CN117657965A - Industrial remote control intelligent mobile remote control management system - Google Patents

Abstract

The invention discloses an intelligent mobile remote control management system of an industrial remote controller, and belongs to the technical field of equipment control. The system comprises a data acquisition module, a data analysis module, a data processing module and an operation management module; the data acquisition module is used for acquiring hoisting information of the crane, instruction information of the industrial remote controller and image information of the operation site; the data analysis module is used for carrying out shaking analysis on the hoisted goods, calculating shaking indexes, dividing dangerous areas according to the shaking indexes, and predicting whether personnel unsafe conditions exist or not; the data processing module adjusts the speed and the acceleration according to the shaking index when the goods are hoisted, so that the goods are ensured not to shake severely in the hoisting and translation process; and the operation management module controls the moving direction and the moving duration of the goods according to the instruction information. According to the invention, the shaking analysis is carried out according to different cargoes, so that the speed or acceleration is adjusted, the safety of cargoes and personnel in the transportation process is ensured, and the transportation efficiency is improved.

Description

Industrial remote control intelligent mobile remote control management system

Technical field

The invention relates to the technical field of equipment control, specifically an intelligent mobile remote control management system for industrial remote controls.

Background technique

With the continuous advancement of industrial automation, the degree of automation of cranes is becoming higher and higher. Industrial remote control technology can realize remote control of cranes, improve the safety, efficiency and flexibility of operations, and provide more intelligent and convenient solutions for modern industrial production.

At this stage, industrial remote controls for controlling cranes are usually simple and practical, and basically use a few simple direction buttons to control the crane's lifting hook to move at a constant speed in the specified direction to achieve cargo transportation. This design can well ensure construction safety, but there are still some disadvantages, such as: 1. Due to different distribution positions of the center of gravity or inconsistent weights of different transported goods, under the same transportation conditions, some goods may shake violently. cause damage. 2. If goods of different weights adopt the same acceleration during transportation, the heavier goods may have higher inertia due to misoperation by the staff, resulting in damage to the goods. 3. During the transportation process, the staff may be negligent and fail to detect people under the transported goods in time, resulting in threats to the lives and safety of relevant personnel. Therefore, at this stage, a technical solution that can not only ensure the safety of goods and personnel during transportation, but also improve transportation efficiency is needed to solve the above problems.

Contents of the invention

The purpose of the present invention is to provide an intelligent mobile remote control management system for industrial remote controls to solve the problems raised in the above background technology.

In order to solve the above technical problems, the present invention provides the following technical solution: an intelligent mobile remote control management system for industrial remote controls. The system includes a data collection module, a data analysis module, a data processing module and an operation management module.

The data acquisition module is used to collect the hoisting information of the crane, the instruction information of the industrial remote control, and the image information of the job site. The data analysis module is used to analyze the shaking of hoisted goods and calculate the shaking index, divide dangerous areas according to the shaking index, and predict whether there is unsafe conditions for personnel. The data processing module adjusts the speed and acceleration according to the sway index when the hoisted goods are translated. The operation management module controls the movement direction and movement duration of the goods according to the instruction information.

The data collection module includes a hoisting information collection unit, a remote control information collection unit and a camera information collection unit.

The hoisting information collection unit is used to collect the lifting hook position and induced weight of the crane. The lifting hook position refers to the real-time position of the crane's lifting hook in the operating area. The position will change due to the translation of the lifting hook. Induced weight refers to the real-time weight sensed by the lifting hook of the crane. It is collected by the weight sensor connected to the lifting hook. The weight will change during the lifting movement due to the different positions of the center of gravity of the lifted goods or the inertia generated during translation. . The lifting hook position and induced weight are saved as lifting records in chronological order.

The operating area refers to the working range of the crane, usually a warehouse location where the crane is required to work. The crane's lifting hook moves within the operating area.

The remote control information collection unit is used to collect operating instructions. The staff operates the industrial remote controller to send operating instructions to the receiving device. The receiver controls the movement of the crane's lifting hook according to the operating instructions. The operating instructions include the moving direction and the pressing time. The moving direction is It refers to the movement direction of the goods hoisted by the lifting hook. The pressing time refers to the duration for which the staff presses the move button on the industrial remote control. The lifting hook continues to move during the pressing time.

The crane is a traveling crane, and the industrial remote control buttons are inching buttons.

The moving directions of the lifting hook include ascending, descending, east, south, west and north. The position of the lifting hook does not change when it rises or falls. East, south, west, and north are translations, and the position sends changes.

The camera information collection unit is used to collect the camera position and real-time video. The camera position refers to the installation position of the camera in the working area. The real-time video refers to the monitoring video of the working area, which is collected by the camera installed in the working area.

