Dynamic perception system and perception method of tower crane operation safety zone

Abstract

The present invention relates to the field of construction safety control technology, and specifically to a dynamic perception system and perception method for a tower crane operation safety zone. The boom danger zone acquisition module is used to obtain in real time a first danger zone directly under the boom in a moving or stationary state; the heavy object danger zone acquisition module is used to obtain in real time a second danger zone directly under the heavy object in a moving or stationary state; the construction personnel position acquisition module is used to obtain the construction personnel position in real time; the safety warning module is used to receive the construction personnel position information in real time, and send a safety warning signal when the construction personnel enter the first danger zone or the second danger zone. The tower crane operation safety zone of the present invention can perform dynamic real-time perception, divide the tower crane operation area into dangerous areas covered by the boom and heavy objects, and greatly improve the safety of the tower crane operation.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction safety control, and in particular to a dynamic sensing system and sensing method for a tower crane operation safety zone. Background Art

[0002] In the field of construction engineering, tower cranes are the most commonly used lifting equipment on construction sites, primarily used for the transportation and transfer of construction materials and large-scale construction equipment. National regulations clearly stipulate that no one is allowed to stand near the bottom of a tower crane during construction. When lifting or lowering components or heavy objects, no one is allowed to stay or walk under the hoisted objects. However, due to the complexity of the tower crane construction area and the different sizes of heavy objects hoisted by tower cranes, tower crane operators have visual blind spots when operating the tower cranes. If on-site command and dispatch personnel fail to perform their duties properly, and there are people standing or passing under the tower crane, accidents involving falling objects from the tower cranes and injuring people often occur. Currently, the main method of safety precautions for tower crane personnel in China is to set up cordons or install surveillance cameras in the tower crane construction area to prevent intrusion. Although this method can monitor tower crane personnel to a certain extent, it cannot effectively and comprehensively prevent injuries from falling from heights.

[0003] To address this technical issue, a Chinese invention patent, CN109795958A, entitled "A Safe Tower Crane System and Safe Operation Method Based on Electronic Fence," describes a tower crane system with an electronic fence. The system includes a conventional tower crane, a luffing winch horizontal motion ranging unit, an electronic fence, and a control system. The luffing winch horizontal motion ranging unit measures the distance from the luffing winch to the crane body and transmits the measured distance to the control system in real time. The electronic fence primarily limits the horizontal motion radius of the luffing winch in different directions. The control system primarily generates an electronic fence boundary, compares and analyzes the relationship between the luffing winch's horizontal displacement and the electronic fence boundary, and controls the luffing winch's drive mechanism based on this comparison to ensure that the luffing winch's horizontal motion range does not exceed the electronic fence boundary. This solution essentially establishes a virtual electronic fence that serves as a warning to the tower crane to prevent collisions. The electronic fence constructed in this solution is a virtual, static fence. In practice, the operating range of a tower crane is very large. If the electronic fence is set based on the operating range of the tower crane, the restricted range will be very large, which does not meet construction requirements. Moreover, the main technical problem solved by this solution is collision prevention, and personnel safety is not involved. Therefore, it is necessary to design a tower crane operation safety perception system that fully considers personnel safety. Summary of the Invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide a dynamic sensing system and sensing method for the tower crane operation safety zone.

[0005] The technical solution of the present invention is: a dynamic sensing system for tower crane operation safety zone, comprising a tower crane; the tower crane comprises a boom and a hoisting winch, a luffing winch, a slewing motor, and a hoisting trolley installed on the boom, and further comprising:

[0006] A boom danger zone acquisition module, the boom danger zone acquisition module is used to acquire in real time a first danger zone directly below the boom in a moving or stationary state;

[0007] A heavy object danger zone acquisition module, which is used to acquire in real time a second danger zone directly below a heavy object in a moving or stationary state;

[0008] A construction worker location acquisition module, which is used to acquire the location of construction workers in real time;

[0009] The safety warning module is used to receive the construction workers' location information in real time and send a safety warning signal when the construction workers enter the first danger zone or the second danger zone.

[0010] According to a tower crane operation safety zone dynamic perception system provided by the present invention, the boom dangerous area acquisition module includes:

[0011] A boom coverage range acquisition module, wherein the boom coverage range acquisition module determines the boom coverage range according to the length and width of the boom and a set first safety distance;

[0012] A boom rotation angle acquisition module, the boom rotation angle acquisition module comprising a first encoder mounted on the rotation motor, for acquiring the boom rotation angle;

[0013] A first dangerous area determination module is configured to determine a first dangerous area according to a boom coverage range and a boom rotation angle.

