CN114655865B - Crane safety operation system in transformer substation and control method thereof - Google Patents
Crane safety operation system in transformer substation and control method thereof Download PDFInfo
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- CN114655865B CN114655865B CN202210369571.7A CN202210369571A CN114655865B CN 114655865 B CN114655865 B CN 114655865B CN 202210369571 A CN202210369571 A CN 202210369571A CN 114655865 B CN114655865 B CN 114655865B
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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
- 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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
-
- 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
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a safe operation system of a crane in a transformer substation, which comprises a laser reflection baffle, a crane telescopic arm, a crane basic arm, a main control box and a crane main body, wherein the main control box is arranged on the main body; the crane main body is positioned on the ground; the crane basic arm is fixed on the crane main body, one end of the crane telescopic arm is fixed on the upper end of the crane basic arm, and the other end of the crane telescopic arm is fixed with the laser reflection baffle for prolonging the crane basic arm; the main control box is fixed in the middle of the basic arm of the crane; the main control box controls the emission and the reception of laser, carries out ranging and uploading, and the laser reflection baffle is used for reflecting the laser. The invention also discloses a method based on the crane safety operation system in the transformer substation. The invention obtains the maximum safe distance between the telescopic boom of the crane and the aerial cable, and simultaneously can display the height information of the tail end of the telescopic boom and the alarm prompt information in real time, thereby ensuring the maximum safe working distance of the crane and the working safety of the crane.
Description
Technical Field
The invention belongs to the field of crane safety operation, and particularly relates to a crane safety operation system in a transformer substation and a control method thereof.
Background
The crane is a main device which is indispensable to various production works of a transformer substation and a power supply station, and a plurality of devices on a telescopic arm of the crane can cause safety accidents in the process of interacting with a power system. In order to avoid collision accidents of the power system, personal safety is endangered or power supply safety of the power grid system is guaranteed, and safe completion of power work is guaranteed, so that real-time safety monitoring of crane work is needed.
Currently, safety monitoring in crane operation is mainly completed by manual observation. In order to avoid collision of the telescopic boom of the crane with other equipment, multiple people are required to observe under the crane. Not only consume a large amount of manpowers, reduced work efficiency, still brought very big potential safety hazard simultaneously.
Disclosure of Invention
The invention aims to provide a crane safety operation system in a transformer substation, which can detect the distance of a crane during operation and perform early warning; the second aim of the invention is to provide a control method based on the crane safety operation system in the transformer substation, which has good safety and improves the working efficiency.
The invention provides a safe operation system of a crane in a transformer substation, which comprises a laser reflection baffle, a crane telescopic arm, a crane basic arm, a main control box and a crane main body, wherein the main control box is arranged on the main control box; the crane main body is positioned on the ground; the crane basic arm is fixed on the crane main body, one end of the crane telescopic arm is fixed on the upper end of the crane basic arm, and the other end of the crane telescopic arm is fixed with the laser reflection baffle for prolonging the crane basic arm; the main control box is fixed in the middle of the basic arm of the crane; the main control box controls the emission and the reception of laser, carries out ranging and uploading, and the laser reflection baffle is used for reflecting the laser.
The main control box comprises a controller, a main control box shell, a laser ranging sensor fixing piece, a laser ranging sensor, a power supply conversion module, an arched aluminum bracket, a power supply, a horizontal plane and plumb plane two-dimensional inclination sensor, an alarm, a porous track, a power supply row and a relay; the main control box shell is fixed on a porous track, and the porous track is fixed in the middle of a basic arm of the crane; the controller and the horizontal plane and plumb plane two-dimensional inclination sensor are fixed in the lower side plate of the main control box shell, the controller is used for acquiring positioning signals and air temperature and humidity signals and processing the signals, and the horizontal plane and plumb plane two-dimensional inclination sensor is used for measuring elevation angles; the laser ranging sensor fixing piece is arranged outside the right side plate of the main control box shell and used for fixing a laser ranging sensor, and the laser ranging sensor is used for emitting laser and ranging; the arch aluminum bracket is fixed in the left side plate of the main control box shell and is used for fixing a power supply; the power supply conversion module is fixed outside the upper side plate of the main control box shell and is used for converting a power supply into a stable voltage; the power supply row and the relay are fixed in the upper side plate of the main control box shell, and the on-off of the power supply is controlled; the alarm is fixed in the outside of the positive curb plate of main control unit shell for the warning is reminded.
