CN114314355A - Crane safety monitoring method, device and system and remote monitoring center - Google Patents
Crane safety monitoring method, device and system and remote monitoring center Download PDFInfo
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Abstract
The invention provides a crane safety monitoring method, device and system and a remote monitoring center, and relates to the technical field of construction safety. The method comprises the following steps: when the distance between the obstacle and the crane is smaller than a distance threshold value, a deceleration instruction is sent to the controller, and the controller controls the crane to decelerate according to the deceleration instruction; when the sampling detects that the obstacle moves towards the crane in an accelerated mode and the sampling detection times are larger than a preset detection time threshold value, a steering command is sent to the controller, and the controller controls the crane to steer towards the direction far away from the obstacle according to the steering command. According to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, dynamic obstacles entering a monitoring range are monitored, and corresponding instructions are sent to the controller of the crane by using a threshold strategy, so that the controller controls the crane to decelerate and steer according to the corresponding instructions, and abrasion to crane motor equipment caused by triggering a brake mechanism when the obstacles are monitored is reduced.
Description
Technical Field
The invention relates to the technical field of construction safety, in particular to a crane safety monitoring method, a crane safety monitoring device, a crane safety monitoring system and a remote monitoring center.
Background
In the present building industry, cranes have an increasing role as an important component of urban construction, but safety accidents caused by cranes have increased year by year, and the safety of cranes is receiving more and more attention.
At present, the security of hoist is realized through hoist safety monitoring system, and this hoist safety monitoring system can send the braking instruction to the hoist when monitoring near barrier in order to control the hoist in time to accomplish the braking to avoid the emergence of construction accident, but current hoist safety monitoring system is limited to only monitoring relatively fixed barrier, and the scope of monitoring object is relatively limited, and just meets the barrier and just brakes and can influence the life of hoist electrical equipment, consequently, urgent need for an improved hoist safety monitoring system to overcome above-mentioned problem.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, a system and a remote monitoring center for monitoring crane safety, so as to improve the above technical problems.
In a first aspect, an embodiment of the present invention provides a crane safety monitoring method, including the following steps:
when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, sending a deceleration instruction to a controller of the crane, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction;
detecting whether the obstacle is accelerated to move towards the crane or not through the sampling of the distance detector;
when the obstacle is detected to move towards the crane in an accelerated mode through sampling, and the sampling detection times are larger than a preset detection time threshold value, a steering command is sent to a controller of the crane, so that the controller of the crane controls the crane to steer towards a direction far away from the obstacle according to the steering command.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the distance detector is a laser radar; the method further comprises the following steps:
and receiving the distance between the obstacle entering the monitoring range and the crane, which is sent by the laser radar.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the sending a steering command to a controller of the crane includes:
identifying, by the distance detector, a moving direction of the obstacle;
and sending a steering instruction to a controller of the crane, wherein the steering instruction is used for instructing the crane to steer to the direction opposite to the moving direction of the obstacle.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the method further includes:
and when the distance detector detects that the obstacle disappears through multiple sampling, sending a speed recovery command to the controller of the crane, so that the controller of the crane controls the crane to recover to the initial speed according to the speed recovery command.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the method further includes:
counting the sending times of the deceleration instruction and the steering instruction;
and dynamically adjusting the distance threshold value according to the sending times.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the dynamically adjusting the distance threshold according to the number of sending times includes:
when the sending times are larger than a preset first time threshold value, dynamically reducing the distance threshold value;
and when the sending times are smaller than a preset second time threshold value, dynamically increasing the distance threshold value, wherein the second time threshold value is smaller than or equal to the first time threshold value.
With reference to the first aspect, embodiments of the present invention provide a possible implementation manner of the sixth aspect, where the method further includes:
and when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, sending an alarm instruction to a preset alarm so that the alarm gives an alarm according to the alarm instruction.