[0014] According to a tower crane operation safety zone dynamic perception system provided by the present invention, the heavy object dangerous area acquisition module includes:

[0015] A heavy object position acquisition module, which is used to obtain the current position of the heavy object relative to the coordinate origin of the tower crane;

[0016] A heavy object coverage range acquisition module, the heavy object coverage range acquisition module is used to determine the heavy object coverage range according to the projection area of ​​the heavy object on the ground;

[0017] The second dangerous area determination module determines the second dangerous area according to the coverage range of the heavy object, the position of the heavy object and the set second safety distance.

[0018] According to a tower crane operation safety zone dynamic perception system provided by the present invention, the heavy object position acquisition module includes:

[0019] The heavy object luffing distance determination module includes a second encoder installed on the luffing winch, which is used to obtain the luffing distance of the lifting winch as the horizontal distance of the heavy object relative to the coordinate origin of the tower crane.

[0020] According to a tower crane operation safety zone dynamic perception system provided by the present invention, the heavy object coverage range acquisition module includes:

[0021] A camera is mounted on the lifting trolley and is used to obtain image information of the heavy object below;

[0022] A weight height acquisition module, comprising a third encoder mounted on the hoisting winch, for acquiring the distance between the weight and the hoisting trolley as the height of the weight;

[0023] The coverage range extraction module determines the projection area of ​​the heavy object on the ground according to the image information and the height of the heavy object to obtain the coverage range of the heavy object.

[0024] According to a tower crane operation safety zone dynamic perception system provided by the present invention, the construction personnel position acquisition module includes:

[0025] The positioning module is carried by the construction workers and includes a GPS positioning module and a wireless signal generating module, which is used to send the construction workers' location signal to the safety warning module in real time.

[0026] The present invention also provides a method for dynamically sensing a tower crane operation safety zone, which is applied to the above-mentioned sensing system and includes the following steps:

[0027] S1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground;

[0028] S2. Obtain in real time the coverage area of ​​the heavy object, the height of the heavy object, the distance relative to the coordinate origin of the tower crane, and the boom rotation angle, and determine the second dangerous area projected by the heavy object on the ground;

[0029] S3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel are in the first danger zone or the second danger zone, and issue a warning signal when the construction personnel are in the first danger zone or the second danger zone.

[0030] According to a method for dynamic perception of a tower crane operation safety zone provided by the present invention, in step S1, the method for determining a first dangerous area projected by the boom on the ground includes: installing a first encoder on a slewing motor, recording the slewing angle of the boom, determining the coverage range of the boom according to the length and width of the boom and a set first safety distance, and determining the first dangerous area according to the slewing angle of the boom and the coverage range of the boom.

[0031] According to a dynamic perception method of a tower crane operation safety zone provided by the present invention, in step S2, real-time acquisition of the heavy object coverage range includes: installing a camera on the hoisting trolley, and obtaining image information of the heavy object directly below through the camera; installing a third encoder on the hoisting winch, and the third encoder records the extension length of the wire rope of the hoisting winch to obtain the height of the heavy object relative to the hoisting trolley as the height of the heavy object; determining the projection area of ​​the heavy object on the ground according to the image information and the height of the heavy object, and obtaining the heavy object coverage range.

[0032] According to a method for dynamic perception of a tower crane operation safety zone provided by the present invention, in step S2, a second encoder is installed on the luffing winch, and the second encoder records the luffing distance of the lifting winch to obtain the horizontal distance of the weight relative to the coordinate origin of the tower crane; the position of the weight relative to the coordinate origin of the tower crane can be obtained based on the boom rotation angle and the horizontal distance of the weight relative to the coordinate origin of the tower crane; the second danger zone is determined based on the position of the weight relative to the coordinate origin of the tower crane, the coverage range of the weight and the set second safety distance.