The data analysis module includes a shaking analysis unit, a regional division unit and a risk prediction unit.

The sloshing analysis unit is used to analyze the sloshing degree of goods and calculate the sloshing index. Obtain the induced weight when the lifting hook hooks the cargo off the ground as the weight of the cargo , set a sampling period, when the lifting hook hooks the goods and moves, the induced weight is obtained in real time, and all the induced weights collected during the sampling period are substituted into the formula to calculate the sway index/> , each sampling period corresponds to a shaking index, the formula is as follows:

In the formula, is the number of sensing weights collected during the sampling period,/> For the first/> The sensed weight of the collection.

The sampling duration is set according to the moving speed of the lifting hook. The faster the moving speed, the shorter the sampling duration, and the slower the moving speed, the longer the sampling duration.

The area dividing unit is used to divide the dangerous area for the lifting hook. When the lifting hook hooks the cargo and moves in translation, the sway index and the position of the lifting hook are obtained in real time, a certain influence distance is set, and the danger is obtained by multiplying the sway index and the influence distance. Distance, with the position of the lifting hook as the center of the circle and the dangerous distance as the radius, divide a circular area as the dangerous area.

The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the cargo and moves horizontally. When the lifting hook hooks the cargo and moves horizontally, it divides the early warning area according to the dangerous area and determines whether there are workers in the early warning area. If the result is yes, then As a personnel unsafe situation.

The location of the danger zone changes according to the position of the lifting hook, and the scope of the danger zone changes according to the change of the shaking index. Since the lifting hook hooks the cargo and moves in the air, the dangerous area includes the air and the ground.

The specific steps to obtain the weight of the goods are as follows:

S1. When the staff lowers the lifting hook of the crane, the position of the lowering lifting hook and the positions of all cameras in the working area are obtained.

S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the descending lifting hook, and select the camera with the closest distance to capture the real-time video of the position of the descending lifting hook.

S3. When the lifting hook hooks the goods and prepares to rise, perform target detection on the goods in the video shot to detect whether the goods are off the ground, obtain the time t _off the ground of the goods in the picture, and retrieve the time t _off in the hoisting record. The induced weight is used as the cargo weight.

The steps to determine the unsafe situation of the personnel are as follows:

S1. When the lifting hook hooks the cargo and moves in translation, analyze the change of the lifting hook position over time and calculate the translation speed in real time; set a minimum acceleration with a negative value , and translation speed/> Substitute into formula/> , the braking distance is calculated/> .

The translation speed refers to the current speed when the lifting hook hooks the cargo and the braking distance is calculated as the translation distance when the current speed starts to decelerate uniformly to zero. The translation speed changes in real time.

The minimum acceleration is set in advance by the staff, referring to the deceleration of the lifting hook when it slides naturally after a power outage.

S2. Obtain the position of the lifting hook, the translation direction and the danger distance. Taking the position of the lifting hook as the starting point, find a position along the translation direction that is equal to the braking distance from the starting point and record it as the early warning position. With the early warning position as the center of the circle, the danger distance is the radius, divide a circular area as area A.

S3. Use the braking distance as the length of the rectangle, twice the danger distance as the width of the rectangle, the lifting hook position and the warning position as the middle points of the width of the rectangle respectively, and divide a rectangular area as area B.

S4. Use area A, area B and dangerous areas as early warning areas.

The position of the early warning area changes according to the position of the lifting hook, the translation direction and the braking distance, and the range of the early warning area changes according to the braking distance and danger distance.

S5. Use the YOLO algorithm to detect human bodies in the real-time video footage captured by the camera, mark the location of each staff member, and determine whether there are staff members in the warning area. If so, it indicates that the personnel are unsafe.

The data processing module is used to adjust the speed and acceleration when the lifting hook hooks the cargo in translation, and includes a speed adjustment unit and an acceleration adjustment unit.

The speed adjustment unit sets the initial speed according to the sway index when the lifting hook hooks the goods and rises. Based on the initial speed, it determines whether the sway index when the lifting hook hooks the goods is within the index area, thereby adjusting the speed. Adjustment.

The acceleration adjustment unit also sets the initial acceleration according to the sway index when the lifting hook hooks the goods and rises. Based on the initial acceleration, it determines whether the sway index when the lifting hook hooks the goods and moves in translation is within the index area, thereby performing Acceleration adjustment.

The acceleration value is a positive or negative number. It is a positive number when acceleration is needed and a negative number when deceleration is needed. The specific acceleration or deceleration is selected based on the adjusted speed calculated by the speed adjustment unit and whether the worker is pressing the move button.

The steps for setting the initial velocity and initial acceleration are as follows:

S1. Obtain all the sway indexes from the time when the lifting hook hooks the goods to the beginning of rising to the end of rising, and calculate the average value as the basic sway index. , the basic volatility index is divided by the middle value of the index threshold interval to obtain the index proportion.

