阅读说明：本技术 一种吊车在输变电工程现场工作的监控系统及方法 (Monitoring system and method for crane working on power transmission and transformation project site ) 是由 马丛淦 王大勇 邢钊 邹禹 刘颖 郑高珊 姚莉 段若飞 龙子华 周佳 卢建国 于 2019-11-20 设计创作，主要内容包括：本发明公开一种吊车在输变电工程现场工作的监控系统及方法,包括吊车和数据处理系统；吊车包括本体,本体上设有旋转台,旋转台的顶部中心处安装有吊臂；吊臂能够伸长,并相对于旋转台旋转改变与旋转台之间的夹角,以调整顶点的高度；旋转台的顶部中心a点处安装有第一GPS接收器；旋转台的表面b点处固定有第二GPS接收器；第二GPS接收器位于吊臂的正下方；吊臂的顶点c点处安装有第三GPS接收器；吊车的驾驶室中安装数据处理系统。本发明采用GPS技术,实现吊车现场作业的动态定位,在开阔场地和输变电工程现场,通过录入特定设备的高清地图坐标,当作业位置超过合理边界时,数据处理系统自动报警提示。(The invention discloses a monitoring system and a method for the on-site work of a crane in a power transmission and transformation project, wherein the monitoring system comprises the crane and a data processing system; the crane comprises a body, wherein a rotating platform is arranged on the body, and a suspension arm is arranged at the center of the top of the rotating platform; the suspension arm can extend and rotate relative to the rotating platform to change an included angle between the suspension arm and the rotating platform so as to adjust the height of a peak; a first GPS receiver is arranged at the point a of the center of the top of the rotating platform; a second GPS receiver is fixed at a point b on the surface of the rotating platform; the second GPS receiver is positioned right below the suspension arm; a third GPS receiver is arranged at the point c of the top point of the suspension arm; the cab of the crane is provided with a data processing system. The invention adopts GPS technology to realize the dynamic positioning of the field operation of the crane, and the data processing system automatically gives an alarm and prompts when the operation position exceeds a reasonable boundary by inputting the high-definition map coordinates of specific equipment in an open field and a power transmission and transformation project field.)

1. A monitoring system for the operation of a crane on a power transmission and transformation project site is characterized by comprising the crane (1) and a data processing system;

the crane (1) comprises a body (11), a rotating platform (12) is arranged on the body (11), and a suspension arm (13) is arranged at the center of the top of the rotating platform (12);

the suspension arm (13) can be extended and rotate relative to the rotating platform (12) to change an included angle between the suspension arm and the rotating platform (12) so as to adjust the height of a peak;

a first GPS receiver (14) is arranged at the point a of the top center of the rotating platform (12); a second GPS receiver (15) is fixed at a b point on the surface of the rotating platform (12); the second GPS receiver (15) is positioned right below the suspension arm (13); a third GPS receiver (15) is arranged at the point c of the top point of the suspension arm (13);

a data processing system is installed in a cab of the crane (1).

2. A system for monitoring the operation of a crane at a power transmission and transformation project site as claimed in claim 1, wherein the turntable (12) and the boom (13) are synchronously rotatable about the center of the turntable (12), and the second GPS receiver (15) is located directly below the boom (13).

3. The system for monitoring the operation of a crane on a power transmission and transformation project site of claim 1, wherein the data processing system comprises a processor and an acquisition card, an audible and visual alarm and a display connected with the processor.

4. A system for monitoring the operation of a crane at a power transmission and transformation project site as claimed in claim 1, wherein an angle sensor for detecting the included angle α of the boom (13) relative to the rotating table is installed between the rotating table (12) and the boom (13).

5. A method for monitoring the operation of a crane on a power transmission and transformation project site, which is based on the system for monitoring the operation of a crane on a power transmission and transformation project site as claimed in any one of claims 1 to 4, and comprises the following steps:

1) the processor acquires longitude and latitude and altitude information of the power transmission line (2);

2) the processor periodically acquires longitude and latitude and altitude information of the three points a, b and c acquired by the first GPS receiver (14), the second GPS receiver (15) and the third GPS receiver (16);

3) and the processor extracts longitude and latitude information of the three points a, b and c: a (m1, n1), b (m2, n2) and c (m3, n3), calculating the minimum distance between the three points a, b and c and the power transmission line (2), and controlling an audible and visual alarm and a display to give out a prompt to warn an operator if the minimum distance is less than a safety threshold.

6. The method for monitoring the operation of a crane on a power transmission and transformation project site according to claim 5, further comprising the steps of:

the crane works under the power transmission line (2), and the processor judges the height information of the point c:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

a is the horizontal projection distance between the point b and the point a; b is the horizontal projection distance between the point c and the point B; c is the extending length of the suspension arm (13); h is the vertical height of the point c relative to the point a;

the accurate vertical height of the top point of the suspension arm (13) relative to a point a is obtained through the joint type (1) to the formula (3); and then whether the altitude of the point H plus a is greater than the altitude of the power transmission line (2) or not is judged, and if the altitude exceeds a safety threshold, a sound-light alarm and a display are controlled to give out a prompt to warn an operator.

