CN115423872A - Crane distance early warning method and device, electronic equipment and storage medium - Google Patents
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Abstract
The embodiment of the invention discloses a crane distance early warning method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a three-dimensional model matched with a target transformer substation; acquiring position parameters and height parameters of a hanging basket of a crane; determining the distance between a crane hanging basket and target transformer substation equipment according to the three-dimensional model, the position parameter and the height parameter; and when the distance meets the preset alarm condition, sending an alarm signal. According to the scheme of the embodiment of the invention, whether the crane is in the safe distance can be accurately determined, and a basis is provided for guaranteeing the safety of substation equipment and personnel.
Description
Technical Field
The embodiment of the invention relates to the technical field of transformer substations, in particular to a crane distance early warning method and device, electronic equipment and a storage medium.
Background
At the present stage, when a crane is used for hoisting operation in a transformer substation, the distance between the overhead equipment and a crane hanging basket by a person on the ground can only be judged through human eye evaluation experience, and quantitative and accurate judgment cannot be made, so that the relative position of the crane hanging basket and the overhead equipment is ensured. When the adjacent equipment is electrified, the adjacent equipment is required to be kept at a sufficient safe distance according to the power requirement, and therefore, how to accurately determine whether the crane is within the safe distance is a key issue of research in the industry.
Disclosure of Invention
The embodiment of the invention provides a crane distance early warning method and device, electronic equipment and a storage medium, which are used for accurately determining whether a crane is in a safe distance or not and providing a basis for guaranteeing the safety of substation equipment and personnel.
According to an aspect of the embodiments of the present invention, there is provided a crane distance early warning method, including:
acquiring a three-dimensional model matched with a target transformer substation;
acquiring position parameters and height parameters of a hanging basket of a crane;
determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter;
and when the distance meets a preset alarm condition, sending an alarm signal.
According to another aspect of the embodiments of the present invention, there is provided a crane distance early warning apparatus, including:
the three-dimensional model acquisition module is used for acquiring a three-dimensional model matched with the target transformer substation;
the parameter acquisition module is used for acquiring position parameters and height parameters of a hanging basket of the crane;
the distance determining module is used for determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter;
and the alarm signal sending module is used for sending an alarm signal when the distance meets a preset alarm condition.
According to another aspect of the embodiments of the present invention, there is provided an electronic apparatus, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the crane distance warning method according to any one of the embodiments of the present invention.
According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium storing computer instructions for enabling a processor to implement the method for early warning of the distance to a crane according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, a three-dimensional model matched with a target transformer substation is obtained; acquiring position parameters and height parameters of a hanging basket of a crane; determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter; when the distance meets the preset alarm condition, an alarm signal is sent out, whether the crane is in the safe distance or not can be accurately determined, and a basis is provided for guaranteeing the safety of substation equipment and personnel.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced 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 based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for early warning a distance between a crane according to an embodiment of the present invention;
fig. 2 is a flowchart of a crane distance early warning method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a crane distance early warning device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing a crane distance early warning method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the embodiments of the present invention better understood, 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 obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the embodiments of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the embodiments of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a crane distance early warning method according to an embodiment of the present invention, where the embodiment is applicable to a case where a distance between a crane and a substation device is determined, and the method may be performed by a crane distance early warning device, where the crane distance early warning device may be implemented in a form of hardware and/or software, and the crane distance early warning device may be configured in an electronic device; the electronic device involved in the embodiment may be a computer, a server, a tablet computer, or the like. Specifically, referring to fig. 1, the method specifically includes the following steps:
and 110, acquiring a three-dimensional model matched with the target transformer substation.
The target substation can be any substation; for example, the first-class substation, the second-class substation, the third-class substation, or the fourth-class substation is not limited in this embodiment. It is to be understood that the target substation referred to in this embodiment may include a plurality of substation devices, for example, a primary device, a secondary device, or a transformer, or other live devices, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, a three-dimensional model matched with a target substation may be generated according to each piece of building data in a building drawing of the target substation, or a three-dimensional model matched with the target substation may be generated according to a plurality of collected images of the target substation, which is not limited in this embodiment.