[0033] The advantages of the present invention are as follows: 1. The present invention constructs a dynamic safe operation zone of the tower crane. By acquiring the first dangerous zone covered by the boom and the second dangerous zone covered by the heavy object in real time, the dangerous zone can be divided within the tower crane operation area. Moreover, the dangerous zone of the present invention changes in real time according to the movement of the boom and the heavy object. By acquiring the position of the construction personnel in real time, a warning is issued when the construction personnel enter the dangerous zone, thereby greatly improving the safety of the tower crane operation. Moreover, there is no need to set the entire tower crane operation area as a dangerous warning zone. The dynamic perception of the operation safety zone is more accurate, the perception range is small, and the construction of the tower crane operation area will not be affected. The safety warning level for the construction personnel entering the tower crane operation area is high, and the present invention has great promotion value.

[0034] 2. The present invention obtains the first danger zone based on the length and width of the boom. The boom coverage area projected on the ground is obtained by adding the length and width of the boom to the first set distance. Then, the specific position of the boom coverage area in the tower crane operation area is determined based on the boom's rotation angle. In this way, the first danger zone corresponding to the boom can be obtained. The entire determination method is extremely simple and can accurately and real-timely obtain the boom coverage area, facilitating warnings to construction personnel.

[0035] 3. The second dangerous area is obtained based on the coverage of the heavy object, and then the position of the heavy object is obtained. Based on the position of the heavy object, the position of the heavy object coverage in the tower crane operation area can be obtained, and the second dangerous area corresponding to the heavy object is obtained. By sensing the position of the heavy object in real time and obtaining the area covered by the heavy object, it is convenient to warn construction personnel entering the tower crane operation area;

[0036] 4. The method of obtaining the position of the heavy object in the present invention is extremely simple. By obtaining the rotation angle of the boom and the luffing distance of the trolley, the projection position of the heavy object on the ground in the tower crane operating area can be obtained. The position of the heavy object is obtained very accurately and can be monitored in real time, so as to promptly warn construction personnel who enter the dangerous area.

[0037] 5. The method of obtaining the coverage range of the heavy object in the present invention is extremely simple. The image information of the heavy object is obtained by the camera under the lifting trolley. According to the image information and the height of the heavy object, the height of the heavy object is actually the distance between the heavy object and the lifting trolley. In this way, the coverage range of the heavy object can be obtained by the above distance and image information. The acquisition method is simple and is not limited to the structure of the heavy object. The obtained coverage range of the heavy object is more accurate.

[0038] 6. The present invention carries a positioning module on the construction workers, uses the positioning module to locate the construction workers' positions in real time, and sends the position signal to the control unit. The construction workers' position information is compared with the first danger zone and the second danger zone, so as to quickly determine whether the construction workers have entered the danger zone.

[0039] The tower crane operation safety zone of the present invention can perform dynamic real-time perception, divide the tower crane operation area into a dangerous area covered by the boom and heavy objects, and issue a warning once a construction worker enters the dangerous area, thereby greatly improving the safety of tower crane operation and having great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 : Schematic diagram of the dynamic sensing system of the present invention;

[0041] Figure 2 : Schematic diagram of the division of the first dangerous area and the second dangerous area of ​​the present invention;

[0042] Among them: 1—tower crane; 2—jib; 3—hoisting trolley; 4—hoisting winch; 5—luffing winch; 6—rotating motor; 7—weight; 8—first encoder; 9—second encoder; 10—third encoder; 11—camera; 12—control room; 13—wireless module; 14—sound and light alarm; 15—total station; 16—safety helmet. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention.

[0044] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] The present application relates to a dynamic perception system for tower crane operation safety zones, which is used for safety protection of tower crane operations. It is mainly used to remind construction personnel when they enter the unsafe zone of the tower crane operation area. It is mainly used to remind tower crane operators, and it can also remind construction personnel who enter the unsafe zone. The identification of the unsafe zone or dangerous zone of the tower crane in the present application is dynamic, that is, the present application identifies the dangerous zone based on the projection of the tower crane boom and the hoisted weight on the ground according to the movement of the tower crane boom, and dynamically identifies the dangerous zone where the tower crane boom and the hoisted weight may fall, thereby improving the safety of the entire tower crane operation construction. Moreover, the identification of the dangerous zone is dynamic and targeted at the tower crane boom and the hoisted weight, and the divided area is relatively small, which will not affect the construction of the tower crane operation area.

