WO2023082550A1 - 风速预警方法、装置及作业机械 - Google Patents

风速预警方法、装置及作业机械 Download PDF

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Publication number
WO2023082550A1
WO2023082550A1 PCT/CN2022/088506 CN2022088506W WO2023082550A1 WO 2023082550 A1 WO2023082550 A1 WO 2023082550A1 CN 2022088506 W CN2022088506 W CN 2022088506W WO 2023082550 A1 WO2023082550 A1 WO 2023082550A1
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Prior art keywords
wind speed
observation point
speed value
initial
measured
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PCT/CN2022/088506
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English (en)
French (fr)
Inventor
彭继文
郭轶
郭松
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浙江三一装备有限公司
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Publication of WO2023082550A1 publication Critical patent/WO2023082550A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms

Definitions

  • the present application relates to the technical field of wind speed measurement, in particular to a wind speed early warning method, device and operating machine.
  • the wind speed value at the working position of the working machine is mostly predicted by the wind speed value in the weather forecast, but the wind speed value is affected by terrain, buildings, ground water systems, etc., and the wind speed value cannot be accurately predicted, resulting in the inability to perform high-precision The problem of wind speed warning.
  • the present application provides a wind speed early warning method, device and operating machine to solve the defect of low wind speed early warning accuracy in the prior art.
  • This application provides a wind speed early warning method, including:
  • the drone Based on the measured wind speed value measured by the drone, determine the predicted wind speed value of the target observation point; the target observation point is the operating position of the operating machine;
  • the unmanned aerial vehicle used for wind speed measurement is set based on the initial observation point, including:
  • a relay observation point is determined, and the UAV is set at the initial observation point and the relay observation point.
  • the measured wind speed value includes an initial wind speed value measured at the initial observation point and a relay wind speed value measured at the relay observation point;
  • the measured wind speed value based on the UAV measurement is used to determine the predicted wind speed value of the target observation point;
  • the target observation point is the operating position of the operating machine, including:
  • the predicted wind speed value is determined based on the wind speed change rate, the initial wind speed value, the initial observation point, and the target observation point.
  • the determination of the wind speed change rate based on the relay wind speed value, the initial wind speed value, the relay observation point, and the initial observation point includes:
  • a wind speed change rate is determined.
  • the distance between the UAV and the target observation point is reduced.
  • the application also provides a wind speed warning device, including:
  • a setting unit configured to determine an initial observation point, and set the unmanned aerial vehicle for wind speed measurement based on the initial observation point;
  • a determining unit configured to determine the predicted wind speed value of the target observation point based on the measured wind speed value measured by the drone; the target observation point is the working position of the working machine;
  • the early warning unit is configured to perform wind speed early warning when the predicted wind speed value is greater than the early warning threshold.
  • the present application also provides an operating machine, comprising: the wind speed warning device as described above.
  • the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor.
  • the processor executes the computer program, any of the above-mentioned The steps of the wind speed early warning method.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the wind speed early warning methods described above are implemented.
  • the present application also provides a computer program product, including a computer program.
  • a computer program product including a computer program.
  • the computer program is executed by a processor, the steps of any one of the wind speed early warning methods described above are realized.
  • Fig. 1 is one of the schematic flow charts of the wind speed early warning method provided by the present application.
  • Fig. 2 is the second schematic flow chart of the wind speed early warning method provided by the present application.
  • Fig. 3 is the structural representation of the wind speed warning device provided by the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by the present application.
  • the wind speed value at the working position of the working machine is mostly predicted by the wind speed value in the weather forecast, but the wind speed value is affected by terrain, buildings, ground water systems, etc., and the wind speed value cannot be accurately predicted, resulting in the inability to perform high-precision The problem of wind speed warning.
  • Fig. 1 is a schematic flow chart of the wind speed warning method provided by the present application, as shown in Fig. 1, the method comprises the following steps:
  • Step 110 determining an initial observation point, and setting a UAV for wind speed measurement based on the initial observation point.
  • the initial observation point refers to an observation point that is a certain distance away from the operating position of the operating machine. Measuring the wind speed at the initial observation point can predict the wind speed at the operating position after a period of time. It should be noted that if the wind speed is directly measured in real time at the working position, when the wind speed is greater than the warning threshold, the operator will not have enough time to deal with it accordingly, and the excessive wind speed may cause the abnormal swing of the working parts of the working machine, which may bring safety hazards . For example, when the wind speed is too high, the structure such as the jib of the crane will swing abnormally, which will bring potential safety hazards to the crane.
  • the wind speed at the working position will be predicted after a period of time, so that the operator has enough time to deal with it accordingly, and avoid the excessive wind speed at the working position from bringing safety to the operating machinery Hidden danger.
  • the embodiment of the present application can identify the terrain around the operation position based on the 3D map, and determine the initial observation point in combination with the wind speed forecast of the day.
  • the distance between the initial observation point and the operating machinery is generally the product of the reaction time of the operator plus the time after the evasion action is completed and the wind speed exceeding the warning threshold. For example, when the wind speed is the warning wind speed, the warning wind speed is multiplied by the sum of the operator's reaction time and action avoidance completion time.
