Obstacle scanning method and device for attached scaffolding
By setting up a small number of scanning mechanisms on the attached scaffolding, combined with a rotating track and control system, the position of the scanner is dynamically adjusted, solving the problem of insufficient field of view of obstacle monitoring equipment, realizing efficient and accurate obstacle scanning, and improving safety and scanning coverage.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING CONSTR ENG GRP
- Filing Date
- 2022-09-30
- Publication Date
- 2026-07-21
AI Technical Summary
In existing technologies, attached scaffolding is easily obstructed by obstacles during operation and lifting, resulting in low lifting efficiency and safety hazards. Existing obstacle monitoring equipment cannot fully cover the field of view, resulting in low obstacle detection efficiency and low accuracy.
Using a small number of scanning mechanisms, combined with a rotating track and a sliding base, and intelligently controlled by a control system, a virtual model of the obstacle is constructed using a 3D reconstruction module. The scanner position is dynamically adjusted to supplement the viewpoint, achieving comprehensive and accurate obstacle scanning.
It achieves efficient and accurate obstacle scanning, provides reliable data reference, reduces the accident rate, improves scanning coverage and accuracy, and adapts to the flexibility of different building structures.
Smart Images
Figure CN115542339B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of scaffolding technology, and more specifically to an obstacle scanning method and apparatus for attached scaffolding. Background Technology
[0002] Attached scaffolding refers to external scaffolding erected to a certain height and attached to the engineering structure. Relying on its own lifting equipment and devices, it can climb or descend layer by layer along with the engineering structure, and is equipped with anti-tipping and anti-falling devices. Attached scaffolding mainly consists of the attached scaffolding frame structure, attachment supports, anti-tipping devices, anti-falling devices, lifting mechanisms, and control devices. It can transform high-altitude work into low-altitude work, and suspended work into work within the scaffolding, offering good safety and convenience, and is widely used in construction.
[0003] Currently, all-steel attached lifting scaffolding is the most commonly used external scaffolding on construction sites. However, problems such as asynchronous control, obstruction by obstacles, and environmental disturbance still exist during its operation and lifting, seriously affecting the lifting efficiency and safety of the attached scaffolding and potentially causing safety issues such as scaffolding overturning and falling. Among these, obstruction by obstacles is a relatively common problem. Construction waste, domestic waste from construction workers, and construction equipment can all easily become obstacles that hinder the movement and lifting of scaffolding or impede other normal construction processes. The common approach to dealing with these obstacles is for construction workers to directly check for obstacles before moving the scaffolding, or to use monitoring devices installed on the scaffolding to confirm the presence of obstacles before arranging for workers to clear them. However, these methods actually require human judgment to identify obstacles, and finding obstacles requires searching through monitoring equipment one by one. Furthermore, existing monitoring equipment cannot fully cover the complete view required for obstacle identification, resulting in low efficiency and accuracy in obstacle identification. Summary of the Invention
[0004] The present invention aims to provide an obstacle scanning method and device for attached scaffolding, which can complete the obstacle scanning accurately and efficiently with fewer scanning mechanisms, realize intelligent obstacle scanning and judgment, and the scanning operation has high dynamism, providing reliable data reference for the safe operation of attached scaffolding.
[0005] To achieve the above objectives, the present invention provides the following solution:
[0006] Option 1:
[0007] An obstacle scanning device for attached scaffolding, including a scanning mechanism and a control system;
[0008] The scanning mechanism includes a scanner and a rotating track; the scanner and the rotating track are slidably connected via a sliding base; the scanner and the sliding base are rotatably connected; the scanner is used to scan obstacle information; several scanning mechanisms are provided, and each is located at a key position in the scaffolding machine position; the rotation axis of the rotating track is parallel to the vertical center axis of the key position;
[0009] The control system establishes a communication connection with the scanning mechanism; the control system includes a planning module, a 3D reconstruction module, and an adjustment module; the planning module is used to determine key camera positions according to the scaffolding foundation parameters and building foundation parameters, following a planning strategy; the building foundation parameters include the irregular structure parameters of the building facade; the 3D reconstruction module is used to construct a 3D virtual model of the obstacle based on the scanner's scanning information;
[0010] The adjustment module is used to control and adjust the position of each scanner according to the adjustment strategy. The adjustment strategy includes: when a single scanner scans a suspected obstacle, calling the suspected obstacle information obtained by the scanner and pre-establishing it as an estimation model by the 3D reconstruction module; based on the estimation model, determining the viewpoint to be supplemented and converting it into the scanner's rotation and movement parameters; and adjusting the scanner position according to the rotation and movement parameters.