The invention also discloses a control method based on the crane safety operation system in the transformer substation, which comprises the following steps:
S1, before a crane starts to work normally, acquiring initial parameters;
S2, operating a crane by crane staff to normally work, and starting to lift the telescopic arm; when the crane is displaced, acquiring the position coordinate of the crane in the transformer substation, and acquiring the maximum safety distance of the suspension arm by combining the environmental map information in the transformer substation;
S3, under the condition of different temperatures and humidity on the surface, the discharge distance of the power transmission cable is changed, and a correction coefficient parameter lambda is introduced by combining the temperature and humidity in the air, and if the crane is in an open field, the maximum safety distance is set as lambda d k; if an obstacle exists above the crane operation position, setting a maximum safety distance lambdad z;
S4, measuring the temperature and the humidity in the air in the rising process of the telescopic arm; the two-dimensional inclination angle sensor of the horizontal plane and the plumb plane in the main control box sends an included angle theta between the telescopic boom and the horizontal plane, an included angle beta between the ground and the horizontal plane and a gradient alpha between the ground and the vertical plane to the controller in real time;
S5, in the ascending process of the telescopic boom, laser is emitted by a laser sensor in the main control box, the laser is reflected by a laser reflection baffle, the laser sensor in the main control box receives the laser, and the real-time telescopic boom elongation L k is obtained and is sent to the controller;
S6, the controller compares the extension L 0 of the telescopic boom measured by the laser sensor with a value L' 0 predicted by a correction algorithm, then removes the value with larger phase difference, and the rest value is the distance L from the main control box to the laser reflection baffle;
s7, calculating the ascending vertical height H of the telescopic arm; correcting the ground gradient, and calculating the distance delta H between the tail end of the telescopic arm and the cable;
s8, comparing the distance delta H between the tail end of the telescopic arm and the cable with the maximum safety distance d; if the distance delta H from the tail end of the telescopic arm to the cable is larger than the maximum safe distance d, a display screen in the crane working chamber displays that the crane is in a safe working range; if the distance delta H from the tail end of the telescopic boom to the cable is smaller than or equal to the maximum safety distance d, an alarm lamp on the main control box gives an alarm to remind a worker of adjusting the position of the telescopic boom.
Step S1, obtaining initial parameters, namely obtaining the horizontal plane height h of a basic arm distance of a crane arranged in a control box, obtaining an included angle theta between a telescopic arm and the horizontal plane in a reference state through a horizontal plane and plumb plane two-dimensional inclination sensor, setting the included angle beta between the ground and the horizontal plane as beta, and setting the gradient alpha between the ground and the vertical plane as alpha; the ground-to-aerial cable distance H 0 is obtained.
In the step S6, the correction algorithm includes:
Setting initial telescopic boom elongation L k, and in the process of lifting the telescopic boom, obtaining the kth measured telescopic boom elongation L k through interaction between a laser sensor in a main control box and a laser reflection baffle:
Lk＝aLk-1+buk
Wherein, L k is the extension of the telescopic boom measured at the kth time, and L k-1 is the extension of the telescopic boom measured at the last time; aL k-1 represents the actual distance of the kth measurement; bu k represents the noise of the kth measurement, the measured noise being the error caused by the humidity in the air; a represents an ideal state parameter; b represents a correction parameter;
Calculating the estimated value of the extension amount of the telescopic boom at the kth time
Wherein,An estimated value indicating the last extension amount of the telescopic boom; g k is the kalman gain, when g k =0, the gain is 0,Indicating that the current measurement is not trusted; when g k =1, the gain is 1,A measurement representing the last cycle of distrust; when 0< g k < 1, represent the degree of trust in the measurement;
Iterative updating at each cycle:
gk＝pk-1/(pk-1+r)
pk＝(1-gk)pk-1
Wherein r is the average value of the measured noise bu k; p k is the prediction error of the kth measurement; g k is the kalman gain; p k-1 denotes the prediction error of the last measurement; if the previous prediction error p k-1 =0, g k =0; if the prediction error p k-1 =1 measured last time, g k＝1/(1+r),gk is about 1, and the newly measured value is taken as an estimated value; p k＝pk-1 when the kalman gain g k is 0; when the gain is 1, p k =0.