And step 120, acquiring position parameters and height parameters of a hanging basket of the crane.
The crane basket may be mounted at a fixed position of the crane, for example, on a boom of the crane, or may be mounted at a head or a tail of the crane, which is not limited in this embodiment.
In an optional implementation manner of the embodiment, after the three-dimensional model matched with the target substation is obtained, a position parameter and a height parameter of a hanging basket of the crane can be further obtained; optionally, in this embodiment, a positioning device may be installed at the bottom or the top of the crane basket, and the position parameter and the height parameter of the crane basket are obtained through the installed positioning device; for example, a Global Positioning System (GPS) may be installed at the bottom of the cradle, and the position and height parameters of the cradle may be obtained through the GPS.
And step 130, determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter.
The target substation device may be any device in the target substation, for example, a primary device, a secondary device, or a transformer in the target substation, or may also be other live devices, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, after the three-dimensional model matched with the target substation and the position parameter and the height parameter of the crane gondola are obtained, the distance between the crane gondola and the target substation may be further determined according to the obtained three-dimensional model of the target substation, the position parameter and the height parameter of the crane gondola.
Optionally, in this embodiment, after the three-dimensional model of the target substation, the position parameter and the height parameter of the crane basket are obtained, the obtained position parameter and the obtained height parameter of the crane basket may be converted into the three-dimensional model of the target substation, that is, the position parameter and the three-dimensional parameter of the crane basket in the world coordinate system are converted into the three-dimensional model position parameter and the three-dimensional model height parameter in the three-dimensional model coordinate system of the substation; therefore, the three-dimensional model of the transformer substation and the height parameters and the position parameters of the crane hanging basket are converted to the same coordinate system, and the distance between the target transformer substation equipment and the crane hanging basket in the coordinate system can be accurately determined.
For example, in the embodiment, specific coordinates (x 1, y1, z 1) of the crane basket in the three-dimensional model coordinate system can be determined according to the position parameter and the height parameter of the crane basket in the three-dimensional model; further, obtaining coordinates (x 2, y2, z 2) of the target substation equipment in a three-dimensional model coordinate system; and further determining the distance between the target substation equipment and the crane basket according to the coordinates (x 1, y1, z 1) of the crane basket in the three-dimensional model coordinate system and the coordinates (x 2, y2, z 2) of the target substation equipment in the three-dimensional model coordinate system.
And 140, sending an alarm signal when the distance meets a preset alarm condition.
The preset alarm condition may be a distance threshold condition, where the distance threshold may be 10 meters, 15 meters, or 20 meters, and the like, which is not limited in this embodiment.
In an optional implementation manner of this embodiment, after determining the distance between the crane basket and the target substation equipment, it may be further determined whether the distance satisfies a preset alarm condition, and when the preset alarm condition is satisfied, an alarm signal may be sent; optionally, in this embodiment, an audible alarm signal is sent out, and/or an alarm signal is sent out to the user terminal, so that the user can adjust the height of the crane basket in time.
In an optional implementation manner of this embodiment, when the distance is smaller than or equal to a preset distance threshold, it is determined that the preset alarm condition is met. For example, if the distance between the crane basket and the target substation equipment is determined to be 8 meters and the preset distance is 10 meters through the above steps, it may be determined that the preset alarm condition is met.
According to the technical scheme, the three-dimensional model matched with the target transformer substation is obtained; acquiring position parameters and height parameters of a hanging basket of a crane; determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter; when the distance meets the preset alarm condition, an alarm signal is sent out, whether the crane is in the safe distance or not can be accurately determined, and a basis is provided for guaranteeing the safety of substation equipment and personnel.