[0048] Specifically, such as Figure 1As shown, a tower crane of conventional structure is included. The tower crane 1 of the present application includes a boom 2 and a hoisting winch 4, a luffing winch 5, a slewing motor 6, and a hoisting trolley 3 installed on the boom 2. The boom 2 is installed on the tower crane 1 and can rotate around a vertical axis (rotation center). That is, the slewing motor 6 on the tower crane 1 drives the boom 2 to rotate around the vertical axis. The hoisting trolley 3 can move along the length of the boom 2 on the boom 2 through the luffing winch 5 to achieve luffing adjustment. A hoisting rope is installed on the hoisting trolley 3, and the hoisting rope is controlled by the hoisting winch 4 to achieve vertical movement of the load.

[0049] In order to identify the dangerous areas of the boom 2 and the lifted heavy object 7, the present application also includes a boom dangerous area acquisition module, a heavy object dangerous area acquisition module, a construction personnel position acquisition module and a safety warning module. The boom dangerous area acquisition module is used to acquire the first dangerous area covered directly below the boom in motion or at rest in real time; the heavy object dangerous area acquisition module is used to acquire the second dangerous area covered directly below the heavy object in motion or at rest in real time; the construction personnel position acquisition module is used to acquire the position of the construction personnel in real time. The construction personnel position acquisition module can be implemented by the construction personnel carrying a position coordinate acquisition device, or by installing an image acquisition device in the tower crane operation area to identify the construction personnel and thereby acquire the construction personnel coordinate information; the safety warning module is used to receive the construction personnel position information in real time and issue a safety warning signal when the construction personnel enter the first dangerous area or the second dangerous area.

[0050] The safety warning module is the control module of the entire perception system. It is used to process the data obtained by the crane danger zone acquisition module, the heavy object danger zone acquisition module, and the construction personnel position acquisition module to determine whether any construction personnel have entered the danger zone so as to issue warning information in a timely manner.

[0051] During actual use, when the tower crane is in operation, the boom danger zone acquisition module will identify the first danger zone in the current situation, the heavy object danger zone acquisition module will identify the second danger zone, and the construction personnel position acquisition module will obtain the position coordinates of the construction personnel entering the tower crane operation area, and compare the construction personnel's position coordinates with the position coordinates of the first danger zone and the second danger zone. If the construction personnel appear in the first danger zone or the second danger zone, a warning message will be immediately issued to remind them. The warning message can be sent to the tower crane operator, and can also be sent to the construction personnel entering the danger zone at the same time.

[0052] In some embodiments of the present application, this embodiment optimizes the above-mentioned boom danger zone acquisition module. Specifically, the boom danger zone acquisition module includes a boom coverage range acquisition module, a boom rotation angle acquisition module and a first danger zone determination module. The boom coverage range acquisition module determines the boom coverage range according to the length, width and the set first safety distance of the boom; the boom rotation angle acquisition module includes a first encoder installed on the rotation motor, which is used to obtain the rotation angle of the boom; the first danger zone determination module determines the first danger zone according to the boom coverage range and the boom rotation angle.

[0053] The boom coverage range acquisition module of this embodiment stores the boom length, width and first safety distance which are pre-set. The boom length and width are directly obtained according to the boom structure. The first safety distance is horizontally extended in both the length and width directions of the boom. Generally, the extended distance is 500mm to 1000mm (the distance adjusted along the length direction is d, and the distance adjusted along the width direction is c, as shown in FIG. Figure 2 As shown, c and d can be the same or different, and are set according to actual needs). The area of ​​the boom vertically projected onto the ground can be obtained by the length and width of the boom. The first safety distance is set to avoid safety problems caused by the falling of parts on the boom. By expanding the coverage area of ​​the boom, the safety hazards caused by such falling are avoided. Figure 2 shown.

[0054] The length, width and first safety distance of the boom can be used to obtain the coverage of the boom on the ground. During the use of the tower crane, the boom rotates around the vertical axis. To achieve dynamic perception, it is necessary to confirm the rotation angle of the boom, that is, to confirm the specific position of the current boom. In this embodiment, a first encoder 8 is installed on the rotary motor 6. The first encoder 8 is actually an angle sensor for recording the rotation angle of the rotary motor 6. In actual use, the rotation center of the boom is set as the origin (measured by the total station 15, as shown in FIG. Figure 2 As shown in point O, the origin of the tower crane measured by the total station 15 is directly input into the controller, and the processing mode is the same as that of the length and width data of the boom. The straight line passing through the origin in the north-south direction is set as the Y axis, and the straight line passing through the origin in the east-west direction is set as the X axis. The first encoder 8 can obtain the rotation angle of the rotary motor 6, thereby obtaining the angle of rotation of the boom, which is equivalent to obtaining the angle between the boom coverage range and the X axis or the Y axis. In this way, the position of the boom coverage range in the XY plane (the XY plane is actually the ground) can be obtained. The combination of the boom coverage range and the position is actually the first danger zone, as shown in FIG. Figure 2 Area A shown.

