Supervision methods, devices, electronic equipment and storage media for construction tower cranes

Abstract

This application relates to the field of construction monitoring and management technology, and in particular to a method, device, electronic device, and storage medium for monitoring construction tower cranes. The method includes: acquiring operational data and image data of the construction tower crane; performing three-dimensional mapping of the operational data in an established tower crane coordinate system to obtain the expression parameters of the operational data; calculating the swing data of the suspended object based on the image data; and acquiring Building Information Modeling (BIM) data and construction progress data of the construction site; importing the expression parameters of the operational data, the swing data of the suspended object, the BIM data, and the construction progress data into a three-dimensional simulation platform for visualization, thereby monitoring and managing the operational status and dynamic hazards of the construction tower crane. This solves the problems in related technologies where manual assessment of the tower crane's operational status is required, which can easily lead to low assessment accuracy, difficulty in providing timely and effective risk warnings, and low safety.

Description

Technical Field

[0001] This application relates to the field of construction monitoring and management technology, and in particular to a method, device, electronic equipment and storage medium for monitoring construction tower cranes. Background Technology

[0002] Tower cranes, as a type of spatial transportation machinery, play a crucial role in improving the efficiency of construction site operations and assisting in the adjustment of site resources. However, due to the large lifting capacity, high lifting height, significant susceptibility to environmental influences, and high skill requirements for tower crane operators, safety accidents related to tower crane operation frequently occur on construction sites. Therefore, real-time monitoring of the operating status of tower cranes and the dynamic risks during the transportation of suspended loads is of great value.

[0003] In related technologies, tower crane monitoring systems are mainly composed of various sensors, including height sensors, wind speed sensors, weight sensors, GPS (Global Positioning System) modules, and amplitude sensors. The relevant driver operation and tower crane operation data monitored by the sensors are integrated into the monitoring instruments in the cab for the driver's reference. However, tower crane drivers mainly assess the safety of tower crane operations based on the data displayed on the instruments in the cab. The assessment process is greatly affected by the driver's individual fatigue level, experience, etc., making it difficult to provide timely and effective risk warnings. Summary of the Invention

[0004] This application provides a method, device, electronic equipment, and storage medium for monitoring construction tower cranes, in order to address the risks associated with the need for manual assessment of tower crane operating status in related technologies, which can easily lead to low assessment accuracy, difficulty in providing timely and effective risk warnings, and low safety.

[0005] The first aspect of this application provides a method for monitoring construction tower cranes, comprising the following steps: acquiring operational data and image data of the construction tower crane; performing three-dimensional mapping of the operational data in an established tower crane coordinate system to obtain the expression parameters of the operational data; calculating the swing data of the suspended object based on the image data; and acquiring the construction site building information model (BIM) data and construction progress data; importing the expression parameters of the operational data, the swing data of the suspended object, the BIM data, and the construction progress data into a three-dimensional simulation platform, and performing visualization display based on the three-dimensional simulation platform to monitor and manage the operational status and dynamic hazards of the construction tower crane.

[0006] Optionally, the step of performing three-dimensional mapping of the operating data in the established tower crane coordinate system to obtain the expression parameters of the operating data includes: establishing the tower crane coordinate system with the projection of the tower centerline onto the ground as the origin of the coordinate system, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis; and in the tower crane coordinate system, obtaining the tower arm rotation angle and downward angle using an angle sensor to realize the parameterized expression of the tower arm movement.

[0007] Optionally, calculating the swing data of the suspended object based on the image data includes: determining the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground; calculating the spatial swing angle between the hook and the rope based on the actual offset distance; calculating the hook droop length based on the actual offset distance and the spatial swing angle; calculating an intermediate angle variable based on the actual offset distance, a first distance from the sliding trolley to the center point of the top of the tower body, and a second distance from the hook to the center point of the top of the tower body; calculating the height of the hook and the top of the tower body based on the second distance, the intermediate angle variable, and the downward angle; calculating the Z-axis coordinate of the hook in the tower crane coordinate system based on the tower height and the height of the hook and the top of the tower body; and calculating the X-axis and Y-axis coordinates of the hook in the tower crane coordinate system based on the first distance and the tower boom rotation angle.

[0008] Optionally, determining the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground includes: establishing a camera system coordinate system with the center pixel of each frame image as the coordinate origin; detecting the relative coordinates of the hook in the image relative to the camera system coordinate system, and calculating the pixel offset based on the relative coordinates and the coordinate origin; calculating a length scale based on the length of the hook object recognition box and the actual size of the hook, and calculating the actual offset distance of the suspended object using the length scale and the pixel offset.

[0009] A second aspect of this application provides a monitoring device for a construction tower crane, comprising: an acquisition module for acquiring operational data and image data of the construction tower crane; a three-dimensional mapping module for performing three-dimensional mapping of the operational data in an established tower crane coordinate system to obtain expression parameters of the operational data, calculating the swing data of the suspended object based on the image data, and acquiring building information model (BIM) data and construction progress data of the construction site; and an import module for importing the expression parameters of the operational data, the swing data of the suspended object, the BIM data, and the construction progress data into a three-dimensional simulation platform for visualization display based on the three-dimensional simulation platform, so as to monitor and manage the operational status and dynamic hazards of the construction tower crane.