  • the determination of the initial observation point needs to consider the wind direction. For example, for a crane with a long jib, winds of the same magnitude in different directions have different effects on the crane.
  • the initial observation point is set on the basis of the wind forecast (including wind speed and wind direction) of the day. If the crane can be determined to be downstream of the wind according to the wind forecast of the day, the initial observation point can be set according to the wind direction.
  • the anemometer can be installed on the UAV, and the UAV can be released to the initial observation point, so that the anemometer on the UAV can measure the initial wind speed value of the initial observation point in real time.
  • the height of the initial observation point needs to be consistent with the boom
  • the height of the jib is consistent, and the wind speed at the jib can be accurately predicted.
  • multiple drones can be set at the initial observation point according to a preset distribution angle, so as to obtain the initial wind speed value of the initial observation point through multiple drones.
  • Step 120 based on the measured wind speed value measured by the UAV, determine the predicted wind speed value of the target observation point; the target observation point is the working position of the operating machine;
  • Step 130 when the predicted wind speed value is greater than the warning threshold, perform a wind speed warning.
  • the measured wind speed value refers to the real-time wind speed value measured by the UAV. If the UAV is set at the initial observation point, the corresponding measured wind speed value is the initial wind speed value measured at the initial observation point; if the UAV is set at For the relay observation point between the initial observation point and the target observation point, the corresponding measured wind speed value is the relay wind speed value measured by the relay observation point.
  • the predicted wind speed value refers to the wind speed value that the target observation point can reach after a period of time.
  • the attenuation of wind speed from the initial observation point to the operating position can be ignored under ideal conditions, that is, when the initial wind speed value is measured at the initial observation point, After a period of time, the predicted wind speed value at the working location is equal to the initial wind speed value. If the wind speed attenuates from the initial observation point to the operating position, the attenuation rate of the initial wind speed value can be determined according to the distance between the initial observation point and the operating position.
  • the initial wind speed value is 10m/s
  • its attenuation is 1m/s per 100m
  • the distance between the initial observation point and the target observation point is 500m
  • the predicted wind speed value of the target observation point is 5m/s.
  • the wind speed warning can be carried out to remind the operators. For example, "abnormal wind speed" can be displayed on the display screen, and a warning sound of a certain intensity can be issued and flashed through the alarm lamp, so as to remind the operators to make corresponding processing and decision-making in time.
  • the predicted wind speed value of the target observation point can be determined based on the initial wind speed value and the wind speed change rate.
  • the predicted wind speed value is greater than the warning wind speed value, it indicates that the operation There are potential safety hazards in the machinery. At this time, the wind speed warning can be issued to remind the operators.
  • the embodiment of the present application automatically collects the measured wind speed value through the UAV, and based on the measured wind speed value, the predicted wind speed value at the working position can be determined, and then the wind speed early warning can be automatically and quickly performed when the predicted wind speed value is greater than the early warning threshold.
  • the traditional method it is necessary to manually hold the anemometer to measure the wind speed, which greatly reduces the manpower loss; at the same time, the manual measurement in the traditional method cannot realize the high-altitude measurement of the UAV, and the measured wind speed value obtained by the UAV measurement
  • Data sharing is possible, for example, UAVs can send measured wind speed values to other UAVs, avoiding the problem of resource consumption caused by repeated collection of measured wind speed values by other UAVs.
  • the premise of the wind speed warning in the embodiment of the present application is that the wind speed warning is performed only when the wind speed has a great influence on the working condition of the current operating machine (such as a crane). early warning.
  • the wind speed early warning method can obtain the predicted wind speed value of the target observation point based on the measured wind speed value measured by the drone, and perform a wind speed early warning when the predicted wind speed value is greater than the early warning threshold, so that the operator can have Sufficient time is given for corresponding treatment, avoiding the problem of potential safety hazards brought to the operating machinery by excessive wind speed at the operating position, and ensuring the safe and stable operation of the operating machinery.
  • the unmanned aerial vehicle used for wind speed measurement is set based on the initial observation point, including:
  • the embodiment of the present application can One or more relay observation points are set between the observation point and the target observation point, and UAVs are set at the initial observation point and each relay observation point to obtain the measured wind speed value.
  • the relay observation point set between the initial observation point and the target observation point can be regarded as a network relay signal station, so that it can ensure that the initial observation point and the relay observation point are measured and obtained when the network quality is poor.
  • the wind speed value of is sent to the server, so that the server can determine the predicted wind speed value of the target observation point according to the wind speed values measured by the initial observation point and the relay observation point.
  • the server can be set on the working machine, so that when the server determines that the predicted wind speed value is greater than the warning threshold, the warning prompt can be given in time.
  • the server can also be set on the remote server. When the remote server determines that the predicted wind speed value is greater than the warning threshold, it can send an early warning to the operator of the operating machine in time, so that the operator can deal with it in time to ensure the safety of the operating machine.
  • the measured wind speed value includes the initial wind speed value measured at the initial observation point and the relay wind speed value measured at the relay observation point;
  • the target observation point is the working position of the operating machine, including:
  • the predicted wind speed value is determined.