In a second aspect, an embodiment of the present invention further provides a crane safety monitoring device, where the crane safety monitoring device includes:
the first sending module is used for sending a deceleration instruction to a controller of the crane when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction;
the acceleration detection module is used for detecting whether the obstacle moves to the crane in an accelerated way or not through the sampling of the distance detector;
and the second sending module is used for sending a steering instruction to the controller of the crane when the obstacle is detected to be accelerated to move to the crane in a sampling mode and the sampling detection frequency is greater than a preset detection frequency threshold value, so that the controller of the crane controls the crane to steer towards the direction far away from the obstacle according to the steering instruction.
In a third aspect, an embodiment of the present invention further provides a remote monitoring center, which includes a memory and a processor, where the memory stores a computer program that is executable on the processor, and the processor implements the method described above when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a crane safety monitoring system, where the crane safety monitoring system includes the remote monitoring center, and further includes a crane and a distance detector respectively connected to the remote monitoring center; the distance detector is used for detecting the distance between an obstacle and the crane and sending the distance to the remote monitoring center.
The embodiment of the invention has the following beneficial effects: according to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, firstly, when the distance between an obstacle and a crane is smaller than a distance threshold value, a controller of the crane controls the crane to decelerate according to a deceleration instruction, and then when the obstacle is detected to move towards the crane in an accelerated mode through sampling and the sampling detection times are larger than a preset detection time threshold value, the controller controls the crane to steer towards the direction far away from the obstacle according to a steering instruction. According to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, dynamic obstacles entering a monitoring range are monitored, and corresponding instructions are sent to the controller of the crane by using a threshold strategy, so that the controller controls the crane to decelerate and steer according to the corresponding instructions, and abrasion to crane motor equipment caused by triggering a brake mechanism when the obstacles are monitored is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a crane safety monitoring method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for monitoring crane safety provided by the embodiment of the invention;
fig. 3 is a block diagram of a crane safety monitoring device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a remote monitoring center according to an embodiment of the present invention;
fig. 5 is a block diagram of a crane safety monitoring system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. 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 the present building industry, cranes have an increasing role as an important component of urban construction, but safety accidents caused by cranes have increased year by year, and the safety of cranes is receiving more and more attention. At present, the security of hoist is realized through hoist safety monitoring system, and this hoist safety monitoring system can send the braking instruction to the hoist when monitoring near barrier in order to control the hoist in time to accomplish the braking to avoid the emergence of construction accident, but current hoist safety monitoring system is limited to only monitoring relatively fixed barrier, and the scope of monitoring object is relatively limited, and just meets the barrier and just brakes and can influence the life of hoist electrical equipment, consequently, urgent need for an improved hoist safety monitoring system to overcome above-mentioned problem. Based on this, the embodiment of the invention provides a crane safety monitoring method, device and system and a remote monitoring center, so as to alleviate the above problems.
In order to facilitate understanding of the embodiment, a detailed description is first given to a method for monitoring crane safety disclosed in the embodiment of the present invention.
The embodiment of the invention provides a crane safety monitoring method, which is applied to a remote monitoring center, wherein the remote monitoring center comprises a client and a server, the client is used for displaying various parameters of a crane in real time, such as hoisting weight, hoisting moment, crane motor running state and the like, the client is communicated with the remote monitoring center through a local area network in a factory, and meanwhile, the client is in interface connection with the remote monitoring center through a Global Navigation Satellite System (GNSS) module or a General Packet Radio Service (GPRS) module, so that the remote monitoring center can collect the parameters in the crane running process in real time and store the parameters into a database of the server.
The method can be performed by an electronic device with data processing capability, which can be a desktop computer, a notebook computer, a palm computer, a tablet computer, a mobile phone, or the like. Referring to a flow chart of a crane safety monitoring method shown in fig. 1, the method mainly comprises the following steps:
step S102: and when the distance detector detects that the distance between the obstacle and the crane is smaller than the distance threshold value, sending a deceleration command to the controller of the crane, so that the controller of the crane controls the crane to decelerate according to the deceleration command.
