring of surrounding obstacles is paid attention to, and the monitoring of the safety of personnel in the operation place and the monitoring of high voltage in the operation place are ignored; ③ the data analysis level is low: the analysis level of the identification data of the danger source is low, and only manual analysis or simple computer analysis is relied on; fourthly, the intelligent degree is low: the degree of intellectualization of the hazard source identification and hazard source control is low, and the driver operation level is excessively depended in an emergency.
Therefore, in order to reduce the occurrence rate of the above accidents and overcome the above defects, there is an urgent need for a crane safety monitoring system capable of effectively guaranteeing the operation safety.
Disclosure of Invention
The invention aims to provide an all-dimensional intelligent safety monitoring system for an automobile crane, which aims to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an all-round intelligent safety monitoring system of the mobile crane, including:
the image acquisition module comprises a plurality of image sensors and is used for acquiring images of an object to be detected near the crane;
the infrared distance measuring module is used for measuring the distance between the object to be measured and the crane on the running route of the crane in real time;
the electric field detection module is used for detecting the electric field intensity of a high-voltage wire and measuring the distance between the high-voltage wire and the crane car in real time;
the processor is used for identifying the type of an object to be detected near the crane, using the information obtained by the image acquisition module, the infrared distance measurement module and the electric field detection module as input, calculating the distance between a hazard source and the crane, setting the distance grade, and calibrating the hazard source, wherein the hazard source comprises the object to be detected near the crane and the high-voltage wire;
the communication module is used for transmitting data among the modules;
the early warning module is used for carrying out sound-light alarm;
and the control module is used for controlling the crane to perform operation corresponding to the distance grade according to the distance grade.
Further, the image sensor comprises a lens and a CCD camera, the lens is used for condensing light, the CCD camera is used for collecting images, the image sensor is installed on the periphery of the crane body, and the total coverage range of the image sensor is 360 degrees around the crane body.
Further, the infrared distance measuring module is arranged within a range of 30cm from the image sensor, and is used for measuring the distance of the object collected in the image sensor.
Further, the electric field detection module comprises an electric field induction sensor and a distance discrimination module, wherein the electric field induction sensor is used for detecting the electric field intensity of the high-voltage wire; the distance distinguishing module is used for calculating the distance between the high-voltage wire and the electric field intensity.
Further, the electric field sensor is mounted on a boom and a boom guy cable of the crane, and the distance determination module is mounted on the boom.
Further, the early warning module includes that LED explodes and dodges warning light and high-power megaphone, LED explodes and dodges warning light and is used for carrying out optical alarm, high-power megaphone is used for audible alarm.
Further, the communication module comprises a wired communication module and a wireless communication module, wherein the wireless communication module comprises but is not limited to a 2.4G wireless communication module and a WIFI module.
Further, the distance grade comprises a first set distance, a second set distance and a third set distance,
when the distance between the crane and the hazard source is detected to be smaller than a first set distance and larger than a second set distance, the control module controls the early warning module to perform sound-light alarm;
when the distance between the crane and the hazard source is detected to be smaller than a second set distance and larger than a third set distance, the control module controls the crane to decelerate;
when the distance between the crane and the hazard source is detected to be equal to or less than a third set distance, the control module controls the crane to stop running;
wherein the third set distance is less than the second set distance, which is less than the first set distance.
Furthermore, the chip of the control module is a single chip microcomputer, and the model of the single chip microcomputer is an STC12C5A60S2 microprocessor.
Furthermore, the all-round intelligent security monitoring system of mobile crane still includes display module, is used for showing the distance of the hazard source that is markd around the crane car with the crane car.
The invention discloses the following technical effects:
(1) the method combines the infrared sensing technology, the image recognition technology and the electric field detection technology to recognize and analyze the dangerous source of the automobile crane in real time when the electric hoisting operation is carried out, the invention can monitor surrounding obstacles, can also monitor workers in a working place, and can also monitor nearby high-voltage electricity;
(2) the safety of the workers is improved by monitoring the workers, the probability of safety accidents caused by touching the high-voltage electricity is reduced by monitoring the high-voltage electricity, and the identification performance of the complex dangerous source is improved;
(3) the invention also adopts a control module to intelligently identify the complex dangerous source signal in real time and convert the complex dangerous source signal into a control signal, and intelligently controls the automobile crane to cut off the movement towards the dangerous source direction by adopting the highest priority level.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a system architecture in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a crane according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a relationship between a control module and a distance according to an embodiment of the present invention;
wherein the reference numbers of fig. 2: 1-boom and 2-boom guy cable.
Detailed Description
Reference will now be made in detail to various exemplary embodiments of the invention, the detailed description should not be construed as limiting the invention but as a more detailed description of certain aspects, features and embodiments of the invention.
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Further, for numerical ranges in this disclosure, it is understood that each intervening value, between the upper and lower limit of that range, is also specifically disclosed. Every smaller range between any stated value or intervening value in a stated range and any other stated or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded in the range.