Step S7, including α=0, β=90 degrees when the ground is flat; acquiring an included angle theta between a telescopic arm and a horizontal plane by a two-dimensional inclination sensor of the horizontal plane and the plumb plane; calculating to obtain the real-time ascending vertical height H of the telescopic boom, wherein H=L.sin theta;
Acquiring the height H of the basic arm of the crane from the ground and the height H 0 of the basic arm of the crane from the ground to the cable, and obtaining the height delta H=H 0 -H-H of the tail end of the telescopic arm from the cable;
Thereby, obtain laser ranging sensor and measure flexible arm elongation L, obtain horizontal plane and plumb face two-dimensional inclination sensor and obtain flexible arm and horizontal plane contained angle theta, obtain ground and horizontal plane contained angle alpha, beta, temperature T, humidity W in the air obtain many classification neural network formulas:
ΔH＝γ·T·W·(H0-H-h)·cosα·cosβ
Wherein gamma is a coefficient of temperature and humidity affecting the accuracy of laser ranging.
The crane safety operation system in the transformer substation and the control method thereof provided by the invention acquire the maximum safety distance between the telescopic boom of the crane and the aerial cable, and simultaneously can display the height information of the tail end of the telescopic boom and the alarm prompt information in real time, thereby ensuring the maximum safety working distance of the crane and the safety of the crane.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2-3 are schematic internal structural views of a main control box of the system of the present invention.
FIG. 4 is a schematic flow chart of the method of the present invention.
Fig. 5 is a schematic view of light refraction when air humidity is at normal level.
Fig. 6-7 illustrate two different light refraction schemes when the humidity is too high.
FIG. 8 is a schematic diagram of a calculated corrected safe distance for the method of the present invention.
Detailed Description
Fig. 1 is a schematic structural diagram of the system according to the present invention: the invention provides a safe operation system of a crane in a transformer substation, which comprises a laser reflection baffle plate 2, a crane telescopic arm 3, a crane basic arm 4, a main control box 5 and a crane main body 6; the crane body 6 is located on the ground 7; the crane safety operation system in the transformer substation cannot contact the cable 1 and the cable discharging area 8; the crane basic arm 4 is fixed on the crane main body 6, one end of the crane telescopic arm 3 is fixed on the upper end of the crane basic arm 4, and the other end of the crane telescopic arm 3 is fixed with the laser reflection baffle plate 2 for prolonging the crane basic arm; the main control box 5 is fixed in the middle of the crane basic arm 4; the main control box 5 controls the laser emission and the laser receiving, carries out ranging and uploading, and the laser reflection baffle 2 is used for reflecting laser.