7. The method for monitoring the operation of a crane on a power transmission and transformation project site according to claim 5, further comprising the steps of:

the crane works under the power transmission line (2), and the processor judges the height information of the point c:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

Cos α＝(a+b)/C (4)

a is the horizontal projection distance between the point B and the point a, B is the horizontal projection distance between the point C and the point B, C is the extension length of the suspension arm (13), H is the vertical height of the point C relative to the point a, α is the included angle of the suspension arm (13) relative to the rotating platform (12);

the accurate vertical height of the top point of the suspension arm (13) relative to a point a is obtained through the joint vertical type (1) to the formula (4); and then whether the altitude of the point H plus a is greater than the altitude of the power transmission line (2) or not is judged, and if the altitude exceeds a safety threshold, a sound-light alarm and a display are controlled to give out a prompt to warn an operator.

Technical Field

The invention belongs to the technical field of electric power construction, and particularly relates to a monitoring system and a monitoring method for the on-site work of a crane in a power transmission and transformation project.

Background

Disclosure of Invention

The invention aims to provide a monitoring system and a monitoring method for the on-site work of a crane in a power transmission and transformation project, so as to solve the technical problems.

In order to achieve the purpose, the invention adopts the following technical scheme:

a monitoring system for the operation of a crane on a power transmission and transformation project site comprises the crane and a data processing system;

the crane comprises a body, wherein a rotating platform is arranged on the body, and a suspension arm is arranged at the center of the top of the rotating platform;

the suspension arm can extend and rotate relative to the rotating platform to change an included angle between the suspension arm and the rotating platform so as to adjust the height of a peak;

a first GPS receiver is arranged at the point a of the center of the top of the rotating platform; a second GPS receiver is fixed at a point b on the surface of the rotating platform; the second GPS receiver is positioned right below the suspension arm; a third GPS receiver is arranged at the point c of the top point of the suspension arm;

the cab of the crane is provided with a data processing system.

Further, the rotating platform and the suspension arm can synchronously rotate around the center of the rotating platform, and the second GPS receiver is always positioned right below the suspension arm.

Furthermore, the data processing system comprises a processor, and a collecting card, an audible and visual alarm and a display which are connected with the processor.

Furthermore, an angle measuring sensor for detecting the included angle α of the suspension arm relative to the rotating platform is arranged between the rotating platform and the suspension arm.

A monitoring method for the operation of a crane on a power transmission and transformation project site comprises the following steps:

1) the processor acquires the longitude and latitude and altitude information of the power transmission line;

2) the processor regularly acquires longitude and latitude and altitude information of the three points a, b and c collected by the first GPS receiver, the second GPS receiver and the third GPS receiver;

3) and the processor extracts longitude and latitude information of the three points a, b and c: a (m1, n1), b (m2, n2) and c (m3, n3), and calculating the minimum distance between the three points a, b and c and the power transmission line, and if the minimum distance is less than a safety threshold, controlling an audible and visual alarm and a display to give out a prompt to warn an operator.

Further, the method also comprises the following steps:

the crane works below the power transmission line, and the processor judges the height information of the point c:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

a is the horizontal projection distance between the point b and the point a; b is the horizontal projection distance between the point c and the point B; c is the extending length of the suspension arm; h is the vertical height of the point c relative to the point a;

the method comprises the steps of (1) obtaining the accurate vertical height of the top point of a suspension arm relative to a point a by a joint vertical type suspension arm; and then whether the altitude of the point H plus a is greater than the altitude of the power transmission line or not is judged, and if the altitude exceeds a safety threshold, a prompt is sent out through an audible and visual alarm and a display to warn an operator.

Further, the method also comprises the following steps:

the crane works below the power transmission line, and the processor judges the height information of the point c:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

Cos α＝(a+b)/C (4)

a is the horizontal projection distance between the point B and the point a, B is the horizontal projection distance between the point C and the point B, C is the extension length of the suspension arm, H is the vertical height of the point C relative to the point a, α is the included angle of the suspension arm relative to the rotating platform;

the method comprises the steps of (1) obtaining the accurate vertical height of the top point of a suspension arm relative to a point a by a joint vertical type suspension arm; and then whether the altitude of the point H plus a is greater than the altitude of the power transmission line or not is judged, and if the altitude exceeds a safety threshold, a prompt is sent out through an audible and visual alarm and a display to warn an operator.

Compared with the prior art, the invention has the following beneficial effects:

the invention adopts GPS technology to realize the dynamic positioning of the field operation of the crane, can effectively divide the working area by inputting the high-definition map coordinates of specific equipment in an open field and a power transmission and transformation project field, can set a boundary according to the specific electrified area in the conventional work without passing through the specific electrified area, and can automatically give an alarm and prompt by a data processing system when the working position exceeds a reasonable boundary.

The altitude error of the GPS is considered, three groups of GPS are set, the altitude information collected by the GPS is abandoned, and the accurate altitude information of the top point of the suspension arm can be accurately obtained through the specific positions and the longitude and latitude information of the three groups of GPS; the electric shock phenomenon is effectively avoided.