It will be apparent to those skilled in the art that various modifications and variations can be made in the specific embodiments of the present disclosure without departing from the scope or spirit of the disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification. The specification and examples are exemplary only.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides an all-round intelligent safety monitoring system of a truck crane, as shown in figure 1, comprising:
the image acquisition module comprises a plurality of image sensors and is used for acquiring images of an object to be detected near the crane;
the infrared distance measuring module is used for measuring the distance between the object to be measured and the crane on the running route of the crane in real time;
the electric field detection module is used for detecting the electric field intensity of a high-voltage wire and measuring the distance between the high-voltage wire and the crane car in real time;
the processor is used for identifying the type of an object to be detected near the crane, using the information obtained by the image acquisition module, the infrared distance measurement module and the electric field detection module as input, calculating the distance between a hazard source and the crane, setting the distance grade, and calibrating the hazard source, wherein the hazard source comprises the object to be detected near the crane and the high-voltage wire;
the communication module is used for transmitting data among the modules;
the early warning module is used for carrying out sound-light alarm;
and the control module is used for controlling the crane to perform operation corresponding to the distance grade according to the distance grade.
Furthermore, the image sensor comprises a lens and a CCD camera, the lens is used for condensing light, the CCD camera is used for collecting images, the image sensor is installed on the periphery of the body of the crane car, the total coverage range is 360 degrees around the body of the crane car, and the image sensor is also installed on a crane arm of the crane car.
Furthermore, the infrared ranging module is installed near the image sensor and used for measuring the distance of the object collected by the image sensor.
Further, the electric field detection module comprises an electric field induction sensor and a distance discrimination module, wherein the electric field induction sensor is used for detecting the electric field intensity of the high-voltage wire; the distance distinguishing module is used for calculating the distance between the high-voltage wire and the electric field intensity.
Further, the electric field sensor is mounted on a boom and a boom guy cable of the crane, and the distance determination module is mounted on the boom, as shown in fig. 2.
Further, the early warning module includes that LED explodes and dodges warning light and high-power megaphone, LED explodes and dodges warning light and is used for carrying out optical alarm, high-power megaphone is used for audible alarm.
Further, the communication module comprises a wired communication module and a wireless communication module, wherein the wireless communication module comprises but is not limited to a 2.4G wireless communication module and a WIFI module.
Further, the distance grade comprises a first set distance, a second set distance and a third set distance,
when the distance between the crane and the hazard source is detected to be smaller than a first set distance and larger than a second set distance, the control module controls the early warning module to perform sound-light alarm;
when the distance between the crane and the hazard source is detected to be smaller than a second set distance and larger than a third set distance, the control module controls the crane to decelerate;
when the distance between the crane and the hazard source is detected to be equal to or less than a third set distance, the control module controls the crane to stop running;
wherein the third set distance is smaller than the second set distance, which is smaller than the first set distance, as shown in fig. 3.
Furthermore, the chip of the control module is a single chip microcomputer, and the model of the single chip microcomputer is an STC12C5A60S2 microprocessor.
Furthermore, the all-round intelligent security monitoring system of mobile crane still includes display module, is used for showing the distance of the hazard source that is markd around the crane car with the crane car.
Wherein the nearby objects to be measured comprise staff and obstacles;
the processor comprises a human-object recognition model based on machine vision, and the human-object recognition model based on machine vision can intelligently recognize obstacles and workers and classify the obstacles and the workers;
the communication module is used for transmitting data detected by the image recognition module, the infrared distance measurement module and the electric field detection module to a processor and transmitting information output by the processor to the early warning module and the control module;
the image sensor is also mounted on the boom of the crane;
the display can be used for touch screen operation and distance value setting of each distance grade, and is also used for displaying alarm information.
The shortest distance between the crane arm and the crane arm inhaul cable and the high-voltage wire cannot be smaller than 8.5 meters, and the minimum safe distance between the crane and the high-voltage wire is shown in table 1.
TABLE 1
In the operation process of the crane, workers and obstacles in the movement direction of the crane, the boom and the boom cable are collected through the image collection module, the distance between the workers and the obstacles is detected through the infrared distance measurement module, the electric field strength between the crane, the boom and the boom cable and a high-voltage wire in the movement direction is detected through the electric field detection module, the distance between the high-voltage wire and the crane, the boom and the boom cable is calculated through the processor, the distance grade can be manually set in the processor, the specific numerical value of each grade is set, and when the distance between the crane and a hazard source exceeds a threshold value, corresponding processing is carried out according to the exceeding grade, so that the safety of personnel is guaranteed and accidents are avoided.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (10)
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Cited By (4)
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| CN114195015A (en) * | 2021-12-17 | 2022-03-18 | 广东电网有限责任公司江门供电局 | Crane davit safe distance recognition device |
| CN114333229A (en) * | 2021-12-06 | 2022-04-12 | 上海市安装工程集团有限公司 | Method for safety early warning of personnel in construction site |
| GB2643189A (en) * | 2024-08-02 | 2026-02-11 | Caterpillar Inc | Systems and methods for velocity-based work machine control for overhead power line avoidance |
| GB2643190A (en) * | 2024-08-02 | 2026-02-11 | Caterpillar Inc | Systems and methods for controlling work machine relative to minimum clearance distance for overhead power line |
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