  • the UAV is set at the initial observation point and the relay observation point, so that the measured wind speed value measured by the UAV at the initial observation point is the initial wind speed value, which is used to represent the real-time wind speed information of the initial observation point; the relay observation The measured wind speed value measured by the UAV at the point is the relay wind speed value, which is used to represent the real-time wind speed information of the relay observation point.
  • the wind speed difference between the initial wind speed value and the relay wind speed value can be determined, and the distance difference between the two can be determined based on the initial observation point and the relay observation point, Therefore, the wind speed change rate can be determined based on the wind speed difference and the distance difference, and the wind speed change rate is used to represent attenuation information of the wind speed.
  • the distance difference between the two can be determined, and the wind speed change rate can be used to represent the attenuation information of the wind speed, and then the initial wind speed value from the initial observation point to the target observation point can be obtained The amount of attenuation to get the predicted wind speed value.
  • the predicted wind speed value determined based on the relay wind speed value, the initial wind speed value, the relay observation point, and the initial observation point in the embodiment of the present application takes into account the attenuation of the wind speed, thereby further improving the accuracy of the predicted wind speed value, and then being able to Ensure the safety of operating machinery.
  • the wind speed change rate is determined, including:
  • a wind speed change rate is determined.
  • the measured wind speed value obtained by UAV measurement at the initial observation point is the initial wind speed value, which is used to represent the real-time wind speed information of the initial observation point;
  • the measured wind speed value obtained by UAV measurement at the relay observation point is the relay wind speed value
  • the value is used to represent the real-time wind speed information of the relay observation point.
  • the unmanned aerial vehicle for wind speed measurement after setting the unmanned aerial vehicle for wind speed measurement based on the initial observation point, it also includes:
  • the height of the operating machine is constantly changing, and the wind speeds corresponding to different heights are different.
  • the height of the drone can be adjusted accordingly.
  • the position consistent with the operating height if the operating height is lowered, the height of the UAV can be lowered to a position consistent with the operating height, so that the predicted wind speed value can be accurately obtained.
  • the operating height When the operating height is greater than the height threshold, it indicates that the height between the target observation point and the UAV is also greater than the height threshold. Since the higher the altitude, the fewer obstacles between the target observation point and the UAV, that is, it can be considered that the attenuation of the wind speed is smaller. At this time, the distance between the UAV and the target observation point can be increased, thereby reducing the number of UAVs and saving measurement costs.
  • the operating height is less than or equal to the height threshold, it indicates that the height between the target observation point and the UAV is also less than or equal to the height threshold. Due to the decrease in height, the obstacles between the target observation point and the UAV increase, which will lead to a greater attenuation of the wind speed. At this time, the distance between the UAV and the target observation point can be reduced, and the number of UAVs can be increased to accurately obtain the predicted wind speed value.
  • the unmanned aerial vehicle for wind speed measurement after setting the unmanned aerial vehicle for wind speed measurement based on the initial observation point, it also includes:
  • the measured wind speed value may be constantly changing.
  • the measured wind speed value is greater than the wind speed threshold, in order to reserve enough warning response time for the operator, it is necessary to increase the UAV and The distance between target observation points.
  • the measured wind speed value is less than or equal to the wind speed threshold, it indicates that the warning response time of the operator is sufficient.
  • the distance between the UAV and the target observation point can be reduced.
  • the present application also provides a wind speed early warning method.
  • the following takes the wind speed early warning when a crane is working as an example for illustration, as shown in FIG. 2 , the method includes:
  • the 3D map to identify the surrounding terrain of hoisting, observe the wind forecast of the day (the wind forecast includes wind speed and wind direction), set the initial observation point and release the drone with an anemometer, the anemometer and the wireless
  • the man-machine is detachably connected so that it can fly to the same height as the current working arm of the crane.
  • the drone can be released in multiple directions, not limited to front, back, left, and right.
  • the UAV can be additionally set between the observation point and the crane as a relay observation point for data relay and wind speed measurement.
  • the remote control platform Continuously collect the measured wind speed value, and transmit the real-time measured wind speed value to the remote platform through the data acquisition system to obtain the predicted wind speed value at the crane's operating position, and set an early warning threshold on the remote control platform.
  • the remote control platform transmits the command to the control system, but does not process it.
  • the LCD display of the control panel displays the current wind speed value, and the sound and light alarm lights do not work; if the predicted wind speed value exceeds the warning value, the display screen displays " Abnormal wind speed" field, the warning light emits a warning sound of a certain intensity and flashes, reminding the driver to take corresponding countermeasures in time.
  • wind speed early warning device provided by the present application is described below, and the wind speed early warning device described below and the wind speed early warning method described above can be referred to in correspondence.
  • the present application provides a wind speed early warning device, as shown in Figure 3, the device includes:
  • a setting unit 310 configured to determine an initial observation point, and set the UAV for wind speed measurement based on the initial observation point;
  • the determination unit 320 is used to determine the predicted wind speed value of the target observation point based on the measured wind speed value measured by the drone; the target observation point is the operating position of the operating machine;
  • the early warning unit 330 is configured to perform a wind speed early warning when the predicted wind speed value is greater than the early warning threshold.