[0011] The working principle and advantages of this solution are as follows: First, this solution uses fewer scanning mechanisms, placing them only at key locations, unlike conventional solutions that install scanners at every node inside the scaffolding. Since scaffolding locations can obstruct the scanning area, conventional solutions often compensate by increasing the number of scanners to fill obstructed areas. Such solutions have high operating costs, large scan data volumes, and significant data processing workloads. This solution, however, streamlines the number of scanning mechanisms. By incorporating rotating tracks and sliding bases, it provides ample space for the scanners to move. The scanners can move and rotate along the tracks to create different scanning angles, allowing a single scanner to achieve a wider scanning range.
[0012] Furthermore, in this solution, the control system intelligently controls the scanning mechanism. The adjustment module, based on the suspected obstacle information obtained from the scan, and in conjunction with the 3D virtual model construction function of the 3D reconstruction module, intelligently determines the missing obstacle perspective information and comprehensively utilizes scanners (including scanners from different scanning mechanisms) to intelligently supplement the perspective, thereby enabling the scanning of complete and accurate obstacles. This allows for precise and efficient obstacle scanning with fewer scanning mechanisms, and the scanning operation exhibits high dynamism. It provides reliable data reference for the safe operation of attached scaffolding.
[0013] Furthermore, the scaffolding foundation parameters are extracted from the scaffolding erection engineering drawings; the building foundation parameters also include the building facade foundation structure parameters.
[0014] Beneficial effects: Sufficient scaffolding foundation parameter information can be obtained from the scaffolding erection engineering drawings, the information collection path is reliable and the amount of information is sufficient; and the building foundation parameter data is sufficient, which facilitates the accurate planning and determination of key machine positions in the future.
[0015] Furthermore, the three-dimensional reconstruction module also establishes a three-dimensional virtual model of the scaffolding and the building based on the scaffolding foundation parameters and the building foundation parameters, namely, a reference virtual model; and the three-dimensional virtual model of the obstacle is constructed in the reference virtual model, and the three-dimensional virtual model of the obstacle is dynamically adjusted as the suspected obstacle information is updated.
[0016] Beneficial effects: By setting the obstacle model within the baseline virtual model, the obstacle's location is displayed more intuitively and is easier to observe. Furthermore, the 3D virtual model of the obstacle is dynamically adjusted; as the scanner's scanned information increases, the accuracy and reliability of obstacle identification increase accordingly. This solution can quickly locate obstacles while ensuring a high degree of comprehensiveness and accuracy in obstacle scanning.
[0017] Furthermore, the planning strategy includes: obtaining a scaffolding machine location layout diagram based on a benchmark virtual model; and defining the scaffolding machine location area corresponding to the vertical facade of the building as the first area, and defining the scaffolding machine location area corresponding to the irregular facade of the building as the second area;
[0018] The scaffolding positions in the first area are divided into a 3x3 first scaffolding layout matrix, and the scaffolding position at the center of each first scaffolding layout matrix is selected as the key position.
[0019] The scaffolding positions in the second area are divided into a 3x3 second scaffolding layout matrix, and the scaffolding positions on a single diagonal of each second scaffolding layout matrix are selected as key positions.
[0020] Beneficial effects: This solution uses scaffolding positions as a basis, dividing the building's vertical and irregular surfaces into first and second scaffolding layout matrices respectively, resulting in relatively consistent and standardized area division. Furthermore, selecting the center point of the first scaffolding layout matrix as the key camera position allows for sufficient scanning of a single first scaffolding layout matrix with a minimal number of camera positions. Selecting diagonal points of the second scaffolding layout matrix as key camera positions enables comprehensive scanning even on irregular surfaces.
[0021] Furthermore, the adjustment strategy also includes: in normal operation, adjusting the scanner position at an angle frequency of 10° / minute and a displacement frequency of 5cm / minute.
[0022] Beneficial effects: Under normal conditions, the scanning mechanism performs dynamic scanning, which can scan the scaffolding in an orderly manner; the dynamic scanning mode also helps to achieve efficient scanning results with a smaller number of scanning mechanisms to achieve a large-area comprehensive scan.