S2. Set a standard speed , the standard speed multiplied by the exponential ratio to get the initial speed/> .

S3. Set a standard acceleration , the standard acceleration is multiplied by the exponential ratio to obtain the initial acceleration/> .

The speed adjustment and acceleration adjustment steps are as follows:

S1. After the lifting hook finishes rising, it remains stationary and continues to wait for the operation instructions from the staff. When the staff controls the industrial remote control to select the translation direction and long presses the button, the initial acceleration will be adjusted according to the translation direction. Increase the translation speed from 0 to the initial speed/> .

S2. Increase the translation speed from 0 to the initial speed. The sloshing index during this period is averaged to obtain the acceleration sloshing index/> , determine whether the acceleration and shake index is within the exponential threshold range. If it is, no adjustment will be made; if not, the acceleration and shake index will be substituted into the formula to calculate the adjusted acceleration; the formula is as follows:

In the formula, is the adjusted acceleration,/> is the acceleration influence coefficient,/> is the middle value of the exponential threshold interval, is the standard shaking index.

The standard shaking index is set according to the actual situation, and the value is greater than the maximum value of the index threshold interval. When the shaking index is less than or equal to the standard shaking index and is not within the index threshold range, an upward or downward adjustment is required. When the shaking index is greater than the standard shaking index, the moving speed is directly controlled to uniformly decelerate to zero.

The index threshold interval is a closed interval. When the shake index is within this interval, it means that the goods shake at a normal amplitude and do not need to be adjusted. When the shaking index is greater than the maximum value in this range, it means that the shaking amplitude of the goods is too large, and the goods have certain safety risks and need to be adjusted. When the shaking index is less than the minimum value in this range, it means that the shaking amplitude of the goods is small, and the translation speed can be increased to improve transportation efficiency, which needs to be adjusted.

The middle value of the exponential threshold interval is obtained by summing the maximum and minimum values of the exponential threshold interval and dividing by 2.

S3. Obtain the sway index at the initial speed V ₀ in real time and calculate the average value to obtain the speed sway index. , determine whether the speed swing index is within the index threshold range. If it is, no adjustment will be made; if not, the speed swing index will be substituted into the formula to calculate the adjusted speed. The formula is as follows:

In the formula, is the adjusted speed,/> is the speed influence coefficient.

Adjustments include the following situations:

Neither acceleration nor velocity is adjusted: both velocity and acceleration remain as is.

Acceleration is not adjusted. Speed adjustment: The speed is uniformly decelerated according to the original acceleration or accelerated to the adjusted speed.

Both acceleration and speed are adjusted: the speed is uniformly decelerated according to the adjusted acceleration or uniformly accelerated to the adjusted speed.

The acceleration adjustment speed is not adjusted: when the staff stops pressing and holding the button, the speed will uniformly decelerate to zero according to the adjusted acceleration; when the staff starts pressing the button again, the speed will uniformly accelerate to the original speed according to the adjusted acceleration.

The operation management module controls the movement direction and movement duration of the goods according to the instruction information, and performs emergency stop management for abnormal situations.

When a worker presses the button in the ascending or descending direction of the industrial remote control, the transmitting device of the industrial remote control continuously transmits operating instructions to the receiving device. The receiving device analyzes the operating instructions and controls the lifting hook of the crane to rise or fall. When the worker stops pressing the translation direction button on the industrial remote control, the industrial remote control transmitting device no longer transmits operating instructions to the receiving device, and the receiving device controls the crane's lifting hook to stop rising or falling, and the movement duration is equal to the pressing duration.

When the worker presses the translation direction button on the industrial remote control, the industrial remote control transmitting device continuously transmits the operating instructions to the receiving device. After analyzing the operating instructions, the receiving device controls the crane's lifting hook to translate in the instruction direction. The translation speed and translation acceleration are determined by the data. The processing module calculates it in real time. When the staff stops pressing the translation direction button on the industrial remote control, the industrial remote control sending device no longer transmits operating instructions to the receiving device, and the receiving device controls the crane's lifting hook to decelerate evenly according to the latest adjusted acceleration calculated by the data processing module. to zero. The translation duration is equal to the duration of the press plus the time it takes for the velocity to decelerate to zero when you stop pressing.

Abnormal situations refer to unsafe conditions for goods or unsafe conditions for personnel. When either situation occurs, the control speed will be uniformly decelerated to zero according to the latest adjusted acceleration calculated by the data processing module. Among them, the unsafe condition of the cargo means that the sway index when the lifting hook hooks the moving cargo is greater than the standard sway index.