  • the setting unit 310 is configured to:
  • a relay observation point is determined, and the UAV is set at the initial observation point and the relay observation point.
  • the measured wind speed value includes an initial wind speed value measured at the initial observation point and a relay wind speed value measured at the relay observation point;
  • the determining unit 320 includes:
  • a wind speed change determination unit configured to determine a wind speed change rate based on the relay wind speed value, the initial wind speed value, the relay observation point, and the initial observation point;
  • a wind speed prediction unit configured to determine the predicted wind speed value based on the wind speed change rate, the initial wind speed value, the initial observation point, and the target observation point.
  • the wind speed change determination unit includes:
  • a wind speed difference determination unit configured to calculate the difference between the initial wind speed value and the relay wind speed value to obtain a wind speed difference
  • a distance determining unit configured to determine a distance difference based on the initial observation point and the relay observation point
  • a calculation unit configured to determine a wind speed change rate based on the wind speed difference and the distance difference.
  • the first adjustment unit is configured to increase the distance between the drone and the target observation point when the operating height is greater than a height threshold after setting the UAV for wind speed measurement based on the initial observation point ; When the operating height is less than or equal to the height threshold, reduce the distance between the UAV and the target observation point.
  • the second adjustment unit is configured to increase the distance between the drone and the target observation point when the measured wind speed value is greater than the wind speed threshold after the UAV is set for wind speed measurement based on the initial observation point. Distance: when the measured wind speed value is less than or equal to the wind speed threshold, reduce the distance between the UAV and the target observation point.
  • the present application further provides a work machine, including: the wind speed warning device as described in any of the above embodiments.
  • the wind speed early warning device installed on the working machine can obtain the predicted wind speed value at the working position during the working process of the working machine, and perform a wind speed warning when the predicted wind speed value is greater than the warning threshold, so as to remind the operator in time to deal with it , to ensure the safety of operating machinery.
  • Fig. 4 is a schematic structural diagram of the electronic device provided by the present application.
  • the electronic device may include: a processor (processor) 410, a communication interface (Communications Interface) 420, a memory (memory) 430 and a communication bus 440, Wherein, the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 .