Example two
Fig. 2 is a flowchart of a crane distance warning method according to a second embodiment of the present invention, which is a further refinement of the above technical solutions, and the technical solution in this embodiment may be combined with various alternatives in one or more of the above embodiments. As shown in fig. 2, the crane distance early warning method may include the steps of:
In an optional implementation manner of this embodiment, at least one overhead image of the target substation may be acquired by the unmanned aerial vehicle, and then the three-dimensional model matched with the target substation may be determined according to the acquired overhead images.
Optionally, in this embodiment, an unmanned aerial vehicle may be used to shoot above the target substation to obtain an oblique photographic image, and then the image is synthesized by an unmanned aerial vehicle manufacturer tool, so as to generate a three-dimensional model; furthermore, a ground three-dimensional laser scanning mode can be combined to obtain a high-precision three-dimensional model of the overall appearance of the target transformer substation.
It can be understood that, after the three-dimensional model matched with the target substation is obtained, information such as the position and height of each substation device in the substation can be obtained.
And 220, determining a reference position parameter and a reference height parameter of the crane basket through an RTK locator arranged at the bottom of the crane basket.
In an optional implementation manner of the embodiment, after determining the three-dimensional model matched with the target substation, determining a reference position parameter and a reference height parameter of the crane nacelle through a Real-time Kinematic (RTK) installed at the bottom of the crane nacelle; and the reference position parameters and the reference height parameters of the crane hanging basket are the position parameters and the height parameters of the crane hanging basket under the world coordinate system, which are directly obtained by the RTK locator.
It should be noted that, in this embodiment, the RTK locator may also be installed on the top of the crane nacelle or on the side of the crane nacelle, which is not limited in this embodiment.
And 230, determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter.
In an optional implementation manner of this embodiment, after the position parameter and the height parameter of the crane basket in the world coordinate system are obtained by the RTK locator, the distance between the crane basket and the target substation equipment may be further determined according to the three-dimensional model, the position parameter and the height parameter of the crane basket in the world coordinate system.
Optionally, in this embodiment, before determining the distance between the crane basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter of the crane basket in the world coordinate system, the method may further include: and adding the reference position parameter and the reference height parameter into the three-dimensional model according to the data information of the three-dimensional model to obtain a target position parameter and a target height parameter of the crane hanging basket in the three-dimensional model.
The target position parameter and the target height parameter are the position parameter and the height parameter of the crane hanging basket in the three-dimensional model coordinate system.
In an optional implementation manner of the embodiment, after the position parameter and the height parameter of the crane basket in the world coordinate system are determined, the position parameter and the height parameter of the crane basket in the world coordinate system may be further converted into a target position parameter and a target height parameter in the three-dimensional model coordinate system; for example, the position parameter and the height parameter of the crane nacelle in the world coordinate system can be converted into a target position parameter and a target height parameter in the three-dimensional model coordinate system according to the corresponding relationship between the world coordinate system and the three-dimensional model coordinate system.
Further, before determining the distance between the crane basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter of the crane basket in the world coordinate system, the method may include: determining distances between the target substation equipment and the target position parameter and the target height parameter in the three-dimensional model. Namely, under a three-dimensional model coordinate system, determining the distance between target position parameters and target height parameters of target substation equipment and a crane basket.
In an optional implementation manner of this embodiment, after obtaining the three-dimensional model matched with the target substation, information such as the position height of the substation equipment may be obtained, after installing the RTK locator on the top of the cradle of the crane, the relative position with the substation equipment may be obtained, and the distance between the crane and the live equipment may be determined according to the distance between the relative position.
Optionally, in this embodiment, the RTK locator may be installed on the top of the cradle of the crane to obtain real-time height and longitude and latitude data of the crane, compare the real-time height and longitude and latitude data with the three-dimensional modeling position of the transformer substation, calculate the relative distance between the cradle of the crane and the device by calculating the longitude and latitude height data of the crane and the device height longitude and latitude data of the three-dimensional model of the transformer substation, and transmit the position data in real time through the RTK locator.
And 240, sending an alarm signal when the distance meets a preset alarm condition.