Compared with the prior art, the beneficial effects achieved by the present invention are:

1. Accurate sway analysis: This application calculates the sway index from the change in weight sensed by the lifting hook during movement, and accurately measures the sway amplitude of the lifted cargo due to factors such as center of gravity or speed. Compared with the traditional method that relies on the naked eye of the worker Recognition is more accurate and efficient.

2. Dynamic speed adjustment: This application adjusts the changes in speed and acceleration through the analysis of the sway index, improves transportation efficiency by increasing the speed and acceleration of stable goods, and improves transportation safety by reducing the speed and acceleration of unstable goods. It also This avoids cargo damage caused by inertia caused by workers pressing the move button for a short period of time.

3. Personnel safety prediction: This application dynamically divides early warning areas based on the moving speed, moving direction and danger zone range of goods to ensure personnel safety issues. When people are in the early warning area, the goods will be stopped in time to ensure that the goods will not be dangerous. Threat to life safety of staff.

To sum up, compared with traditional technology, the present invention has the advantages of precise sway analysis, dynamic speed adjustment and personnel safety prediction, and can improve the efficiency and safety of cargo transportation.

Description of drawings

The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. In the attached picture:

Figure 1 is a schematic structural diagram of an intelligent mobile remote control management system for industrial remote controls according to the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Please refer to Figure 1. The present invention provides an intelligent mobile remote control management system for industrial remote controls. The system includes a data collection module, a data analysis module, a data processing module and an operation management module.

The data acquisition module is used to collect the hoisting information of the crane, the command information of the industrial remote control and the image information of the job site. The data analysis module is used to analyze the shaking of hoisted goods and calculate the shaking index. It divides dangerous areas according to the shaking index and predicts whether there is unsafe situation for personnel. The data processing module adjusts the speed and acceleration according to the sway index when the hoisted goods are translated. The operation management module controls the movement direction and movement duration of the goods based on the instruction information.

The data collection module includes a hoisting information collection unit, a remote control information collection unit and a camera information collection unit.

The hoisting information collection unit is used to collect the crane's lifting hook position and induced weight. The lifting hook position refers to the real-time position of the crane's lifting hook in the operating area. The position will change due to the translation of the lifting hook. Induced weight refers to the real-time weight sensed by the lifting hook of the crane. It is collected by the weight sensor connected to the lifting hook. The weight will change during the lifting movement due to the different positions of the center of gravity of the lifted goods or the inertia generated during translation. . The lifting hook position and induced weight are saved as lifting records in chronological order.

The operating area refers to the working range of the crane, usually a warehouse location where the crane is required to work. The crane's lifting hook moves within the operating area.

The remote control information collection unit is used to collect operating instructions. The staff operates the industrial remote control to send operating instructions to the receiving device. The receiver controls the movement of the crane's lifting hook according to the operating instructions. The operating instructions include the moving direction and the pressing time. The moving direction refers to the lifting hook. The direction of movement of goods hoisted by the heavy hook and the pressing time refer to the duration for which the staff presses the move button on the industrial remote control. The lifting hook continues to move during the pressing time.

The crane is a traveling crane, and the industrial remote control buttons are inching buttons.

The moving directions of the lifting hook include ascending, descending, east, south, west and north. The position of the lifting hook does not change when it rises or falls. East, south, west, and north are translations, and the position sends changes.

The camera information collection unit is used to collect the camera position and real-time video. The camera position refers to the installation position of the camera in the working area. The real-time video refers to the monitoring video of the working area, which is collected by the camera installed in the working area.

The data analysis module includes a shaking analysis unit, a regional division unit and a risk prediction unit.

The sloshing analysis unit is used to analyze the sloshing degree of goods and calculate the sloshing index. Obtain the induced weight when the lifting hook hooks the cargo off the ground as the weight of the cargo , set a sampling period, when the lifting hook hooks the goods and moves, the induced weight is obtained in real time, and all the induced weights collected during the sampling period are substituted into the formula to calculate the sway index/> , each sampling period corresponds to a shaking index, the formula is as follows:

In the formula, is the number of sensing weights collected during the sampling period,/> For the first/> The sensed weight of the collection.

The sampling duration is set according to the moving speed of the lifting hook. The faster the moving speed, the shorter the sampling duration, and the slower the moving speed, the longer the sampling duration.

The area division unit is used to divide the dangerous area for the lifting hook. When the lifting hook hooks the cargo and moves in translation, the sway index and the position of the lifting hook are obtained in real time, an influencing distance is set, and the dangerous distance is obtained by multiplying the swaying index and the influencing distance. With the position of the lifting hook as the center of the circle and the dangerous distance as the radius, a circular area is divided as the dangerous area.

The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the goods and moves. When the lifting hook hooks the goods and moves, it divides the warning area according to the dangerous area and determines whether there are workers in the warning area. If the result is yes, it will be regarded as personnel Unsafe conditions.