  • the processor 410 can call the logic instructions in the memory 430 to execute the wind speed early warning method, the method includes: determining an initial observation point, and setting a UAV for wind speed measurement based on the initial observation point; The measured measured wind speed value determines the predicted wind speed value of the target observation point; the target observation point is the working position of the working machine; when the predicted wind speed value is greater than the warning threshold, a wind speed warning is performed.
  • the above logic instructions in the memory 430 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the present application also provides a computer program product
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium
  • the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the wind speed early warning method provided by the above-mentioned methods, the method includes: determining an initial observation point, and setting a UAV for wind speed measurement based on the initial observation point; The wind speed value is measured to determine the predicted wind speed value of the target observation point; the target observation point is the working position of the working machine; when the predicted wind speed value is greater than the warning threshold value, a wind speed warning is performed.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the wind speed early warning methods provided above, the method includes: determining An initial observation point, and an unmanned aerial vehicle for wind speed measurement is set based on the initial observation point; based on the measured wind speed value measured by the unmanned aerial vehicle, the predicted wind speed value of the target observation point is determined; the target observation point is an operating machine The working position; when the predicted wind speed value is greater than the warning threshold, a wind speed warning is performed.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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Abstract

一种风速预警方法、装置及作业机械，方法包括：确定初始观测点，并基于初始观测点设置用于风速测量的无人机(110)；基于无人机测量的测量风速值，确定目标观测点的预测风速值；目标观测点为作业机械的作业位置(120)；在预测风速值大于预警阈值时，进行风速预警(130)。基于无人机测量得到的测量风速值可以得到目标观测点的预测风速值，并在预测风速值大于预警阈值时进行风速预警，从而使得作业人员可以能够有足够时间进行相应处理，避免作业位置处风速过大给作业机械带来安全隐患的问题，保证了作业机械的安全稳定作业。

Description

风速预警方法、装置及作业机械
相关申请的交叉引用
本申请要求于2021年11月11日提交的申请号为2021113336805，名称为“风速预警方法、装置及作业机械”的中国专利申请的优先权，其通过引用方式全部并入本文。
技术领域
本申请涉及风速测量技术领域，尤其涉及一种风速预警方法、装置及作业机械。
背景技术
随着工业技术的不断进步，基础设施大规模建设也越来越多，大型的高空作业也越来越多，大量超高工程建设项目的开展，促使超高吊装作业的需求也不断增加。
然而，这种超高的吊装作业，随着高度的增加，吊装的风险也越来越大，以起重设备为例，由于使用场景导致工作地点相对分散，相当部分分布于远离城市的野外地带，而在野外风速变化较为明显,其变化较大时会对起重机的臂架等结构产生异常的摆动，进而给起重设备造成安全隐患。
现有技术中多通过天气预报中的风速值预测作业机械的作业位置处的风速值，但风速值受地形，建筑，地面水系等的影响，进而无法准确预测得到风速值，导致无法高精度进行风速预警的问题。
发明内容
本申请提供一种风速预警方法、装置及作业机械，用以解决现有技术中风速预警精度较低的缺陷。
本申请提供一种风速预警方法，包括：
确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；
基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；
在所述预测风速值大于预警阈值时，进行风速预警。
根据本申请提供的一种风速预警方法，所述基于所述初始观测点设置用于风速测量的无人机，包括：