[0055] In a further embodiment of the present application, this embodiment optimizes the above-mentioned heavy object dangerous area acquisition module. The specific heavy object dangerous area acquisition module includes a heavy object position acquisition module, a heavy object coverage range acquisition module and a second dangerous area determination module. The heavy object position acquisition module is used to obtain the current position of the heavy object relative to the coordinate origin of the tower crane; the heavy object coverage range acquisition module is used to determine the heavy object coverage range according to the projection area of ​​the heavy object on the ground; the second dangerous area determination module determines the second dangerous area according to the heavy object coverage range, the heavy object position and the set second safety distance, such as Figure 2 Area B is shown.

[0056] In fact, determining the first danger zone corresponding to the boom and the second danger zone corresponding to the heavy object are determined in the same way, that is, determining the coverage range of the boom or the heavy object, and then determining the position of the boom or the heavy object. The specific danger zone can be obtained by combining the coverage range and the position. The difference is that the length and width of the boom are fixed, and the structure of the boom is unchanged, but the structure of the hoisted heavy object is different, and the structure of the heavy object cannot be pre-input into the control system. This embodiment sets a dedicated heavy object coverage range acquisition module to obtain the heavy object coverage range.

[0057] In a preferred embodiment of the present application, this embodiment optimizes the above-mentioned heavy object coverage range acquisition module. The specific heavy object coverage range acquisition module includes a camera 11, a heavy object height acquisition module and a coverage range extraction module. The camera 11 is installed on the lifting trolley 3, and is used to obtain image information of the heavy object below; the heavy object height acquisition module includes a third encoder 10 installed on the lifting winch 4, and is used to obtain the distance between the heavy object 7 and the lifting trolley 3 as the height of the heavy object 7; the coverage range extraction module determines the projection area of ​​the heavy object 7 on the ground according to the image information and the height of the heavy object to obtain the heavy object coverage range.

[0058] The camera 11 is installed on the lifting trolley 3 through a bolt structure, and is used to obtain image information directly below, that is, to obtain image information of the heavy object being hoisted directly below. The obtained image information is converted into a grayscale image, Gaussian filtered, edge detected, expanded and eroded, the boundary is found, and the width is measured to obtain the outline, length, and width of the hoisted heavy object. Image processing needs to be determined in combination with the distance between the heavy object and the lifting trolley. During image processing, the outline, length, and width of the heavy object can be obtained through the relationship between the number of pixels in the image information of the heavy object and the distance (that is, after processing the image information, the distance between the outline and the edge of the image can be obtained, and then the unit length corresponding to each pixel can be obtained according to the distance between the heavy object and the lifting trolley. In this way, the length, width, and other information of the heavy object can be obtained). Then, a second safety distance is performed on the outline of the heavy object (such as Figure 2As shown, the outline of the heavy object is expanded by a distance e, where the value of e is 500mm to 1000mm), that is, the outline of the heavy object is expanded by a second safety distance in the horizontal direction, and the formed area is the coverage range of the heavy object.

[0059] In this embodiment, the distance between the heavy object and the lifting trolley is obtained through the third encoder 10. The third encoder 10 is installed on the lifting winch 4. The third encoder 10 is actually a length sensor. By recording the extended length of the lifting rope on the lifting winch 4, the distance between the heavy object 7 and the lifting trolley 3 can be obtained. The height of the boom 2 and the ground is fixed. By obtaining the distance between the heavy object 7 and the lifting trolley 3, the height of the heavy object 7 from the ground can be obtained.

[0060] In some other embodiments of the present application, this embodiment is for the above-mentioned heavy object position acquisition module, and the heavy object position acquisition module includes a heavy object amplitude variation distance determination module, and the heavy object amplitude variation distance determination module includes a second encoder 9 installed on the amplitude variation winch 5, which is used to obtain the amplitude variation distance of the lifting winch 4 as the horizontal distance of the heavy object 7 relative to the coordinate origin of the tower crane 1.