The location of the danger zone changes according to the position of the lifting hook, and the scope of the danger zone changes according to the change of the shaking index. Since the lifting hook hooks the cargo and moves in the air, the dangerous area includes the air and the ground.

The specific steps to obtain the weight of the cargo are as follows:

S1. When the staff lowers the lifting hook of the crane, the position of the lowering lifting hook and the positions of all cameras in the working area are obtained.

S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the descending lifting hook, and select the camera with the closest distance to capture the real-time video of the position of the descending lifting hook.

S3. When the lifting hook hooks the goods and prepares to rise, perform target detection on the goods in the video shot to detect whether the goods are off the ground, obtain the time t _off the ground of the goods in the picture, and retrieve the time t _off in the hoisting record. The induced weight is used as the cargo weight.

The steps to determine personnel unsafe conditions are as follows:

S1. When the lifting hook hooks the cargo and moves in translation, analyze the change of the lifting hook position over time and calculate the translation speed in real time; set a minimum acceleration with a negative value , and translation speed/> Substitute into formula/> , the braking distance is calculated/> .

The translation speed refers to the current speed when the lifting hook hooks the cargo and the braking distance is calculated as the translation distance when the current speed starts to decelerate uniformly to zero. The translation speed changes in real time.

The minimum acceleration is set in advance by the staff, referring to the deceleration of the lifting hook when it slides naturally after a power outage.

S2. Obtain the position of the lifting hook, the translation direction and the danger distance. Taking the position of the lifting hook as the starting point, find a position along the translation direction that is equal to the braking distance from the starting point and record it as the early warning position. With the early warning position as the center of the circle, the danger distance is the radius, divide a circular area as area A.

S3. Use the braking distance as the length of the rectangle, twice the danger distance as the width of the rectangle, the lifting hook position and the warning position as the middle points of the width of the rectangle respectively, and divide a rectangular area as area B.

S4. Use area A, area B and dangerous areas as early warning areas.

The position of the early warning area changes according to the position of the lifting hook, the translation direction and the braking distance, and the range of the early warning area changes according to the braking distance and danger distance.

S5. Use the YOLO algorithm to detect human bodies in the real-time video footage captured by the camera, mark the location of each staff member, and determine whether there are staff members in the warning area. If so, it indicates that the personnel are unsafe.

The data processing module is used to adjust the speed and acceleration when the lifting hook hooks the cargo and includes a speed adjustment unit and an acceleration adjustment unit.

The speed adjustment unit sets the initial speed based on the sway index when the lifting hook hooks the cargo and rises. Based on the initial speed, it determines whether the sway index when the lifting hook hooks the cargo is within the index area, thereby adjusting the speed.

The acceleration adjustment unit also sets the initial acceleration based on the sway index when the lifting hook hooks the goods and rises. Based on the initial acceleration, it determines whether the sway index when the lifting hook hooks the goods and moves in translation is within the index area, thereby adjusting the acceleration. .

The acceleration value is a positive or negative number. It is a positive number when acceleration is needed and a negative number when deceleration is needed. The specific acceleration or deceleration is selected based on the adjusted speed calculated by the speed adjustment unit and whether the worker is pressing the move button.

The steps to set the initial speed and initial acceleration are as follows:

S1. Obtain all the sway indexes from the time when the lifting hook hooks the goods to the beginning of rising to the end of rising, and calculate the average value as the basic sway index. , the basic volatility index is divided by the middle value of the index threshold interval to obtain the index proportion.

S2. Set a standard speed , the standard speed multiplied by the exponential ratio to get the initial speed/> .

S3. Set a standard acceleration , the standard acceleration is multiplied by the exponential ratio to obtain the initial acceleration/> .

The steps for speed adjustment and acceleration adjustment are as follows:

S1. After the lifting hook finishes rising, it remains stationary and continues to wait for the operation instructions from the staff. When the staff controls the industrial remote control to select the translation direction and long presses the button, the initial acceleration will be adjusted according to the translation direction. Increase the translation speed from 0 to the initial speed/> .

S2. Increase the translation speed from 0 to the initial speed. The sloshing index during this period is averaged to obtain the acceleration sloshing index/> , determine whether the acceleration and shake index is within the exponential threshold range. If it is, no adjustment will be made; if not, the acceleration and shake index will be substituted into the formula to calculate the adjusted acceleration; the formula is as follows:

In the formula, is the adjusted acceleration,/> is the acceleration influence coefficient,/> is the middle value of the exponential threshold interval, is the standard shaking index.

The standard shaking index is set according to the actual situation, and the value is greater than the maximum value of the index threshold interval. When the shaking index is less than or equal to the standard shaking index and is not within the index threshold range, an upward or downward adjustment is required. When the shaking index is greater than the standard shaking index, the moving speed is directly controlled to uniformly decelerate to zero.