Fig. 2-3 are schematic views of the internal structure of the main control box of the system of the present invention. The main control box 5 comprises a controller 9, a main control box shell 10, a laser ranging sensor fixing piece 11, a laser ranging sensor 12, a power supply conversion module 13, an arched aluminum bracket 14, a power supply 15, a horizontal plane and plumb plane two-dimensional inclination sensor 16, an alarm 17, a porous track 18, a power supply row 19 and a relay 20; the main control box shell 10 is fixed on a porous track 18, and the porous track 18 is fixed in the middle of the crane basic arm 4; the porous tracks 18 are used for changing the relative positions of the main control box 5 and the laser reflection baffle 2, so that the optimal pose can be conveniently adjusted, and the two porous tracks adopt truss structures, so that the stability of the porous tracks is enhanced. The controller 9 and the horizontal plane and plumb plane two-dimensional inclination sensor 16 are fixed in the lower side plate of the main control box shell 10, the controller 9 is used for acquiring positioning signals and air temperature and humidity signals and processing the signals, and the horizontal plane and plumb plane two-dimensional inclination sensor 16 is used for measuring elevation angles; the laser ranging sensor fixing piece 11 is arranged outside the right side plate of the main control box shell 10 and is used for fixing the laser ranging sensor 12, and the laser ranging sensor 12 is used for emitting laser and ranging; an arched aluminum bracket 14 is fixed to the inside of the left side plate of the main control box housing 10 and is used for fixing a power supply 15; the power conversion module 13 is fixed to the outside of the upper side plate of the main control box housing 10 and is used for converting the power supply 15 into a stable voltage; the power supply row 19 and the relay 20 are fixed in the upper side plate of the main control box shell 10 and control the on-off of the power supply; the alarm 17 is fixed to the outside of the front side plate of the main controller housing 10 for alarm reminding. In order to ensure that the controller can work normally in bad weather such as rainy weather, wind blowing and the like, the main control box needs to be sealed. In the invention, the external pore and the gap of the main control box are encapsulated by using adhesive glue and waterproof cloth, and in addition, electronic parts in the controller are also required to be covered by using the waterproof cloth.
FIG. 4 is a schematic flow chart of the method of the present invention. The control method based on the crane safety operation system in the transformer substation provided by the invention comprises the following steps:
S1, before a crane starts to work normally, acquiring initial parameters; the initial parameter acquisition comprises the steps of acquiring the horizontal plane height h of a basic arm distance of a crane arranged in a control box, acquiring the included angle theta between a telescopic arm and the horizontal plane in a reference state through a horizontal plane and plumb plane two-dimensional inclination sensor, setting the included angle beta between the ground and the horizontal plane as beta, and setting the gradient alpha between the ground and the vertical plane as alpha; acquiring the distance H 0 from the ground to the aerial cable;
S2, operating a crane by crane staff to normally work, and starting to lift the telescopic arm; when the crane is displaced, acquiring the position coordinate of the crane in the transformer substation, and acquiring the maximum safety distance of the suspension arm by combining the environmental map information in the transformer substation;
s3, under the condition of different temperatures and humidity on the surface, the discharge distance of the power transmission cable is changed, and a correction coefficient parameter lambda is introduced by combining the temperature and humidity in the air, and if the crane is in an open field, the maximum safety distance is set as lambda d k; if the obstacle such as a power transmission cable or an insulator string exists above the crane operation position, setting a maximum safe distance lambdad z;
s4, measuring the temperature and the humidity in the air in the rising process of the telescopic arm; the two-dimensional inclination sensor 16 of the horizontal plane and the plumb plane in the main control box sends the included angle theta between the telescopic boom and the horizontal plane, the included angle beta between the ground and the horizontal plane and the gradient alpha between the ground and the vertical plane to the controller in real time;
S5, in the ascending process of the telescopic boom, laser is emitted by a laser sensor in the main control box, the laser is reflected by a laser reflection baffle, the laser sensor in the main control box receives the laser, and the real-time telescopic boom elongation L k is obtained and is sent to the controller;