[0061] The second encoder 9 is installed on the luffing winch 5 and is a length sensor that records the luffing length of the hoisting winch 4 , which is actually recording the extended length of the traction rope of the luffing winch 5 .

[0062] After the coverage range of the heavy object is determined, the amplitude change distance of the lifting trolley 3 is also determined, and the rotation angle of the boom 2 is determined according to the first encoder 8. The rotation angle and the amplitude change distance can determine the specific position of the heavy object in the tower crane operating area. According to the specific position of the heavy object in the tower crane operating area and the coverage range of the heavy object, the second dangerous area corresponding to the heavy object can be determined, such as Figure 2 Area B is shown.

[0063] In some embodiments of the present application, the present embodiment optimizes the above-mentioned construction worker location acquisition module. Specifically, the construction worker location acquisition module includes a positioning module. The positioning module is carried on the construction worker and includes a GPS positioning module and a wireless signal generating module for sending the construction worker location signal to the safety warning module in real time. The positioning module of this embodiment is a device carried on the construction worker and can be installed on the construction worker's helmet 16 (such as Figure 1 As shown), it can also be installed on work clothes, as long as it can meet the needs.

[0064] In some other embodiments of the present application, a control room 12 is installed on the tower crane. The control room 12 is the control center of the entire dynamic sensing system. The control room 12 includes a controller, a computer, a wireless module 13 and an audible and visual alarm 14. The controller is electrically connected to the above-mentioned encoder and the computer, and transmits the information collected by the above-mentioned encoder to the computer for display. The wireless module 13 is a LORA module, and the controller 12 is an EPEC controller.

[0065] This application also provides a method for dynamically sensing a tower crane operation safety zone, which is specifically performed in the following steps:

[0066] S1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground;

[0067] S2. Obtain in real time the coverage area of ​​the heavy object, the height of the heavy object, the distance relative to the coordinate origin of the tower crane, and the boom rotation angle, and determine the second dangerous area projected by the heavy object on the ground;

[0068] S3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel are in the first danger zone or the second danger zone, and issue a warning signal when the construction personnel are in the first danger zone or the second danger zone.

[0069] In some embodiments of the present application, the present embodiment optimizes the method of determining the first dangerous area projected by the boom on the ground in the above step S1. Specifically, a first encoder is installed on the slewing motor to record the swing angle of the boom, and the coverage range of the boom is determined based on the length and width of the boom and the set first safety distance. The first dangerous area is determined based on the swing angle of the boom and the coverage range of the boom, such as Figure 2 shown.

[0070] In some other embodiments of the present application, this embodiment optimizes the method for obtaining the coverage range of the heavy object in real time in the above-mentioned step S2. Specifically, a camera is installed on the lifting trolley to obtain image information of the heavy object directly below through the camera; a third encoder is installed on the lifting winch, and the third encoder records the extension length of the wire rope of the lifting winch to obtain the height of the heavy object relative to the lifting trolley as the height of the heavy object; based on the image information and the height of the heavy object, the projected area of ​​the heavy object on the ground is determined (the specific working process has been explained above) to obtain the coverage range of the heavy object.

[0071] In a further embodiment of the present application, this embodiment optimizes the above-mentioned step S2, and installs a second encoder on the luffing winch. The second encoder records the luffing distance of the lifting winch to obtain the horizontal distance of the weight relative to the coordinate origin of the tower crane; the position of the weight relative to the coordinate origin of the tower crane can be obtained based on the boom rotation angle and the horizontal distance of the weight relative to the coordinate origin of the tower crane; the second danger zone is determined based on the position of the weight relative to the coordinate origin of the tower crane, the coverage range of the weight and the set second safety distance.

[0072] The coordinate origin of the tower crane in this application refers to the rotation center of the boom, such as Figure 2 The O point in the crane, or the point where the axis of the boom's rotation connects to the ground.