The distance threshold value can be the safe distance between the obstacle and the crane, and is the distance for ensuring the safety of workers and preventing other obstacles from colliding with the crane.
In the embodiment of the present invention, the distance detector may be installed on the top of the cab of the crane, and may be a laser radar distance detector, an infrared distance detector, or another type of distance detector.
When the range detector is a lidar range detector, the method further comprises:
and receiving the distance between the obstacle entering the monitoring range and the crane, which is sent by the laser radar.
Step S104: and detecting whether the barrier moves towards the crane in an accelerated way or not by sampling through the distance detector.
The acceleration of the obstacle to the crane is a relative concept, and the obstacle may be a dynamic obstacle and rapidly move to the crane operating in situ, or the obstacle may be a fixed obstacle, and the crane moves to the obstacle, or both the obstacle and the crane move dynamically and oppositely.
Step S106: when the obstacle is detected to move towards the crane in an accelerated mode through sampling, and the sampling detection times are larger than a preset detection time threshold value, a steering command is sent to a controller of the crane, so that the controller of the crane controls the crane to steer towards a direction far away from the obstacle according to the steering command.
Meanwhile, when the distance detector detects that the obstacle disappears through multiple sampling, the fact means that a worker or other obstacles leave a monitoring area, at the moment, a speed recovery instruction needs to be sent to the controller of the crane through the remote monitoring center, so that the controller of the crane controls the crane to recover to the initial speed according to the speed recovery instruction, the running speed of the crane is automatically recovered to the initial speed, manual guard is not needed, the manual operation cost is saved, and the working efficiency of the crane can be improved.
The embodiment of the invention has the following beneficial effects: the embodiment of the invention provides a crane safety monitoring method, which comprises the steps of firstly enabling a controller of a crane to control the crane to decelerate according to a deceleration instruction when the distance between an obstacle and the crane is detected to be smaller than a distance threshold, and then enabling the controller to control the crane to steer towards the direction far away from the obstacle according to a steering instruction when the obstacle is detected to move towards the crane in an accelerated mode through sampling and the sampling detection times are larger than a preset detection time threshold. According to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, dynamic obstacles entering a monitoring range are monitored, and corresponding instructions are sent to the controller of the crane by using a threshold strategy, so that the controller controls the crane to decelerate and steer according to the corresponding instructions, and abrasion to crane motor equipment caused by triggering a brake mechanism when the obstacles are monitored is reduced.
In order to facilitate understanding of the method in fig. 1, we further refine the content in fig. 1, and the distance detector adopts a laser radar, and refer to a flow chart of another crane safety monitoring method shown in fig. 2, and the method can also be implemented by the following steps:
step S202: and when the distance between the obstacle and the crane is detected to be smaller than a distance threshold value through the laser radar, sending a deceleration instruction to the controller of the crane, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction.
Further, at the same time, in order to prompt a worker who enters the monitoring area or prompt the worker when other obstacles enter the monitoring area, the following steps can be implemented in an alarm mode: when the distance between the obstacle and the crane is smaller than a distance threshold value, which is detected by the laser radar, an alarm instruction is sent to a preset alarm, so that the alarm gives an alarm according to the alarm instruction.
This alarm can install at the top of the driver's cabin of hoist, and it can be audio alert ware or buzzer siren, and when laser radar detected that the distance of barrier apart from the hoist is less than apart from the threshold value, reports to the police through carrying out voice prompt or sending the buzzing respectively, and remote monitoring center makes the controller of hoist control hoist speed reduction according to the instruction control that slows down, and the percentage of slowing down sets up at hoist start-up.
Step S204: and detecting whether the barrier moves towards the crane in an accelerated manner or not through the laser radar sampling.
The crane in the embodiment of the invention comprises a data acquisition system, a control system, a communication system and a fault processing system.