According to the scheme of the embodiment, at least one overhead image of the target substation is acquired through the unmanned aerial vehicle; determining a three-dimensional model matched with the target substation according to each overhead image; determining a reference position parameter and a reference height parameter of the crane hanging basket through an RTK locator arranged at the bottom of the crane hanging basket; the parameters acquired by the RTK locator can be combined with the three-dimensional model of the transformer substation determined by the unmanned aerial vehicle to obtain the position of the crane hanging basket in the three-dimensional model, and further the distance between the crane hanging basket and the transformer substation equipment is accurately determined.
In order to better understand the crane distance early warning method provided by the embodiment of the invention, a specific example is adopted for description below, which mainly comprises the following steps:
step 1, carrying out three-dimensional modeling on a transformer substation by using an unmanned aerial vehicle to obtain a three-dimensional model.
And 2, installing an RTK locator at the top of the crane basket, and acquiring crane basket positioning and height data through a connecting satellite.
And 3, acquiring dynamic position indication of the crane hanging basket in real time, and displaying the height of the crane hanging basket and the distance between the crane hanging basket and adjacent substation equipment.
And 4, determining whether the distance between the crane basket and the substation equipment is close to a warning value.
And 5, when the distance between the crane hanging basket and the transformer substation equipment is close to an alarm value, giving an alarm to remind a crane operator.
According to the scheme of the embodiment of the invention, when the substation equipment adjacent to the hanging basket of the crane is electrified, enough safety distance can be kept between the substation equipment and the adjacent equipment according to the power requirement, and the judgment method for the relative position of the hanging basket and the high-altitude equipment in the hoisting process is realized.
In the technical scheme of the embodiment of the invention, the acquisition, storage, application and the like of the personal information (such as face information, voice information and the like) of the related user all accord with the regulations of related laws and regulations without violating the good customs of the public order.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a crane distance early warning device according to a third embodiment of the present invention, where the crane distance early warning device according to the third embodiment of the present invention can execute the crane distance early warning method according to any of the embodiments. Specifically, as shown in fig. 3, the apparatus includes: a three-dimensional model acquisition module 310, a parameter acquisition module 320, a distance determination module 330, and an alarm signaling module 340.
A three-dimensional model obtaining module 310, configured to obtain a three-dimensional model matched with a target substation;
the parameter acquiring module 320 is used for acquiring position parameters and height parameters of a hanging basket of the crane;
a distance determining module 330, configured to determine a distance between the crane basket and the target substation device according to the three-dimensional model, the position parameter, and the height parameter;
and an alarm signal sending module 340, configured to send an alarm signal when the distance satisfies a preset alarm condition.
According to the scheme of the embodiment, a three-dimensional model matched with a target transformer substation is obtained through a three-dimensional model obtaining module; acquiring position parameters and height parameters of a hanging basket of the crane through a parameter acquisition module; determining the distance between the crane hanging basket and the target substation equipment through a distance determination module according to the three-dimensional model, the position parameter and the height parameter; when the distance meets the preset alarm condition, the alarm signal sending module sends an alarm signal, so that whether the crane is in the safe distance or not can be accurately determined, and a basis is provided for guaranteeing the safety of substation equipment and personnel.
In an optional implementation manner of this embodiment, the three-dimensional model obtaining module 310 is specifically configured to collect at least one overhead image of the target substation by using an unmanned aerial vehicle;
and determining a three-dimensional model matched with the target substation according to each overhead image.
In an optional implementation manner of this embodiment, the parameter obtaining module 320 is specifically configured to determine the reference position parameter and the reference height parameter of the crane nacelle through a real-time differential positioning tool RTK installed at the bottom of the crane nacelle.
In an optional implementation manner of this embodiment, the crane distance early warning apparatus further includes: target parameter determination module for
And adding the reference position parameter and the reference height parameter into the three-dimensional model according to the data information of the three-dimensional model to obtain a target position parameter and a target height parameter of the crane hanging basket in the three-dimensional model.