S6, the controller compares the extension L 0 of the telescopic boom measured by the laser sensor with a value L' 0 predicted by a correction algorithm, then removes the value with larger phase difference, and the rest value is the distance L from the main control box to the laser reflection baffle;
fig. 5 is a schematic view of light refraction when the air humidity is at a normal level. Fig. 6-7 illustrate two different light refraction schemes when the humidity is too high. When the air humidity is at a normal level, the water mist in the air cannot refract laser, and the distance L of the laser reflection baffle is equal to half of the product of the light speed and the round trip time; after the air humidity reaches a certain degree, water mist in the air can refract light, so that the measured round trip time is too large, the measured L deviation is large, and the situation of alarm error or no alarm occurs, and the correction algorithm comprises:
Setting initial telescopic boom elongation L k, if air humidity is in normal level and should satisfy a function, error that humidity caused in air humidity in actual condition leads to measuring inaccuracy, and in the telescopic boom rising process, laser sensor in the main control box obtains the telescopic boom elongation L k of the kth measurement through the interaction with laser reflection baffle:
Lk＝aLk-1+buk
Wherein, L k is the extension of the telescopic boom measured at the kth time, and L k-1 is the extension of the telescopic boom measured at the last time; aL k-1 represents the actual distance of the kth measurement; bu k represents the noise of the kth measurement, the measured noise being the error caused by the humidity in the air; a represents an ideal state parameter; b represents a correction parameter;
Calculating the estimated value of the extension amount of the telescopic boom at the kth time
Wherein,An estimated value indicating the last extension amount of the telescopic boom; g k is the kalman gain, when g k =0, the gain is 0, at this timeThis means that the current measurement is not trusted; when g k =1, the gain is 1, at this timeThis means that the measurement of the last cycle is not trusted; when 0 < g k < 1, the degree of trust in the measured values is only represented.
Iterative updating at each cycle:
gk＝pk-1/(pk-1+r)
pk＝(1-gk)pk-1
Wherein r is the average value of the measured noise bu k; p k is the prediction error of the kth measurement; g k is the kalman gain; p k-1 denotes the prediction error of the last measurement; if the previous prediction error p k-1 =0, g k =0; if the prediction error p k-1 =1 measured last time, g k =1/(1+r), the average r of the noise bu k measured in general takes a small value, so g k ≡1, and this case takes the newly measured value as the estimated value. When the kalman gain g k is 0, p k＝pk-1 is the prediction error of the last period; when the gain is 1, p k =0. Then the algorithm is realized in the singlechip, so that errors in the whole flow caused by errors in ranging can be avoided.
S7, calculating the ascending vertical height H of the telescopic arm; correcting the ground gradient, and calculating the distance delta H between the tail end of the telescopic arm and the cable;
Step S7, including α=0, β=90 degrees when the ground is flat; the two-dimensional inclination angle sensor for acquiring the horizontal plane and the plumb plane acquires the included angle theta between the telescopic arm and the horizontal plane. And calculating the real-time ascending vertical height H of the telescopic boom by a trigonometric function relation: h=l·sinθ;
The height H of the basic arm of the crane from the ground and the height H 0 of the basic arm from the ground from the cable can be obtained by checking the crane parameters, and the height delta H=H 0 -H-H of the tail end of the telescopic arm from the cable can be obtained;
Furthermore, in actual engineering, because the construction ground is uneven or the ground has a gradient, the angle of the included angle obtained in the initial state of the two-dimensional inclination angle of the horizontal plane and the plumb plane and the final actual result generate errors. Therefore, the invention needs to optimize the algorithm to achieve the working stability under various environments.
Fig. 8 is a schematic diagram of the calculation and correction safety distance of the method of the present invention, and the algorithm after optimization is as follows: the laser ranging sensor is acquired to measure the elongation length L of the telescopic boom, the horizontal plane and plumb plane two-dimensional inclination sensor is acquired to acquire the included angle theta between the telescopic boom and the horizontal plane, as shown in figure 8, the included angles alpha and beta between the ground and the horizontal plane, the temperature T and the humidity W in the air are firstly acquired, and a multi-classification neural network formula in an artificial intelligence algorithm is matched,
ΔH＝γ·T·W·(H0-H-h)·cosα·cosβ
Wherein gamma is a coefficient of temperature and humidity affecting the accuracy of laser ranging.