The data acquisition system is used for acquiring signals such as the temperature, the speed, the operation height, the operation amplitude, the rotation angle and the like of the crane through sensors arranged at a plurality of point positions of the crane, acquiring signals such as infrared detection images of obstacles, obstacle types (such as workers and fixed obstacles) and the like through an infrared detector and a camera arranged on the crane, and transmitting the data to a client of a remote monitoring center for displaying.
The control system comprises a signal modulator, a microprocessor, a display and a clock, and is used for processing the signals acquired by the data acquisition system. The signal modulator is used for carrying out denoising, amplification, smoothing and conversion processing on the signals acquired by the data acquisition system to obtain signals which can be identified by the microprocessor; the microprocessor analyzes and calculates the signals processed by the signal modulator, and sends the signals to the display according to the calculation result, the display is used for displaying the calculation result to corresponding crane monitoring personnel, and a processing program embedded in the display enables data to be visually displayed in a visual mode; the clock is used for recording time sequence and fault data when the crane has a fault and sending the time sequence and the fault data to the remote monitoring center.
The communication system consists of a GNSS module or a GPRS module and is used for communication between the remote monitoring center and the crane.
And the fault processing system is used for taking corresponding measures for the crane according to the measure instructions after the remote monitoring center receives the time sequence and fault data and returns the corresponding measure instructions to the crane.
Step S206: and when the obstacle is detected to move towards the crane in an accelerated manner by sampling, and the sampling detection frequency is greater than a preset detection frequency threshold value, identifying the moving direction of the obstacle by the laser radar.
Wherein, the barrier can be accelerated to move towards the crane, so the barrier is a dynamic barrier,
step S208: and sending a steering command to a controller of the crane, wherein the steering command is used for instructing the crane to steer in a direction opposite to the moving direction of the obstacle.
Meanwhile, the distance threshold value of the crane can be dynamically adjusted according to the number of times that the obstacle enters the monitoring area, so that the crane can conveniently keep the maximum operation area on the premise of ensuring safety when the obstacle frequently enters the monitoring area or rarely enters the monitoring area, and the working efficiency of the crane is improved.
Specifically, the sending times of the deceleration command and the steering command are counted, and the distance threshold is dynamically adjusted according to the sending times. According to the sending times, the dynamic adjustment of the distance threshold is realized by the following steps: when the sending times are greater than a preset first time threshold value, dynamically reducing the distance threshold value, and when the sending times are less than a preset second time threshold value, dynamically increasing the distance threshold value, wherein the second time threshold value is less than or equal to the first time threshold value, for example, when the sending times are greater than the preset first time threshold value due to the fact that an obstacle is detected for multiple times in a monitoring area, the distance threshold value is adjusted to 50m, and when the sending times are less than the preset second time threshold value due to the fact that the obstacle is detected for few times in the monitoring area, the distance threshold value is adjusted to 200m, wherein the initial distance threshold value is determined according to the number of staff in a factory, the area of the factory and other factors.
In summary, in the crane safety monitoring method of the present invention, first, when it is detected that the distance from the obstacle to the crane is smaller than the distance threshold, the controller of the crane controls the crane to decelerate according to the deceleration command, and then when it is detected that the obstacle is accelerated to move toward the crane by sampling, and the sampling detection number is greater than the preset detection number threshold, the controller controls the crane to turn in the direction away from the obstacle according to the steering command. According to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, dynamic obstacles entering a monitoring range are monitored, and corresponding instructions are sent to the controller of the crane by using a threshold strategy, so that the controller controls the crane to decelerate and steer according to the corresponding instructions, and abrasion to crane motor equipment caused by triggering a brake mechanism when the obstacles are monitored is reduced.