In an optional implementation manner of this embodiment, the distance determining module 330 is specifically configured to determine, in the three-dimensional model, the distance between the target substation device and the target position parameter and the target height parameter.
In an optional implementation manner of this embodiment, the alarm signal sending module 340 is specifically configured to determine that the preset alarm condition is met when the distance is less than or equal to a preset distance threshold.
In an optional implementation manner of this embodiment, the alarm signal sending module 340 is further specifically configured to send an audible alarm signal and/or send an alarm signal to a user terminal, so that a user can adjust the height of the crane basket in time.
The crane distance early warning device provided by the embodiment of the invention can execute the crane distance early warning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement embodiments of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of embodiments of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the crane distance warning method.
In some embodiments, the crane distance warning method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the crane distance warning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the crane distance warning method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Computer programs for implementing methods of embodiments of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of embodiments of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the embodiments of the present invention may be executed in parallel, may be executed sequentially, or may be executed in different orders, as long as the desired result of the technical solution of the embodiments of the present invention can be achieved, which is not limited herein.
The above detailed description does not limit the scope of the embodiments of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the embodiments of the present invention should be included in the scope of the embodiments of the present invention.
Claims (10)
1. A crane distance early warning method is characterized by comprising the following steps:
acquiring a three-dimensional model matched with a target transformer substation;
acquiring position parameters and height parameters of a hanging basket of a crane;
determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter;
and when the distance meets a preset alarm condition, sending an alarm signal.
2. The method of claim 1, further characterized in that said obtaining a three-dimensional model matching a target substation comprises:
collecting at least one overhead image of the target transformer substation through an unmanned aerial vehicle;
and determining a three-dimensional model matched with the target transformer substation according to each overhead image.
3. The method of claim 1, wherein the obtaining of the position parameter and the height parameter of the crane basket comprises:
and determining a reference position parameter and a reference height parameter of the crane cradle through a real-time differential positioning instrument RTK arranged at the bottom of the crane cradle.
4. The method of claim 3, further comprising, prior to determining the distance of the crane basket from the target substation equipment from the three-dimensional model, the position parameter, and the height parameter:
and adding the reference position parameter and the reference height parameter into the three-dimensional model according to the data information of the three-dimensional model to obtain a target position parameter and a target height parameter of the crane hanging basket in the three-dimensional model.
5. The method of claim 4, wherein the determining the distance of the crane basket from the target substation equipment from the three-dimensional model, the position parameter, and the height parameter comprises:
and determining the distance between the target substation equipment and the target position parameter and the distance between the target substation equipment and the target height parameter in the three-dimensional model.
6. The method of claim 1, further comprising, before issuing an alarm signal when the distance satisfies a preset alarm condition:
and when the distance is smaller than or equal to a preset distance threshold value, determining that the preset alarm condition is met.
7. The method of claim 6, after determining that the preset alarm condition is met, further comprising:
and sending out a sound alarm signal and/or sending out an alarm signal to a user terminal so that a user can adjust the height of the crane hanging basket in time.
8. A crane is apart from early warning device which characterized in that includes:
the three-dimensional model acquisition module is used for acquiring a three-dimensional model matched with the target transformer substation;
the parameter acquisition module is used for acquiring position parameters and height parameters of a hanging basket of the crane;
the distance determining module is used for determining the distance between the crane hanging basket and the target substation equipment according to the three-dimensional model, the position parameter and the height parameter;
and the alarm signal sending module is used for sending an alarm signal when the distance meets a preset alarm condition.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the crane distance warning method of any one of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a processor to execute the crane distance warning method according to any one of claims 1-7.
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| CN202211078606.8A CN115423872A (en) | 2022-09-05 | 2022-09-05 | Crane distance early warning method and device, electronic equipment and storage medium |
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| CN202211078606.8A CN115423872A (en) | 2022-09-05 | 2022-09-05 | Crane distance early warning method and device, electronic equipment and storage medium |
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