[0023] Furthermore, the adjustment strategy also includes: real-time acquisition of scaffolding lifting signals; if a lifting signal is detected, a corresponding lifting path is determined, and the positions of the scanners around the lifting path are controlled and adjusted so that the scanning field of the scanner faces the lifting path.
[0024] Beneficial effects: When the scaffolding is being lifted, the dynamic adjustment scanner performs a centralized scan of the lifting path, which has high mobility in obstacle scanning and can provide a moving reference for the scaffolding lifting.
[0025] Furthermore, the control system also includes an early warning module; the early warning module is used to issue an early warning of lifting risks when a suspected obstacle appears on the lifting path.
[0026] Beneficial effects: The early warning module can provide movement reference for scaffolding lifting, which helps to reduce the accident rate during the scaffolding lifting process.
[0027] Furthermore, the scanner is a camera or a laser rangefinder.
[0028] Beneficial effects: The camera and laser rangefinder are small in size, can quickly collect scene-related information, operate efficiently, and are easy to install.
[0029] Furthermore, the trajectory of the rotating track is a semi-helix.
[0030] Beneficial effects: The semi-spiral track layout used in this solution allows the scanner to move synchronously in both the circumferential and axial directions. Compared to a simple semi-circular linear track layout (which only provides circumferential movement), the track offers a wider range of movement and is easier to adjust to different scanning angles, thus achieving higher scanning coverage.
[0031] Option 2:
[0032] The obstacle scanning method for attached scaffolding uses an obstacle scanning device for attached scaffolding as described in Scheme 1 to perform obstacle scanning.
[0033] The advantages and benefits of this solution are as follows: by using the obstacle scanning device for attached scaffolding in Solution 1, more accurate and reliable obstacle scanning results can be achieved with fewer scanning mechanisms. Moreover, the scanning process is dynamic and can be dynamically linked with the lifting operation of the scaffolding and the exterior structure of the building; the scanning action has high flexibility. Attached Figure Description
[0034] Figure 1 This is a first structural schematic diagram of the scanning mechanism in Embodiment 1 of the obstacle scanning method and apparatus for attached scaffolding of the present invention;
[0035] Figure 2 This is a second structural schematic diagram of the scanning mechanism in Embodiment 1 of the obstacle scanning method and apparatus for attached scaffolding of the present invention;
[0036] Figure 3 This is a schematic diagram of the third structure of the scanning mechanism in Embodiment 1 of the obstacle scanning method and device for attached scaffolding of the present invention;
[0037] Figure 4 This is a schematic diagram of the control system structure of an embodiment of the obstacle scanning method and device for attached scaffolding of the present invention;
[0038] Figure 5 This is a schematic diagram of a conventional scanning mechanism layout.
[0039] Figure 6 This is a schematic diagram of the scanning mechanism layout structure of Embodiment 1 of the obstacle scanning method and device for attached scaffolding of the present invention. Detailed Implementation
[0040] The following detailed explanation illustrates the specific implementation methods:
[0041] The markings in the accompanying drawings include: 1. Building exterior wall, 2. Connecting block, 3. Rotating track, 4. Sliding base, 5. Ball joint, 6. Scanner, 7. Attachment support.
[0042] Example 1:
[0043] The basic implementation examples are as follows: Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown: An obstacle scanning device for attached scaffolding, including a scanning mechanism and a control system;
[0044] The scanning mechanism includes a scanner 6 and a rotating track 3; the scanner 6 and the rotating track 3 are slidably connected via a sliding base 4; the scanner 6 and the sliding base 4 are rotatably connected; the scanner 6 is used to scan obstacle information; several scanning mechanisms are provided, and each is located at a key position in the scaffolding machine position; the scaffolding machine position specifically refers to the attachment support 7 of the scaffolding (i.e., the wall attachment support); the rotation axis of the rotating track 3 is parallel to the vertical center axis of the key machine position.