Corresponding to the crane safety monitoring method provided by the above embodiment, the embodiment of the present invention further provides a crane safety monitoring device, and fig. 3 is a structural block diagram of the crane safety monitoring device provided by the embodiment of the present invention. As shown in fig. 3, the apparatus includes:
the first sending module 301 is configured to send a deceleration instruction to a controller of the crane when the distance detector detects that the distance from the obstacle to the crane is smaller than a distance threshold, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction;
an acceleration detection module 302, configured to detect whether the obstacle is moving toward the crane in an accelerated manner through the distance detector;
and a second sending module 303, configured to send a steering instruction to a controller of the crane when the obstacle is detected to be accelerated to move to the crane by sampling and the sampling detection frequency is greater than a preset detection frequency threshold value, so that the controller of the crane controls the crane to steer in a direction away from the obstacle according to the steering instruction.
In summary, in the crane safety monitoring device of the present invention, first, when it is detected that the distance from the obstacle to the crane is smaller than the distance threshold, the controller of the crane controls the crane to decelerate according to the deceleration command, and then when it is detected that the obstacle is accelerated to move toward the crane by sampling, and the sampling detection number is greater than the preset detection number threshold, the controller controls the crane to turn toward the direction away from the obstacle according to the steering command. According to the crane safety monitoring method, the crane safety monitoring device, the crane safety monitoring system and the remote monitoring center, dynamic obstacles entering a monitoring range are monitored, and corresponding instructions are sent to the controller of the crane by using a threshold strategy, so that the controller controls the crane to decelerate and steer according to the corresponding instructions, and abrasion to crane motor equipment caused by triggering a brake mechanism when the obstacles are monitored is reduced.
Further, the distance detector includes a laser radar;
the device further comprises a distance acquisition module, wherein the distance acquisition module is used for:
and receiving the distance between the obstacle entering the monitoring range and the crane, which is sent by the laser radar.
Further, the second sending module 303 is specifically configured to:
identifying, by the distance detector, a moving direction of the obstacle;
and sending a steering instruction to a controller of the crane, wherein the steering instruction is used for instructing the crane to steer to the direction opposite to the moving direction of the obstacle.
Further, the apparatus further includes a third sending module, where the third sending module is configured to:
and when the distance detector detects that the obstacle disappears through multiple sampling, sending a speed recovery command to the controller of the crane, so that the controller of the crane controls the crane to recover to the initial speed according to the speed recovery command.
Further, the apparatus further includes a threshold adjustment module, where the threshold adjustment module is configured to:
counting the sending times of the deceleration instruction and the steering instruction;
and dynamically adjusting the distance threshold type according to the sending times.
Further, the threshold adjustment module is specifically configured to:
when the sending times are larger than a preset first time threshold value, dynamically reducing the distance threshold value;
and when the sending times are smaller than a preset second time threshold value, dynamically increasing the distance threshold value, wherein the second time threshold value is smaller than or equal to the first time threshold value.
Further, the device also comprises an alarm module, and the alarm module is used for:
and when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, sending an alarm instruction to a preset alarm so that the alarm gives an alarm according to the alarm instruction.
The crane safety monitoring device provided by the embodiment of the invention has the same technical characteristics as the crane safety monitoring method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the invention also provides a remote monitoring center. Referring to a schematic structural diagram of a remote monitoring center 40 shown in fig. 4, the remote monitoring center 40 includes: a processor 400, a memory 401, a bus 402 and a communication interface 403, wherein the processor 400, the communication interface 403 and the memory 401 are connected through the bus 402; the processor 400 is used to execute executable modules, such as computer programs, stored in the memory 401.
The Memory 401 may include a Random Access Memory (RAM) or a non-volatile Memory (NVM), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network and the like can be used.
The bus 402 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 4, but that does not indicate only one bus or one type of bus.
The memory 401 is configured to store a program, and the processor 400 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 400, or implemented by the processor 400.