基于所述初始观测点以及所述目标观测点，确定中继观测点，并在所述初始观测点和所述中继观测点设置所述无人机。
根据本申请提供的一种风速预警方法，所述测量风速值包括所述初始观测点测量得到的初始风速值和所述中继观测点测量得到的中继风速值；
所述基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置，包括：
基于所述中继风速值、所述初始风速值、所述中继观测点以及所述初始观测点，确定风速变化率；
基于所述风速变化率、所述初始风速值、所述初始观测点以及所述目标观测点，确定所述预测风速值。
根据本申请提供的一种风速预警方法，所述基于所述中继风速值、所述初始风速值、所述中继观测点以及所述初始观测点，确定风速变化率，包括：
计算所述初始风速值与所述中继风速值之间的差值，得到风速差值；
基于所述初始观测点以及所述中继观测点，确定距离差值；
基于所述风速差值以及所述距离差值，确定风速变化率。
根据本申请提供的一种风速预警方法，在基于所述初始观测点设置用于风速测量的无人机之后，还包括：
在所述作业高度大于高度阈值时，调大所述无人机与目标观测点之间的距离；
在所述作业高度小于等于所述高度阈值时，调小所述无人机与目标观测点之间的距离。
根据本申请提供的一种风速预警方法，在基于所述初始观测点设置用于风速测量的无人机之后，还包括：
在所述测量风速值大于风速阈值时，调大所述无人机与目标观测点之间的距离；
在所述测量风速值小于等于所述风速阈值时，调小所述无人机与目标 观测点之间的距离。
本申请还提供一种风速预警装置，包括：
设置单元，用于确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；
确定单元，用于基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；
预警单元，用于在所述预测风速值大于预警阈值时，进行风速预警。
本申请还提供一种作业机械：包括：如上所述的风速预警装置。
本申请还提供一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述任一种所述风速预警方法的步骤。
本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述风速预警方法的步骤。
本申请还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如上述任一种所述风速预警方法的步骤。
附图说明
为了更清楚地说明本申请或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请提供的风速预警方法的流程示意图之一；
图2是本申请提供的风速预警方法的流程示意图之二；
图3是本申请提供的风速预警装置的结构示意图；
图4是本申请提供的电子设备的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请中的附图，对本申请中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实 施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
以起重设备为例，由于使用场景导致工作地点相对分散，相当部分分布于远离城市的野外地带，而在野外风速变化较为明显,其变化较大时会对起重机的臂架等结构产生异常的摆动，进而给起重设备造成安全隐患。
现有技术中多通过天气预报中的风速值预测作业机械的作业位置处的风速值，但风速值受地形，建筑，地面水系等的影响，进而无法准确预测得到风速值，导致无法高精度进行风速预警的问题。
对此，本申请提供一种风速预警方法。图1是本申请提供的风速预警方法的流程示意图，如图1所示，该方法包括如下步骤：
步骤110、确定初始观测点，并基于初始观测点设置用于风速测量的无人机。
此处，初始观测点指距离作业机械的作业位置有一定距离的观测点，在初始观测点测量风速可以预测作业位置在一段时间后的风速。需要说明的是，若直接在作业位置实时测量风速，则当风速大于预警阈值时，作业人员没有足够时间进行相应处理，进而可能由于风速过大造成作业机械作业部件的异常摆动，带来安全隐患。例如当风速过大时会使起重机的臂架等结构产生异常摆动，进而给起重机带来安全隐患。若在初始观测点测量风速，并基于初始观测点测量得到的风速预测作业位置在一段时间后的风速，从而作业人员有足够时间进行相应处理，避免作业位置处风速过大给作业机械带来安全隐患。
其中，本申请实施例可以基于3D地图识别作业位置周边的地形，并结合当日风速预报情况，确定初始观测点。此处的初始观测点与作业机械之间的距离，一般是作业人员的反应时间加上规避动作完成时间后与超过预警域值的风速之间乘积。如当风速为预警风速时，以预警风速乘操作员反应时间、动作规避完成时间之和。
此外，初始观测点的确定，需要考虑风向。例如对于长臂架的起重机，不同方向的同一大小的风对起重机的影响程度不同。初始观测点在当日的风象预报(包括风速、风向)基础上进行设定，如根据当日的风象预报，可以确定起重机在风的下游，则可以根据风向设置初始观测点。
在确定初始观测点后，可以将风速测量仪安装在无人机上，并将无人机释放至初始观测点，以使无人机上的风速测量仪能够实时测量初始观测点的初始风速值。
此外，由于同一位置不同高度对应的风速不同，且作业机械的臂架通常是在高空进行作业，因此为了准确预测作业机械在进行高空作业时臂架处的风速，初始观测点的高度需与臂架的高度一致，进而可以准确预测得到臂架处的风速。
可以理解的是，为了准确获取初始风速值，可以在初始观测点按照预设分布角度设置多台无人机，以通过多台无人机获取初始观测点的初始风速值。
步骤120、基于无人机测量的测量风速值，确定目标观测点的预测风速值；目标观测点为作业机械的作业位置；
步骤130、在预测风速值大于预警阈值时，进行风速预警。
具体地，测量风速值指无人机测量得到的实时风速值，若无人机设置在初始观测点，则对应的测量风速值为初始观测点测量得到的初始风速值；若无人机设置在初始观测点与目标观测点之间的中继观测点，则对应的测量风速值为中继观测点测量得到的中继风速值。预测风速值指目标观测点在一段时间后能够达到的风速值。
由于无人机通常设置在高空中，而高空中的障碍物较少，即风速从初始观测点至作业位置的衰减在理想情况下可以忽略不计，即在初始观测点测量得到初始风速值时，一段时间后作业位置处的预测风速值与初始风速值相等。若风速从初始观测点至作业位置处存在衰减，则可以根据初始观测点与作业位置之间的距离确定初始风速值的衰减率，例如初始风速值为10m/s，其每100m衰减1m/s，且初始观测点与目标观测点之间的距离为500m，则可以得到目标观测点的预测风速值为5m/s。
可选地，在初始风速值不存在衰减的情况下，在初始风速值大于预警风速值时，由于一段时间后作业位置处的风速值会达到初始风速值，即一段时间后作业位置处的预测风速值会大于预警风速值，从而在一段时间后作业机械存在安全作业隐患，此时可以进行风速预警，以提示作业人员。例如，可以通过显示屏显示“风速异常”，并通过报警灯发出一定强度的 警示声并闪烁，以及时提醒作业人员进行相应处理和决策。