The index threshold interval is a closed interval. When the shake index is within this interval, it means that the goods shake at a normal amplitude and do not need to be adjusted. When the shaking index is greater than the maximum value in this range, it means that the shaking amplitude of the goods is too large, and the goods have certain safety risks and need to be adjusted. When the shaking index is less than the minimum value in this range, it means that the shaking amplitude of the goods is small, and the translation speed can be increased to improve transportation efficiency, which needs to be adjusted.

The middle value of the exponential threshold interval is obtained by summing the maximum and minimum values of the exponential threshold interval and dividing by 2.

S3. Obtain the sway index at the initial speed V ₀ in real time and calculate the average value to obtain the speed sway index. , determine whether the speed swing index is within the index threshold range. If it is, no adjustment will be made; if not, the speed swing index will be substituted into the formula to calculate the adjusted speed. The formula is as follows:

In the formula, is the adjusted speed,/> is the speed influence coefficient.

Adjustments include the following situations:

Neither acceleration nor velocity is adjusted: both velocity and acceleration remain as is.

Acceleration is not adjusted. Speed adjustment: The speed is uniformly decelerated according to the original acceleration or accelerated to the adjusted speed.

Both acceleration and speed are adjusted: the speed is uniformly decelerated according to the adjusted acceleration or uniformly accelerated to the adjusted speed.

The acceleration adjustment speed is not adjusted: when the staff stops pressing and holding the button, the speed will uniformly decelerate to zero according to the adjusted acceleration; when the staff starts pressing the button again, the speed will uniformly accelerate to the original speed according to the adjusted acceleration.

The operation management module controls the movement direction and movement duration of the goods based on the instruction information, and performs emergency stop management for abnormal situations.

When a worker presses the button in the ascending or descending direction of the industrial remote control, the transmitting device of the industrial remote control continuously transmits operating instructions to the receiving device. The receiving device analyzes the operating instructions and controls the lifting hook of the crane to rise or fall. When the worker stops pressing the translation direction button on the industrial remote control, the industrial remote control transmitting device no longer transmits operating instructions to the receiving device, and the receiving device controls the crane's lifting hook to stop rising or falling, and the movement duration is equal to the pressing duration.

When the worker presses the translation direction button on the industrial remote control, the industrial remote control transmitting device continuously transmits the operating instructions to the receiving device. After analyzing the operating instructions, the receiving device controls the crane's lifting hook to translate in the instruction direction. The translation speed and translation acceleration are determined by the data. The processing module calculates it in real time. When the staff stops pressing the translation direction button on the industrial remote control, the industrial remote control sending device no longer transmits operating instructions to the receiving device, and the receiving device controls the crane's lifting hook to decelerate evenly according to the latest adjusted acceleration calculated by the data processing module. to zero. The translation duration is equal to the duration of the press plus the time it takes for the velocity to decelerate to zero when you stop pressing.

Abnormal situations refer to unsafe conditions for goods or unsafe conditions for personnel. When either situation occurs, the control speed will be uniformly decelerated to zero according to the latest adjusted acceleration calculated by the data processing module. Among them, the unsafe condition of the cargo means that the sway index when the lifting hook hooks the moving cargo is greater than the standard sway index.

Example 1:

Assume that the initial acceleration of the lifting hook is 20cm/s ² , the initial speed is 60cm/s, and the cargo weight is 60kg; the translation speed of the cargo hooked by the lifting hook increases from 0 to the initial speed of 60cm/s within 3s, and the sampling time is 1s , the induced weight within each sampling period is as follows:

Inductive weight: [60kg, 80kg], [80kg, 60kg], [60kg, 80kg];

Substitute into the formula to calculate the sloshing index:

The sway index of the first sampling period: ;

The shaking index of the second sampling period: ;

The shaking index of the third sampling period: ;

acceleration sway index ;

Assuming that the index threshold interval is [0.05, 0.15], the acceleration influence coefficient is 0.9, and the standard shake index is 0.3, then the acceleration shake index is substituted into the formula to calculate the adjusted acceleration:

Adjusted acceleration: ;