[0045] Specifically, the scanner 6 is either a camera or a laser rangefinder. In this embodiment, a laser rangefinder is used. Compared to a camera, a laser rangefinder is less susceptible to external environmental factors (such as weather and light intensity) and can collect more reliable data. The track of the rotating track 3 is a semi-helix. The parameters of the semi-helix are determined according to the size of the scaffolding position. In this embodiment, connecting blocks 2 are fixedly provided on both the front and rear bottom surfaces of the rotating track 3. The connecting blocks 2 are detachably connected to the exterior wall 1 of the building by screws, bolts, etc., which can ensure the stability of the rotating track 3. The sliding base 4 contains a microcontroller, a micro motor, and a power supply. The microcontroller is used to control the movement of the sliding base 4. The scanner 6 and the sliding base 4 are hinged by a ball joint 5. The microcontroller is also used to control the change of the hinge angle to change the scanning angle of the scanner 6. Optionally, the scanner 6 and the sliding base 4 can also be connected by a rotary encoder, which rotates the scanner 6 to intelligently adjust the scanning angle.
[0046] The control system establishes a communication connection with the scanning mechanism. The control system includes a planning module, a 3D reconstruction module, and an adjustment module. The planning module determines key camera positions according to a planning strategy based on scaffolding foundation parameters and building foundation parameters. The building foundation parameters include parameters of the building's irregular exterior structure. Specifically, the scaffolding foundation parameters are extracted from the scaffolding erection engineering drawings and include: scaffold type, scaffold height, scaffold step height, number of steps, step width, scaffold span, distance from the wall to the scaffold, distance from guide wheels, number of camera positions, height difference between adjacent camera positions, distance between camera positions, and structural dimensions of the camera positions. The building foundation parameters also include parameters of the building's exterior foundation structure.
[0047] Specifically, the planning strategy includes: obtaining a scaffolding machine location layout diagram based on a benchmark virtual model; and defining the scaffolding machine location area corresponding to the vertical facade of the building as the first area, and defining the scaffolding machine location area corresponding to the irregular facade of the building as the second area;
[0048] As attached Figure 6 As shown, the scaffolding positions in the first area are divided into a 3x3 first scaffolding layout matrix, and the scaffolding position at the center of each first scaffolding layout matrix is selected as the key position.
[0049] The scaffolding positions in the second region are divided into 3x3 second scaffolding layout matrices, and the scaffolding positions on a single diagonal of each second scaffolding layout matrix are selected as key positions. Furthermore, the lines connecting the selected key positions in adjacent second scaffolding layout matrices are parallel.
[0050] This setup, selecting the center point of the first scaffolding layout matrix as the key camera position, can fully meet the scanning requirements of a single first scaffolding layout matrix with the fewest possible camera positions. Selecting the diagonal points of the second scaffolding layout matrix as key camera positions allows for comprehensive scanning even on irregular surfaces. Furthermore, compared to the conventional 6-scanner layout (as shown in the attached diagram), this setup offers significantly better scanning performance. Figure 5 As shown in the figure, this solution can save 3 to 5 scanning mechanisms in each 3x3 scaffolding machine area, which can significantly reduce costs.
[0051] The 3D reconstruction module is used to construct a 3D virtual model of the obstacle based on the scanning information from scanner 6. The module also establishes a 3D virtual model of the scaffolding and building, i.e., a baseline virtual model, based on the scaffolding foundation parameters and building foundation parameters. Preferably, the 3D reconstruction module can directly construct the baseline virtual model based on the scaffolding erection drawings. Compared to constructing a baseline virtual model based on foundation parameters, constructing based on scaffolding erection drawings eliminates the need for parameter conversion, making the model construction process simpler. Furthermore, the 3D virtual model of the obstacle is constructed within the baseline virtual model, and the 3D virtual model of the obstacle dynamically adjusts as the suspected obstacle information is updated.
[0052] The adjustment module is used to control and adjust the position of each scanner 6 according to the adjustment strategy. The adjustment strategy includes: when a single scanner 6 scans a suspected obstacle, calling the suspected obstacle information obtained by the scanner 6 and pre-establishing it as an estimation model by the 3D reconstruction module. Specifically, the single scanner 6 scans a single viewpoint information of the suspected obstacle, and the 3D reconstruction module establishes an estimation model based on the single viewpoint information; based on the estimation model, determining the viewpoint to be supplemented and converting it into the rotation parameters and movement parameters of the scanner 6; and adjusting the position of the scanner 6 according to the rotation parameters and movement parameters.
[0053] The adjustment strategy also includes: in normal operation, adjusting the position of scanner 6 at an angle adjustment frequency of 10° / minute and a displacement adjustment frequency of 5cm / minute. Normal operation refers to a situation where scanner 6 does not detect any suspected obstacles.