可选地，在初始风速值存在衰减的情况下，基于初始风速值和风速变化率，可以确定目标观测点的预测风速值，在预测风速值大于预警风速值时，表明而在一段时间后作业机械存在安全作业隐患，此时可以进行风速预警，以提示作业人员。
此外，本申请实施例通过无人机自动采集测量风速值，并基于测量风速值可以确定作业位置处的预测风速值，进而在预测风速值大于预警阈值时可以自动快速进行风速预警，相较于传统方法中需要通过人工持有风速测量仪进行风速测量，大幅度减少了人力损耗；同时，传统方法中的人工测量也无法实现无人机的高空测量，而且无人机测量得到的测量风速值可以进行数据共享，例如无人机可以将测量风速值发送至其它无人机，避免其它无人机重复采集测量风速值导致耗费资源的问题。
需要说明的是，本申请实施例进行风速预警的前提是风速对当前作业机械(如起重机)的工作状况有较大影响时才进行风速预警，如果起重机处于短主臂工况，则无需进行风速预警。
本申请实施例提供的风速预警方法，基于无人机测量得到的测量风速值可以得到目标观测点的预测风速值，并在预测风速值大于预警阈值时进行风速预警，从而使得作业人员可以能够有足够时间进行相应处理，避免作业位置处风速过大给作业机械带来安全隐患的问题，保证了作业机械的安全稳定作业。
基于上述实施例，基于初始观测点设置用于风速测量的无人机，包括：
基于初始观测点以及目标观测点，确定中继观测点，并在初始观测点和中继观测点设置无人机。
具体地，由于初始观测点与目标观测点之间存在一定的距离，从而初始风速值从初始观测点到目标观测点存在衰减，为了更进一步准确得到预测风速值，本申请实施例可以在初始观测点和目标观测点之间设置一个或多个中继观测点，并在初始观测点和各中继观测点均设置无人机，以获取测量风速值。
此外，在初始观测点和目标观测点之间设置的中继观测点可以看作是网络中继信号站，从而可以在网络质量较差的情况下保证将初始观测点和 中继观测点测量得到的风速值发送至服务器，以使服务器根据初始观测点和中继观测点测量得到的风速值确定目标观测点的预测风速值。可以理解的是，该服务器可以设置于作业机械上，从而在服务器确定预测风速值大于预警阈值时，可以及时进行预警提示。该服务器也可以设置于远程服务端，在远程服务端确定预测风速值大于预警阈值时，可以及时向作业机械的作业人员发送预警提示，以使作业人员及时处理，保证作业机械的安全。
基于上述任一实施例，测量风速值包括初始观测点测量得到的初始风速值和中继观测点测量得到的中继风速值；
基于无人机测量的测量风速值，确定目标观测点的预测风速值；目标观测点为作业机械的作业位置，包括：
基于中继风速值、初始风速值、中继观测点以及初始观测点，确定风速变化率；
基于风速变化率、初始风速值、初始观测点以及目标观测点，确定预测风速值。
具体地，无人机设置在初始观测点和中继观测点，从而初始观测点的无人机测量得到的测量风速值为初始风速值，用于表征初始观测点的实时风速信息；中继观测点的无人机测量得到的测量风速值为中继风速值，用于表征中继观测点的实时风速信息。
在得到中继风速值和初始风速值后，可以确定初始风速值与中继风速值之间的风速差值，以及基于初始观测点和中继观测点可以确定两者之间的距离差值，从而可以基于风速差值以及距离差值确定风速变化率，该风速变化率用于表征风速的衰减信息。
进一步地，基于目标观测点以及初始观测点，可以确定两者之间的距离差值，而风速变化率可以用于表征风速的衰减信息，进而可以获知初始观测点的初始风速值至目标观测点的衰减量，从而得到预测风速值。
由此可见，本申请实施例基于中继风速值、初始风速值、中继观测点以及初始观测点确定得到的预测风速值考虑了风速的衰减，从而进一步提高了预测风速值的精度，进而能够保证作业机械的作业安全。
基于上述任一实施例，基于中继风速值、初始风速值、中继观测点以及初始观测点，确定风速变化率，包括：
计算初始风速值与中继风速值之间的差值，得到风速差值；
基于初始观测点以及中继观测点，确定距离差值；
基于风速差值以及距离差值，确定风速变化率。
具体地，初始观测点的无人机测量得到的测量风速值为初始风速值，用于表征初始观测点的实时风速信息；中继观测点的无人机测量得到的测量风速值为中继风速值，用于表征中继观测点的实时风速信息。在得到中继风速值和初始风速值后，可以确定初始风速值与中继风速值之间的风速差值，以及基于初始观测点和中继观测点可以确定两者之间的距离差值，从而可以基于风速差值以及距离差值确定风速变化率，该风速变化率用于表征风速的衰减信息。
基于上述任一实施例，在基于初始观测点设置用于风速测量的无人机之后，还包括：
在作业高度大于高度阈值时，调大无人机与目标观测点之间的距离；
在作业高度小于等于高度阈值时，调小无人机与目标观测点之间的距离。
具体地，在作业机械进行作业的过程中，作业机械的高度是不断变化的，而不同高度对应的风速是不同的，此时若作业高度增高，则可以相应将无人机的高度调高至与作业高度一致的位置；若作业高度降低，则可以相应将无人机的高度调低至与作业高度一致的位置，从而可以精确得到预测风速值。
作业高度大于高度阈值时，表明目标观测点与无人机的高度也大于高度阈值，由于高度越高，目标观测点与无人机之间的障碍越少，即可以认为风速的衰减越小，此时可以调大无人机与目标观测点之间的距离，进而可以减少设置无人机的数量，节约测量成本。作业高度小于等于高度阈值时，表明目标观测点与无人机的高度也小于等于高度阈值，由于高度降低，目标观测点与无人机之间的障碍增多，从而会导致风速的衰减变大，此时可以调小无人机与目标观测点之间的距离，增加设置无人机的数量，以准确得到预测风速值。
基于上述任一实施例，在基于初始观测点设置用于风速测量的无人机之后，还包括：
在测量风速值大于风速阈值时，调大无人机与目标观测点之间的距离；
在测量风速值小于等于风速阈值时，调小无人机与目标观测点之间的距离。
具体地，在作业机械进行作业的过程中，测量风速值可能是不断变化的，在测量风速值大于风速阈值时，为了给作业人员预留足够的预警反应时间，则需要增大无人机与目标观测点之间的距离。在测量风速值小于等于风速阈值时，表明作业人员的预警反应时间足够，此时为了保证获取预测风速值的精度，可以减少无人机与目标观测点之间的距离。
基于上述任一实施例，本申请还提供一种风速预警方法，下面以起重机进行作业时的风速预警为例进行说明，如图2所示，该方法包括：
首先进行吊装准备，使用3D地图识别吊装周边地形，观察当日风象预报(风象预报包括风速、风向)，设定初始观测点将带有风速仪的无人机进行释放，风速测量仪与无人机之间为可拆卸连接，使其飞行到与起重机当前工作臂架一致的高度。此外无人机可在多个方向上释放，不限于前后左右。在无法连接数据中心的环境下，可以额外释放无人机设定观测点和起重机之间，作为数据中继及风速测量的中继观测点。
持续采集测量风速值，并将实时采集的测量风速值通过数据采集系统传输到远程平台上，得到起重机作业位置处的预测风速值，并在远程控制平台的设定一个预警阈值，当预测风速值小于预警阈值时，远程控制平台传输命令到控制系统，但不做处理，控制面板的液晶显示屏显示当前风速值，声光报警灯不工作；若预测风速值超过预警值时，显示屏显示“风速异常”字段，报警灯发出一定强度的警示声并闪烁，及时提醒驾驶人员做出相应的对策。
下面对本申请提供的风速预警装置进行描述，下文描述的风速预警装置与上文描述的风速预警方法可相互对应参照。
基于上述任一实施例，本申请提供一种风速预警装置，如图3所示，该装置包括：