In addition, the embodiment of the invention also provides a crane safety monitoring system, which is shown in a structural block diagram of the crane safety monitoring system shown in fig. 5. As shown in fig. 5, the crane safety monitoring system includes a remote monitoring center 40, and further includes a crane 50 and a distance detector 52 respectively connected to the remote monitoring center 40; the distance detector 52 is used to detect the distance of the obstacle from the crane 50 and transmit the distance to the remote monitoring center 40.
The method, the device and the system for monitoring the safety of the crane and the computer program product of the remote monitoring center provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, instructions included in the program codes can be used for executing the method described in the previous method embodiment, and specific implementation can refer to the method embodiment and is not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a ReaD-Only Memory (ROM), a RanDom Access Memory (RAM), a magnetic disk, or an optical disk.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A crane safety monitoring method is characterized by being applied to a remote monitoring center, and comprises the following steps:
when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, sending a deceleration instruction to a controller of the crane, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction;
detecting whether the obstacle is accelerated to move towards the crane or not through the sampling of the distance detector;
when the obstacle is detected to move towards the crane in an accelerated mode through sampling, and the sampling detection times are larger than a preset detection time threshold value, a steering command is sent to a controller of the crane, so that the controller of the crane controls the crane to steer towards a direction far away from the obstacle according to the steering command.
2. The crane safety monitoring method according to claim 1, wherein the distance detector is a laser radar; the method further comprises the following steps:
and receiving the distance between the obstacle entering the monitoring range and the crane, which is sent by the laser radar.
3. The crane safety monitoring method according to claim 1, wherein the sending a steering command to a controller of the crane comprises:
identifying, by the distance detector, a moving direction of the obstacle;
and sending a steering instruction to a controller of the crane, wherein the steering instruction is used for instructing the crane to steer to the direction opposite to the moving direction of the obstacle.
4. The crane safety monitoring method according to claim 1, further comprising:
and when the distance detector detects that the obstacle disappears through multiple sampling, sending a speed recovery command to the controller of the crane, so that the controller of the crane controls the crane to recover to the initial speed according to the speed recovery command.
5. The crane safety monitoring method according to claim 3, further comprising:
counting the sending times of the deceleration instruction and the steering instruction;
and dynamically adjusting the distance threshold value according to the sending times.
6. The crane safety monitoring method according to claim 5, wherein the dynamically adjusting the distance threshold according to the number of transmissions comprises:
when the sending times are larger than a preset first time threshold value, dynamically reducing the distance threshold value;
and when the sending times are smaller than a preset second time threshold value, dynamically increasing the distance threshold value, wherein the second time threshold value is smaller than or equal to the first time threshold value.
7. The crane safety monitoring method according to claim 1, further comprising:
and when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, sending an alarm instruction to a preset alarm so that the alarm gives an alarm according to the alarm instruction.
8. A crane safety monitoring device is characterized by being applied to a remote monitoring center, and comprises:
the first sending module is used for sending a deceleration instruction to a controller of the crane when the distance detector detects that the distance between the obstacle and the crane is smaller than a distance threshold value, so that the controller of the crane controls the crane to decelerate according to the deceleration instruction;
the acceleration detection module is used for detecting whether the obstacle moves to the crane in an accelerated way or not through the sampling of the distance detector;
and the second sending module is used for sending a steering instruction to the controller of the crane when the obstacle is detected to be accelerated to move to the crane in a sampling mode and the sampling detection frequency is greater than a preset detection frequency threshold value, so that the controller of the crane controls the crane to steer towards the direction far away from the obstacle according to the steering instruction.
9. A remote monitoring center comprising a memory, a processor, a computer program being stored in the memory and being executable on the processor, wherein the processor implements the method of any one of claims 1-7 when executing the computer program.
10. A crane safety monitoring system, characterized in that the crane safety monitoring system comprises the remote monitoring center according to claim 9, and further comprises a crane and a distance detector respectively connected with the remote monitoring center; the distance detector is used for detecting the distance between an obstacle and the crane and sending the distance to the remote monitoring center.
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