S8, comparing the distance delta H between the tail end of the telescopic arm and the cable with the maximum safety distance d; if the distance delta H from the tail end of the telescopic arm to the cable is larger than the maximum safe distance d, a display screen in the crane working chamber displays that the crane is in a safe working range; if the distance delta H from the tail end of the telescopic boom to the cable is smaller than or equal to the maximum safe distance d, an alarm lamp on the main control box gives an alarm, and meanwhile, a display screen in a crane working chamber reminds that the crane exceeds a safe working range, and reminds workers to adjust the position of the telescopic boom.
Claims (4)
1. A control method of a crane safety operation system in a transformer substation comprises a laser reflection baffle, a crane telescopic arm, a crane basic arm, a main control box and a crane main body; the crane main body is positioned on the ground; the crane basic arm is fixed on the crane main body, one end of the crane telescopic arm is fixed on the upper end of the crane basic arm, and the other end of the crane telescopic arm is fixed with the laser reflection baffle for prolonging the crane basic arm; the main control box is fixed in the middle of the basic arm of the crane; the main control box controls the emission and the reception of laser, carries out ranging and uploading, and the laser reflection baffle is used for reflecting the laser;
the main control box comprises a controller, a main control box shell, a laser ranging sensor fixing piece, a laser ranging sensor, a power supply conversion module, an arched aluminum bracket, a power supply, a horizontal plane and plumb plane two-dimensional inclination sensor, an alarm, a porous track, a power supply row and a relay; the main control box shell is fixed on a porous track, and the porous track is fixed in the middle of a basic arm of the crane; the controller and the horizontal plane and plumb plane two-dimensional inclination sensor are fixed in the lower side plate of the main control box shell, the controller is used for acquiring positioning signals and air temperature and humidity signals and processing the signals, and the horizontal plane and plumb plane two-dimensional inclination sensor is used for measuring elevation angles; the laser ranging sensor fixing piece is arranged outside the right side plate of the main control box shell and used for fixing a laser ranging sensor, and the laser ranging sensor is used for emitting laser and ranging; the arch aluminum bracket is fixed in the left side plate of the main control box shell and is used for fixing a power supply; the power supply conversion module is fixed outside the upper side plate of the main control box shell and is used for converting a power supply into a stable voltage; the power supply row and the relay are fixed in the upper side plate of the main control box shell, and the on-off of the power supply is controlled; the alarm is fixed outside the positive side plate of the main controller shell and is used for alarming and reminding;
The control method is characterized by comprising the following steps of:
S1, before a crane starts to work normally, acquiring initial parameters;
S2, operating a crane by crane staff to normally work, and starting to lift the telescopic arm; when the crane is displaced, acquiring the position coordinate of the crane in the transformer substation, and acquiring the maximum safety distance of the suspension arm by combining the environmental map information in the transformer substation;
S3, combining the temperature and the humidity in the air, and introducing a correction coefficient parameter lambda, wherein if the crane is in an open field, the maximum safety distance is set as lambda d k; if an obstacle exists above the crane operation position, setting a maximum safety distance lambdad z;
S4, measuring the temperature and the humidity in the air in the rising process of the telescopic arm; the two-dimensional inclination angle sensor of the horizontal plane and the plumb plane in the main control box sends an included angle theta between the telescopic boom and the horizontal plane, an included angle beta between the ground and the horizontal plane and a gradient alpha between the ground and the vertical plane to the controller in real time;
S5, in the ascending process of the telescopic boom, laser is emitted by a laser sensor in the main control box, the laser is reflected by a laser reflection baffle, the laser sensor in the main control box receives the laser, and the real-time telescopic boom elongation L k is obtained and is sent to the controller;
S6, the controller compares the extension L 0 of the telescopic boom measured by the laser sensor with a value L' 0 predicted by a correction algorithm, then removes the value with larger phase difference, and the rest value is the distance L from the main control box to the laser reflection baffle;
s7, calculating the ascending vertical height H of the telescopic arm; correcting the ground gradient, and calculating the distance delta H between the tail end of the telescopic arm and the cable;
s8, comparing the distance delta H between the tail end of the telescopic arm and the cable with the maximum safety distance d; if the distance delta H from the tail end of the telescopic arm to the cable is larger than the maximum safe distance d, a display screen in the crane working chamber displays that the crane is in a safe working range; if the distance delta H from the tail end of the telescopic boom to the cable is smaller than or equal to the maximum safety distance d, an alarm lamp on the main control box gives an alarm to remind a worker of adjusting the position of the telescopic boom.