[0073] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A dynamic sensing system for a tower crane operating safety zone, comprising a tower crane; the tower crane comprises a boom and a hoisting winch, a luffing winch, a slewing motor, and a hoisting trolley mounted on the boom, characterized in that: Also includes, A boom danger zone acquisition module, the boom danger zone acquisition module is used to acquire in real time a first danger zone directly below the boom in a moving or stationary state; A heavy object danger zone acquisition module, which is used to acquire in real time a second danger zone directly below a heavy object in a moving or stationary state; A construction worker location acquisition module, which is used to acquire the location of construction workers in real time; A safety warning module, which is used to receive construction worker location information in real time and issue a safety warning signal when the construction worker enters the first danger zone or the second danger zone; The boom dangerous area acquisition module includes: A boom coverage range acquisition module, wherein the boom coverage range acquisition module determines the boom coverage range according to the length and width of the boom and a set first safety distance; A boom rotation angle acquisition module, the boom rotation angle acquisition module comprising a first encoder mounted on the rotation motor, for acquiring the boom rotation angle; A first dangerous area determination module is configured to determine a first dangerous area according to a boom coverage range and a boom rotation angle.

2. A tower crane operation safety zone dynamic sensing system according to claim 1, characterized in that: The heavy object dangerous area acquisition module includes: A heavy object position acquisition module, which is used to obtain the current position of the heavy object relative to the coordinate origin of the tower crane; A heavy object coverage range acquisition module, the heavy object coverage range acquisition module is used to determine the heavy object coverage range according to the projection area of ​​the heavy object on the ground; The second dangerous area determination module determines the second dangerous area according to the coverage range of the heavy object, the position of the heavy object and the set second safety distance.

3. A tower crane operation safety zone dynamic sensing system according to claim 2, characterized in that: The heavy object position acquisition module includes: The heavy object luffing distance determination module includes a second encoder installed on the luffing winch, which is used to obtain the luffing distance of the lifting winch as the horizontal distance of the heavy object relative to the coordinate origin of the tower crane.

4. A tower crane operation safety zone dynamic sensing system according to claim 3, characterized in that: The heavy object coverage range acquisition module includes: A camera is mounted on the lifting trolley and is used to obtain image information of the heavy object below; A weight height acquisition module, comprising a third encoder mounted on the hoisting winch, for acquiring the distance between the weight and the hoisting trolley as the height of the weight; The coverage range extraction module determines the projection area of ​​the heavy object on the ground according to the image information and the height of the heavy object to obtain the coverage range of the heavy object.

5. The tower crane operation safety zone dynamic sensing system according to claim 1, characterized in that: The construction worker location acquisition module includes: The positioning module is carried by the construction workers and includes a GPS positioning module and a wireless signal generating module, which is used to send the construction workers' location signal to the safety warning module in real time.

6. A method for dynamically sensing a tower crane operation safety zone, characterized by: The method is applied to the perception system according to any one of claims 1 to 5, comprising the following steps: S1. Obtain the swing angle of the boom in real time and determine the first dangerous area projected by the boom on the ground; S2. Obtain in real time the coverage area of ​​the heavy object, the height of the heavy object, the distance relative to the coordinate origin of the tower crane, and the boom rotation angle, and determine the second dangerous area projected by the heavy object on the ground; S3. Obtain the position coordinates of the construction personnel relative to the coordinate origin of the tower crane in real time, determine whether the construction personnel is in the first danger zone or the second danger zone, and issue a warning signal when the construction personnel is in the first danger zone or the second danger zone; In step S1, the method for determining the first dangerous area projected by the boom on the ground includes: installing a first encoder on the slewing motor, recording the slewing angle of the boom, determining the coverage range of the boom according to the length and width of the boom and a set first safety distance, and determining the first dangerous area according to the slewing angle of the boom and the coverage range of the boom.

7. A method for dynamically sensing a tower crane operation safety zone according to claim 6, characterized in that: In step S2, real-time acquisition of the heavy object coverage range includes: installing a camera on the lifting trolley, and obtaining image information of the heavy object directly below through the camera; installing a third encoder on the lifting winch, and the third encoder records the extension length of the wire rope of the lifting winch to obtain the height of the heavy object relative to the lifting trolley as the height of the heavy object; determining the projection area of ​​the heavy object on the ground according to the image information and the height of the heavy object, and obtaining the heavy object coverage range.

8. A method for dynamically sensing a tower crane operation safety zone according to claim 7, characterized in that: In step S2, a second encoder is installed on the luffing winch, and the second encoder records the luffing distance of the lifting winch to obtain the horizontal distance of the weight relative to the coordinate origin of the tower crane; the position of the weight relative to the coordinate origin of the tower crane can be obtained based on the boom rotation angle and the horizontal distance of the weight relative to the coordinate origin of the tower crane; the second danger zone is determined based on the position of the weight relative to the coordinate origin of the tower crane, the coverage range of the weight and the set second safety distance.

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