[0054] The adjustment strategy also includes: real-time acquisition of scaffolding lifting signals; if a lifting signal is detected, a corresponding lifting path is determined, and the positions of the scanners 6 around the lifting path are controlled and adjusted so that the scanning field of the scanners 6 faces the lifting path.
[0055] The control system also includes an early warning module; the early warning module is used to issue a lifting risk warning when a suspected obstacle appears on the lifting path. The lifting risk warning methods include sending risk warning information to staff via SMS notification or broadcasting risk warning information at the attached scaffolding operation site.
[0056] This embodiment also provides an obstacle scanning method for attached scaffolding, which uses an obstacle scanning device for attached scaffolding as described above to perform obstacle scanning.
[0057] This embodiment provides an obstacle scanning method and apparatus for attached scaffolding. Through intelligent selection of the scanning mechanism's location and a semi-spiral rotating track 3 design, a large movement space is provided for the scanner 6. Furthermore, the dynamic adjustment of each scanner's position by the control system's adjustment module allows the scanner, with a fixed physical field of view, to have a larger, dynamic field of view. This ensures that the solution can accurately and efficiently complete obstacle scanning with fewer scanning mechanisms, achieving intelligent obstacle scanning and judgment. The scanning operation has high dynamism and can provide reliable data reference for the safe operation of attached scaffolding. Moreover, the control system's planning module can intelligently select suitable key positions for different scaffolding and building structures, making the system's operation versatile.
[0058] Compared to commonly used obstacle scanning methods, which typically place scanning devices at each scaffolding location, the complex and interwoven structure of scaffolding, including the scaffolding locations themselves, can easily obstruct the scanning area, limiting the scanning range and requiring more scanning devices to complete a comprehensive obstacle scan. This solution avoids these problems by placing scanner 6 on a controllable movement line at key locations, expanding its scannable area, solving the problem of limited scanning area, and effectively reducing the number of scanners required. Furthermore, the control system enables dynamic allocation of scanning resources, resulting in higher utilization of each scanner 6.
[0059] Example 2:
[0060] The obstacle scanning device for attached scaffolding, based on Embodiment 1, adds a judgment module and a command module to the control system.
[0061] The determination module is used to determine the type of suspected obstacles according to a determination strategy. The determination module also has a pre-set type library; the type library stores basic information and corresponding image information of common obstacle types in scaffolding. The basic information of the obstacle type includes: category name, such as household waste, construction waste, construction tools, etc.; detailed item name, such as cardboard boxes, metal rods, hammers, wrenches, etc.; item hazard level, such as cardboard boxes being low hazard level and large metal rods being high hazard level; item mobility, such as cylindrical obstacles being highly mobile, cubic obstacles being low mobile, smaller obstacles being highly mobile, and larger obstacles being low mobile. The determination strategy includes: calling the 3D reconstruction module to build a 3D virtual model of the obstacle, and traversing and matching it with the image information data in the type library; and using the image information with the highest matching degree as the basis to determine the obstacle type and related basic information.
[0062] The command module is used to direct the scaffolding to modify its lifting path based on the determined obstacle location and type. When an obstacle is located on the scaffolding lifting path, further judgment is made based on the obstacle type. If the hazard level of the item corresponding to the obstacle type is low or no risk, the original lifting path is retained. If the hazard level of the item corresponding to the obstacle type is high or medium risk, the original lifting path is modified. The modification operation includes: moving the original lifting path to a location without obstacles; or pausing the lifting operation, pre-arranging personnel to clear the obstacle, and then resuming the original lifting path. When an obstacle is not located on the scaffolding lifting path, further judgment is made based on the obstacle type. If the mobility of the item corresponding to the obstacle type is high, the obstacle's movement is pre-simulated using a 3D virtual model in the baseline virtual model. If the pre-simulated obstacle movement intersects with the lifting path, the original lifting path is modified. The modification operation includes: moving the original lifting path to a location without intersection; if the pre-simulated obstacle movement does not intersect with the lifting path, the original lifting path is retained.
[0063] This embodiment provides an obstacle scanning method and device for attached scaffolding, which can further refine the determination of obstacle types and provide more detailed command references for scaffolding lifting operations, making the overall device more functional.