When the lifting hook hooks the cargo and maintains translation at the initial speed, the speed sway index is within the exponential threshold range and no adjustment is made; when the staff stops pressing the button for a long time, the speed will be adjusted according to the adjusted acceleration - Carry out uniform deceleration to zero; when the staff starts to press and hold the button again, the speed will follow the adjusted acceleration/> Carry out uniform acceleration to 60cm/s.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it is still The technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. Industrial remote control intelligent mobile remote control management system, characterized by: the system includes a data collection module, a data analysis module, a data processing module and an operation management module; The data acquisition module is used to collect the hoisting information of the crane, the instruction information of the industrial remote control and the image information of the work site; the data analysis module is used to analyze the shaking of the hoisted goods and calculate the shaking index, and divide the dangerous areas according to the shaking index , predict whether there is an unsafe situation for personnel; the data processing module adjusts the speed and acceleration according to the sway index when the hoisted goods are translated; the operation management module controls the movement direction and movement duration of the goods according to the instruction information. 2. The industrial remote control intelligent mobile remote control management system according to claim 1, characterized in that: the data collection module includes a hoisting information collection unit, a remote control information collection unit and a camera information collection unit; The hoisting information collection unit is used to collect the lifting hook position and induced weight of the crane. The lifting hook position refers to the real-time position of the crane's lifting hook in the operating area. The position will change due to the translation of the lifting hook; the induced weight It refers to the real-time weight sensed by the lifting hook of the crane, which is collected by the weight sensor connected to the lifting hook. The weight will change during the lifting movement due to the different positions of the center of gravity of the lifted goods or the inertia generated during translation; The heavy hook position and induced weight are saved as lifting records in chronological order; The remote control information collection unit is used to collect operating instructions. The staff operates the industrial remote controller to send operating instructions to the receiving device. The receiver controls the movement of the crane's lifting hook according to the operating instructions. The operating instructions include the moving direction and the pressing time. The moving direction is Refers to the moving direction of the goods hoisted by the lifting hook. The pressing duration refers to the duration for which the staff presses the move button on the industrial remote control. The lifting hook continues to move during the pressing time; The camera information collection unit is used to collect the camera position and real-time video. The camera position refers to the installation position of the camera in the working area. The real-time video refers to the monitoring video of the working area, which is collected by the camera installed in the working area. 3. The intelligent mobile remote control management system for industrial remote controls according to claim 2, characterized in that: the data analysis module includes a shaking analysis unit, a regional division unit and a risk prediction unit; The sloshing analysis unit is used to analyze the swaying degree of the cargo and calculate the sloshing index; obtain the induced weight when the lifting hook hooks the cargo off the ground as the weight of the cargo , set a sampling period, when the lifting hook hooks the goods and moves, the induced weight is obtained in real time, and all the induced weights collected during the sampling period are substituted into the formula to calculate the sway index/> , each sampling period corresponds to a shaking index, the formula is as follows: In the formula, is the number of sensing weights collected during the sampling period,/> For the first/> Sensed weight collected; The area dividing unit is used to divide the dangerous area for the lifting hook. When the lifting hook hooks the cargo and moves in translation, the sway index and the position of the lifting hook are obtained in real time, a certain influence distance is set, and the danger is obtained by multiplying the sway index and the influence distance. Distance, with the position of the lifting hook as the center of the circle and the dangerous distance as the radius, divide a circular area as the dangerous area; The risk prediction unit is used to predict the personnel risk when the lifting hook hooks the goods and moves. When the lifting hook hooks the goods and moves, it divides the early warning area according to the dangerous area and determines whether there are workers in the early warning area. If the result is yes, then As a personnel unsafe situation. 4. The industrial remote control intelligent mobile remote control management system according to claim 3, characterized in that: the specific steps for obtaining the weight of the goods are as follows: S1. When the staff operates the lifting hook of the crane to lower, the position of the lowering hook and the positions of all cameras in the working area are obtained; S2. Use the Euclidean distance calculation formula to calculate the distance between each camera position and the position of the descending lifting hook, and select the camera with the closest distance to capture the real-time video of the position of the descending lifting hook; S3. When the lifting hook hooks the goods and prepares to rise, perform target detection on the goods in the video shot to detect whether the goods are off the ground, obtain the time t _off the ground of the goods in the picture, and retrieve the time t _off in the hoisting record. The induced weight is used as the cargo weight. 