2. The method for controlling a crane safety operation system in a transformer substation according to claim 1, wherein the step S1 is characterized in that the step of obtaining initial parameters comprises obtaining a basic arm distance horizontal plane height h of a crane arranged in a control box, obtaining an included angle theta between a telescopic arm and the horizontal plane in a reference state through a horizontal plane and plumb plane two-dimensional inclination sensor, setting an included angle beta between the ground and the horizontal plane as beta, and setting a gradient alpha between the ground and the vertical plane as alpha; the ground-to-aerial cable distance H 0 is obtained.
3. The method for controlling a crane safety operation system in a transformer substation according to claim 2, wherein the step S6 comprises the following steps:
Setting initial telescopic boom elongation L k, and in the process of lifting the telescopic boom, obtaining the kth measured telescopic boom elongation L k through interaction between a laser sensor in a main control box and a laser reflection baffle:
Lk＝aLk-1+buk
Wherein, L k is the extension of the telescopic boom measured at the kth time, and L k-1 is the extension of the telescopic boom measured at the last time; aL k-1 represents the actual distance of the kth measurement; bu k represents the noise of the kth measurement, the measured noise being the error caused by the humidity in the air; a represents an ideal state parameter; b represents a correction parameter;
Calculating the estimated value of the extension amount of the telescopic boom at the kth time
Wherein,An estimated value indicating the last extension amount of the telescopic boom; g k is the kalman gain, when g k =0, the gain is 0,Indicating that the current measurement is not trusted; when g k =1, the gain is 1,A measurement representing the last cycle of distrust; when 0< g k < 1, represent the degree of trust in the measurement;
Iterative updating at each cycle:
gk＝pk-1/(pk-1+r)
pk＝(1-gk)pk-1
Wherein r is the average value of the measured noise bu k; p k is the prediction error of the kth measurement; g k is the kalman gain; p k-1 denotes the prediction error of the last measurement; if the previous prediction error p k-1 =0, g k =0; if the prediction error p k-1 =1 measured last time, g k＝1/(1+r),gk is about 1, and the newly measured value is taken as an estimated value; p k＝pk-1 when the kalman gain g k is 0; when the gain is 1, p k =0.
4. The method for controlling a crane safety operation system in a transformer substation according to claim 3, wherein the step S7 comprises α=0, β=90 degrees when the ground is flat; beta is the included angle between the ground and the horizontal plane, and alpha is the gradient between the ground and the vertical plane; acquiring an included angle theta between a telescopic arm and a horizontal plane by a two-dimensional inclination sensor of the horizontal plane and the plumb plane; calculating to obtain the real-time ascending vertical height H of the telescopic boom, wherein H=L.sin theta;
Acquiring the height H of the basic arm of the crane from the ground and the height H 0 of the basic arm of the crane from the ground to the cable, and obtaining the height delta H=H 0 -H-H of the tail end of the telescopic arm from the cable;
Thereby, obtain laser ranging sensor and measure flexible arm elongation L, obtain horizontal plane and plumb face two-dimensional inclination sensor and obtain flexible arm and horizontal plane contained angle theta, obtain ground and horizontal plane contained angle alpha, beta, temperature T, humidity W in the air obtain many classification neural network formulas:
ΔH＝γ·T·W·(H0-H-h)·cosα·cosβ
Wherein gamma is a coefficient of temperature and humidity affecting the accuracy of laser ranging.
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