设置单元310，用于确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；
确定单元320，用于基于所述无人机测量的测量风速值，确定目标观 测点的预测风速值；所述目标观测点为作业机械的作业位置；
预警单元330，用于在所述预测风速值大于预警阈值时，进行风速预警。
基于上述任一实施例，所述设置单元310，用于：
基于所述初始观测点以及所述目标观测点，确定中继观测点，并在所述初始观测点和所述中继观测点设置所述无人机。
基于上述任一实施例，所述测量风速值包括所述初始观测点测量得到的初始风速值和所述中继观测点测量得到的中继风速值；
所述确定单元320，包括：
风速变化确定单元，用于基于所述中继风速值、所述初始风速值、所述中继观测点以及所述初始观测点，确定风速变化率；
风速预测单元，用于基于所述风速变化率、所述初始风速值、所述初始观测点以及所述目标观测点，确定所述预测风速值。
基于上述任一实施例，所述风速变化确定单元，包括：
风速差值确定单元，用于计算所述初始风速值与所述中继风速值之间的差值，得到风速差值；
距离确定单元，用于基于所述初始观测点以及所述中继观测点，确定距离差值；
计算单元，用于基于所述风速差值以及所述距离差值，确定风速变化率。
基于上述任一实施例，还包括：
第一调整单元，用于在基于所述初始观测点设置用于风速测量的无人机之后，在所述作业高度大于高度阈值时，调大所述无人机与目标观测点之间的距离；在所述作业高度小于等于所述高度阈值时，调小所述无人机与目标观测点之间的距离。
基于上述任一实施例，还包括：
第二调整单元，用于在基于所述初始观测点设置用于风速测量的无人机之后，在所述测量风速值大于风速阈值时，调大所述无人机与目标观测点之间的距离；在所述测量风速值小于等于所述风速阈值时，调小所述无人机与目标观测点之间的距离。
基于上述任一实施例，本申请还提供一种作业机械，包括：如上任一实施例所述的风速预警装置。
具体地，作业机械上设置的风速预警装置可以在作业机械进行作业过程中，获取作业位置处的预测风速值，在预测风速值大于预警阈值时进行风速预警，从而可以及时提醒作业人员进行相应处理，保证作业机械安全。
图4是本申请提供的电子设备的结构示意图，如图4所示，该电子设备可以包括：处理器(processor)410、通信接口(Communications Interface)420、存储器(memory)430和通信总线440，其中，处理器410，通信接口420，存储器430通过通信总线440完成相互间的通信。处理器410可以调用存储器430中的逻辑指令，以执行风速预警方法，该方法包括：确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；在所述预测风速值大于预警阈值时，进行风速预警。
此外，上述的存储器430中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
另一方面，本申请还提供一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行上述各方法所提供的风速预警方法，该方法包括：确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；在所述预测风速值大于预警阈值时，进行风速预警。
又一方面，本申请还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各提供的风速预警方法，该方法包括：确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；在所述预测风速值大于预警阈值时，进行风速预警。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (10)

  1. 一种风速预警方法，包括：
    确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；
    基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；
    在所述预测风速值大于预警阈值时，进行风速预警。
  2. 根据权利要求1所述的风速预警方法，其中，所述基于所述初始观测点设置用于风速测量的无人机，包括：
    基于所述初始观测点以及所述目标观测点，确定中继观测点，并在所述初始观测点和所述中继观测点设置所述无人机。
  3. 根据权利要求2所述的风速预警方法，其中，所述测量风速值包括所述初始观测点测量得到的初始风速值和所述中继观测点测量得到的中继风速值；
    所述基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置，包括：
    基于所述中继风速值、所述初始风速值、所述中继观测点以及所述初始观测点，确定风速变化率；
    基于所述风速变化率、所述初始风速值、所述初始观测点以及所述目标观测点，确定所述预测风速值。
  4. 根据权利要求3所述的风速预警方法，其中，所述基于所述中继风速值、所述初始风速值、所述中继观测点以及所述初始观测点，确定风速变化率，包括：
    计算所述初始风速值与所述中继风速值之间的差值，得到风速差值；
    基于所述初始观测点以及所述中继观测点，确定距离差值；
    基于所述风速差值以及所述距离差值，确定风速变化率。
  5. 根据权利要求1至4任一项所述的风速预警方法，其中，在基于所述初始观测点设置用于风速测量的无人机之后，还包括：
    在所述作业高度大于高度阈值时，调大所述无人机与目标观测点之间的距离；
    在所述作业高度小于等于所述高度阈值时，调小所述无人机与目标观 测点之间的距离。
  6. 根据权利要求1至4任一项所述的风速预警方法，其中，在基于所述初始观测点设置用于风速测量的无人机之后，还包括：
    在所述测量风速值大于风速阈值时，调大所述无人机与目标观测点之间的距离；
    在所述测量风速值小于等于所述风速阈值时，调小所述无人机与目标观测点之间的距离。
  7. 一种风速预警装置，包括：
    设置单元，用于确定初始观测点，并基于所述初始观测点设置用于风速测量的无人机；
    确定单元，用于基于所述无人机测量的测量风速值，确定目标观测点的预测风速值；所述目标观测点为作业机械的作业位置；
    预警单元，用于在所述预测风速值大于预警阈值时，进行风速预警。
  8. 一种作业机械，包括：如权利要求7所述的风速预警装置。
  9. 一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1至6任一项所述风速预警方法的步骤。
  10. 一种非暂态计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至6任一项所述风速预警方法的步骤。
PCT/CN2022/088506 2021-11-11 2022-04-22 风速预警方法、装置及作业机械 WO2023082550A1 (zh)

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