5. The industrial remote control intelligent mobile remote control management system according to claim 3, characterized in that: the steps for determining the unsafe situation of the personnel are as follows: S1. When the lifting hook hooks the cargo and moves in translation, analyze the change of the lifting hook position over time and calculate the translation speed in real time; set a minimum acceleration with a negative value , and translation speed/> Substitute into formula/> , the braking distance is calculated/> ; S2. Obtain the position of the lifting hook, the translation direction and the danger distance. Taking the position of the lifting hook as the starting point, find a position along the translation direction that is equal to the braking distance from the starting point and record it as the early warning position. With the early warning position as the center of the circle, the danger distance is the radius, divide a circular area as area A; S3. Taking the braking distance as the length of the rectangle, twice the danger distance as the width of the rectangle, the lifting hook position and the warning position as the middle points of the width of the rectangle respectively, divide a rectangular area as area B; S4. Use area A, area B and dangerous areas as early warning areas; S5. Use the YOLO algorithm to detect human bodies in the real-time video footage captured by the camera, mark the location of each staff member, and determine whether there are staff members in the warning area. If so, it indicates that the personnel are unsafe. 6. The industrial remote control intelligent mobile remote control management system according to claim 3, characterized in that: the data processing module is used to adjust the speed and acceleration when the lifting hook hooks the cargo and includes a speed adjustment unit. and acceleration adjustment unit; The speed adjustment unit sets the initial speed according to the sway index when the lifting hook hooks the goods and rises. Based on the initial speed, it determines whether the sway index when the lifting hook hooks the goods is within the index area, thereby adjusting the speed. Adjustment; The acceleration adjustment unit also sets the initial acceleration according to the sway index when the lifting hook hooks the goods and rises. Based on the initial acceleration, it determines whether the sway index when the lifting hook hooks the goods and moves in translation is within the index area, thereby performing Acceleration adjustment. 7. The industrial remote control intelligent mobile remote control management system according to claim 6, characterized in that: the setting steps of the initial speed and initial acceleration are as follows: S1. Obtain all the sway indexes from the time when the lifting hook hooks the goods to the beginning of rising to the end of rising, and calculate the average value as the basic sway index. , the basic fluctuation index is divided by the middle value of the index threshold interval to obtain the index proportion; S2. Set a standard speed , the standard speed multiplied by the exponential ratio to get the initial speed/> ; S3. Set a standard acceleration , the standard acceleration is multiplied by the exponential ratio to obtain the initial acceleration/> . 8. The industrial remote control intelligent mobile remote control management system according to claim 6, characterized in that: the speed adjustment and acceleration adjustment steps are as follows: S1. After the lifting hook finishes rising, it remains stationary and continues to wait for the operation instructions from the staff. When the staff controls the industrial remote control to select the translation direction and long presses the button, the initial acceleration will be adjusted according to the translation direction. Increase the translation speed from 0 to the initial speed/> ; S2. Increase the translation speed from 0 to the initial speed. The sloshing index during this period is averaged to obtain the acceleration sloshing index/> , determine whether the acceleration and shake index is within the exponential threshold range. If it is, no adjustment will be made; if not, the acceleration and shake index will be substituted into the formula to calculate the adjusted acceleration; the formula is as follows: In the formula, is the adjusted acceleration,/> is the acceleration influence coefficient,/> is the middle value of the exponential threshold interval,/> is the standard shaking index; S3. Obtain the sway index at the initial speed V ₀ in real time and calculate the average value to obtain the speed sway index. , determine whether the speed shake index is within the index threshold range. If it is, no adjustment will be made; if not, the speed shake index will be substituted into the formula to calculate the adjusted speed; the formula is as follows: In the formula, is the adjusted speed,/> is the speed influence coefficient. 9. The industrial remote control intelligent mobile remote control management system according to claim 8, characterized in that: adjustment includes the following situations: Neither acceleration nor velocity is adjusted: both velocity and acceleration remain the same; Acceleration is not adjusted; speed adjustment: the speed is uniformly decelerated according to the original acceleration or accelerated to the adjusted speed; Both acceleration and speed are adjusted: the speed is uniformly decelerated according to the adjusted acceleration or uniformly accelerated to the adjusted speed; The acceleration adjustment speed is not adjusted: when the staff stops pressing and holding the button, the speed will uniformly decelerate to zero according to the adjusted acceleration; when the staff starts pressing the button again, the speed will uniformly accelerate to the original speed according to the adjusted acceleration. 10. The industrial remote control intelligent mobile remote control management system according to claim 6, characterized in that: the operation management module controls the movement direction and movement duration of the goods according to the instruction information, and performs emergency stop management for abnormal situations. ; When the worker presses the translation direction button on the industrial remote control, the industrial remote control transmitting device continuously transmits the operating instructions to the receiving device. After analyzing the operating instructions, the receiving device controls the crane's lifting hook to translate in the instruction direction. The translation speed and translation acceleration are determined by the data. The processing module calculates it in real time; when the staff stops pressing the translation direction button on the industrial remote control, the industrial remote control sending device no longer transmits operating instructions to the receiving device, and the receiving device controls the lifting hook of the crane according to the latest value calculated by the data processing module. The adjusted acceleration decelerates uniformly to zero; the translation duration is equal to the pressing duration plus the time required to decelerate to zero when the speed stops pressing; Abnormal situations refer to the occurrence of unsafe goods or unsafe personnel; when either situation occurs, the control speed will be uniformly decelerated to zero according to the latest adjusted acceleration calculated by the data processing module; among them, the unsafe situation of goods is It means that the sway index when the lifting hook hooks the cargo is greater than the standard sway index.