The invention can effectively avoid the error touch of the power transmission line on the wire, can set the horizontal distance projection between the crane and the line, can realize the dynamic judgment of the distance between the suspension arm and the line by setting parameters when the suspension arm rotates, and further can effectively remind a driver to pay attention when the suspension arm is close to the live line, thereby avoiding the error touch on the live line.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a crane in a low attitude during field operation in a power transmission and transformation project;

FIG. 2 is a schematic view of the crane in a high attitude during field operation of the power transmission and transformation project;

FIG. 3 is a perspective view of the crane in the field of power transmission and transformation project;

FIG. 4 is a schematic view of a crane GPS layout;

FIG. 5 is a schematic view of crane GPS coordinates;

FIG. 6 is a block diagram of a data processing system;

fig. 7 is a computational schematic of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.

Referring to fig. 1, when the crane 1 works on the site of a power transmission and transformation project, the crane has a power transmission line 2 beside it, and the position of the boom 13 of the crane needs to be taken into consideration to prevent electric shock.

Referring to fig. 1, a boom 13 of a crane 1 is shown in a low position, wherein the top of the boom 13 is lower than the height of a power transmission line 2.

Referring to fig. 2, the boom 13 of the crane 1 is shown in a high position, in which the top of the boom 13 is higher than the height of the power transmission line 2.

Referring to fig. 1 to 7, the present invention provides a monitoring system for a crane working on a power transmission and transformation project site, which includes a crane 1 and a data processing system.

The crane 1 comprises a body 11, a rotating platform 12 is arranged on the body 11, and a suspension arm 13 is arranged on the rotating platform 12. When the rotating platform 12 rotates, the suspension arm 13 can be driven to rotate synchronously relative to the body 11.

The boom 13 can be extended and rotated relative to the turntable 12 to change the angle between the boom and the turntable 12 to adjust the height of the apex.

A first GPS receiver 14 is installed at the top center of the rotating table 12, i.e., the rotating point of the bottom of the boom 13; a second GPS receiver 15 is fixed on the surface of the rotating platform 12; the second GPS receiver 15 is located right below the boom 13, and the rotary table 12 and the boom 13 are synchronously rotated around the center of the rotary table 12, so the second GPS receiver 15 is always located right below the boom 13; the apex of the boom 13 is fitted with a third GPS receiver 15.

The data processing system is arranged in a cab of the crane and comprises a processor, a collecting card connected with the processor, an audible and visual alarm and a display.

In the invention, although each GPS receiver can acquire longitude, latitude and altitude information corresponding to three points a, b and c, in order to ensure safety, the altitude information with low longitude is filtered out so as to avoid electric shock accidents caused by misjudgment.

The invention relates to a monitoring system for the on-site work of a crane in a power transmission and transformation project, which comprises the following steps when in use:

1) acquiring the longitude and latitude and altitude information of the power transmission line 2 stored in a power transmission and transformation project database by the processor through a wireless acquisition card; if the latitude, longitude and altitude information of the existing transmission line 2 do not exist, the latitude, longitude and altitude information is measured on site and then stored in a storage for being called by a processor;

2) the processor acquires longitude and latitude and altitude information of the three points a, b and c acquired by the first GPS receiver 14, the second GPS receiver 15 and the third GPS receiver 16 at regular intervals through an acquisition card;

3) and the processor extracts longitude and latitude information of the three points a, b and c: a (m1, n1), b (m2, n2) and c (m3, n3), calculating the minimum distance between the three points a, b and c and the power transmission line 2, and if the minimum distance is smaller than a safety threshold, controlling to give out a prompt through an audible and visual alarm and a display to warn an operator;

4) sometimes, the crane needs to operate below the power transmission line 2, at this time, the point c is located on the vertical projection plane of the power transmission line 2 to work, and the minimum distance between the point c and the power transmission line 2 is a negative number; if the suspension arm 13 is lifted too high, electric shock is easy to occur; at this time, the processor further judges the height information of the point c:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

a is the horizontal projection distance between the point b and the point a; b is the horizontal projection distance between the point c and the point B; c is the extension length of the suspension arm 13, and the control information of the crane 1 can be acquired through an acquisition card; h is the vertical height of point c relative to point a.

The accurate vertical height of the top point of the suspension arm 13 relative to the point a can be obtained through the joint type (1) to the formula (3); and then whether the altitude of the point H plus a is greater than the altitude of the transmission line 2 or not is judged, and if the altitude exceeds a safety threshold, a prompt is sent out through an audible and visual alarm and a display to warn an operator.

In step 4), if the crane field obtains the boom generation length information as usual, an angle sensor can be arranged to detect the included angle α of the boom 13 relative to the rotating platform 12, and H can also be calculated:

(A+B)²+H²＝C²(1)

A＝m2-m1 (2)

B＝m3-m2 (3)

Cos α＝(a+b)/C (4)

the accurate vertical height of the top point of the suspension arm 13 relative to the point a can be obtained through the joint type (1) to the formula (4); and then whether the altitude of the point H plus a is greater than the altitude of the transmission line 2 or not is judged, and if the altitude exceeds a safety threshold, a prompt is sent out through an audible and visual alarm and a display to warn an operator.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.