[0064] Example 3:
[0065] The obstacle scanning device for attached scaffolding, based on Embodiment 1, adds a buzzer for auxiliary alarm on the scanning mechanism. In this embodiment, the buzzer is installed on the outer side of the rotating track 3, and the buzzer establishes a communication connection with the early warning module. When the early warning module issues a lifting risk warning, the buzzer on the scanning mechanism closest to the suspected obstacle on the lifting path sounds accordingly to remind the user to avoid the obstacle.
[0066] This embodiment provides an obstacle scanning method and device for attached scaffolding. Compared with Embodiment 1, it improves the risk warning method to be more intuitive and can complete the alarm in a timely and effective manner.
[0067] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics of the solutions are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.
Claims
1. An obstacle scanning device for attached scaffolding, characterized in that, Including scanning mechanism and control system; The scanning mechanism includes a scanner and a rotating track; the scanner and the rotating track are slidably connected via a sliding base; the scanner and the sliding base are rotatably connected; the scanner is used to scan obstacle information; several scanning mechanisms are provided, and each is located at a key position in the scaffolding machine position; the rotation axis of the rotating track is parallel to the vertical center axis of the key position; The control system establishes a communication connection with the scanning mechanism; the control system includes a planning module, a 3D reconstruction module, and an adjustment module; the planning module is used to determine key camera positions according to the scaffolding foundation parameters and building foundation parameters, following a planning strategy; the building foundation parameters include the irregular structure parameters of the building facade; the 3D reconstruction module is used to construct a 3D virtual model of the obstacle based on the scanner's scanning information; The adjustment module is used to control and adjust the position of each scanner according to the adjustment strategy. The adjustment strategy includes: when a single scanner scans a suspected obstacle, calling the suspected obstacle information obtained by the scanner and pre-building it into an estimation model by the 3D reconstruction module; based on the estimation model, determining the viewpoint to be supplemented and converting it into the scanner's rotation and movement parameters; and adjusting the scanner position according to the rotation and movement parameters. The three-dimensional reconstruction module also establishes a three-dimensional virtual model of the scaffolding and the building based on the scaffolding foundation parameters and the building foundation parameters, namely the reference virtual model; and the three-dimensional virtual model of the obstacle is built in the reference virtual model, and the three-dimensional virtual model of the obstacle is dynamically adjusted as the suspected obstacle information is updated; The planning strategy includes: obtaining a scaffolding machine location layout diagram based on a benchmark virtual model; and defining the scaffolding machine location area corresponding to the vertical facade of the building as the first area, and defining the scaffolding machine location area corresponding to the irregular facade of the building as the second area; The scaffolding positions in the first area are divided into a 3x3 first scaffolding layout matrix, and the scaffolding position at the center of each first scaffolding layout matrix is selected as the key position. The scaffolding positions in the second area are divided into a 3x3 second scaffolding layout matrix, and the scaffolding positions on a single diagonal of each second scaffolding layout matrix are selected as key positions. The adjustment strategy also includes: real-time acquisition of scaffolding lifting signals; if a lifting signal is detected, a corresponding lifting path is determined, and the positions of the scanners around the lifting path are controlled and adjusted so that the scanning field of the scanners faces the lifting path; The control system also includes a determination module and a command module; the determination module is used to determine the type of suspected obstacle; the command module is used to command the scaffolding to modify the lifting path according to the determined obstacle location and obstacle type.
2. The obstacle scanning device for attached scaffolding according to claim 1, characterized in that, The scaffolding foundation parameters are extracted from the scaffolding erection engineering drawings; the building foundation parameters also include the building facade foundation structure parameters.
3. The obstacle scanning device for attached scaffolding according to claim 1, characterized in that, The adjustment strategy also includes: in normal operation, adjusting the scanner position at an angle frequency of 10° / minute and a displacement frequency of 5cm / minute.
4. The obstacle scanning device for attached scaffolding according to claim 1, characterized in that, The control system also includes an early warning module; the early warning module is used to issue an early warning of lifting risks when a suspected obstacle appears on the lifting path.
5. The obstacle scanning device for attached scaffolding according to claim 1, characterized in that, The scanner is a camera or a laser rangefinder.
6. The obstacle scanning device for attached scaffolding according to claim 1, characterized in that, The trajectory of the rotating track is a semi-helix.
7. An obstacle scanning method for attached scaffolding, characterized in that, Obstacle scanning is performed using an obstacle scanning device for attached scaffolding as described in any one of claims 1-6.