[0010] Optionally, the three-dimensional mapping module is further used to: establish the tower crane coordinate system with the projection of the tower centerline onto the ground as the origin of the coordinate system, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis; and in the tower crane coordinate system, obtain the tower arm rotation angle and downward angle by means of an angle sensor to realize the parameterized expression of the tower arm movement.

[0011] Optionally, the three-dimensional mapping module is further configured to: determine the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground; calculate the spatial swing angle between the hook and the rope based on the actual offset distance; calculate the hook droop length based on the actual offset distance and the spatial swing angle; calculate an intermediate angle variable based on the actual offset distance, a first distance from the sliding trolley to the center point of the top of the tower body, and a second distance from the hook to the center point of the top of the tower body; calculate the height of the hook and the top of the tower body based on the second distance, the intermediate angle variable, and the downward angle; calculate the Z-axis coordinate of the hook in the tower crane coordinate system based on the tower height and the height of the hook and the top of the tower body; and calculate the X-axis and Y-axis coordinates of the hook in the tower crane coordinate system based on the first distance and the boom rotation angle.

[0012] Optionally, the 3D mapping module is further configured to: establish a camera system coordinate system with the center pixel of each frame image as the origin; detect the relative coordinates of the hook in the image with respect to the camera system coordinate system, and calculate the pixel offset based on the relative coordinates and the origin; calculate a length scale based on the length of the hook object recognition box and the actual size of the hook, and calculate the actual offset distance of the suspended object using the length scale and the pixel offset.

[0013] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the monitoring method for construction tower cranes as described in the above embodiments.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the monitoring method for construction tower cranes as described in the above embodiments.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] This application embodiment utilizes hardware devices and related technologies such as angle sensors, distance sensors, cameras, and central control computers to monitor the operating status, trajectory, and spatial position of tower cranes at construction sites. Through real-time simulation and tracking of the tower crane's operating status in a three-dimensional platform, it achieves comprehensive monitoring of the tower crane's operating status and real-time management of dynamic hazards during tower crane operations. When a spatial collision risk exists, it issues timely warnings to ensure the safety of tower crane operation.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0019] Figure 1 This is a flowchart illustrating a method for monitoring construction tower cranes according to an embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the layout of tower crane data acquisition equipment according to an embodiment of this application;

[0021] Figure 3 This is a schematic diagram illustrating the acquisition of offset distance from image data according to an embodiment of this application;

[0022] Figure 4 This is a schematic diagram illustrating the parameters required for the coordinates of the suspended object according to the embodiments of this application;

[0023] Figure 5 This is a flowchart of a method provided according to an embodiment of this application;

[0024] Figure 6 This is a block diagram of a monitoring device for a construction tower crane provided according to an embodiment of this application;

[0025] Figure 7 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of this application. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0027] The following description, with reference to the accompanying drawings, describes a method, apparatus, electronic device, and storage medium for monitoring construction tower cranes according to embodiments of this application. Addressing the risks associated with manual assessment of tower crane operating status in related technologies mentioned in the background, which can lead to low accuracy, difficulty in timely and effective risk warnings, and low safety, this application provides a method for monitoring construction tower cranes. This method acquires the tower crane's operating data and image data, performs three-dimensional mapping of the operating data in an established tower crane coordinate system to obtain the parameters representing the operating data, calculates the swing data of the suspended load based on the image data, and acquires the building information model (BIM) data and construction progress data of the construction site. The relevant data is input into a three-dimensional simulation platform and visualized to monitor and manage the tower crane's operating status and dynamic hazards. It allows for real-time assessment of whether relevant parameters during operation comply with safety regulations and whether there are safety hazards for ground workers. This enables timely understanding and judgment of relevant information by tower crane operators and on-site management personnel, improving the safety management level of tower crane operations. Therefore, it solves the problems of requiring manual assessment of tower crane operating status in related technologies, which can lead to low accuracy, difficulty in timely and effective risk warnings, and low safety.

[0028] Specifically, Figure 1 This is a flowchart illustrating a method for monitoring construction tower cranes provided in an embodiment of this application.

[0029] like Figure 1 As shown, the method for supervising this construction tower crane includes the following steps:

[0030] In step S101, the operating data and image data of the construction tower crane are acquired.

[0031] The operational data mainly includes the tower crane's positioning information, the boom's rotation angle, downward angle, the crane's sliding distance, the suspended distance of the load, and the load's swing data, etc., which are not specifically limited here.

[0032] It is understood that the embodiments of this application can acquire operational data and image data of relevant parameters of the construction tower crane through devices such as angle sensors, distance sensors and cameras, so as to facilitate subsequent data analysis and processing.

[0033] In step S102, the operating data is three-dimensionally mapped in the established tower crane coordinate system to obtain the expression parameters of the operating data. The swing data of the suspended object is calculated based on the image data, and the building information model (BIM) data and construction progress data of the construction site are obtained.

[0034] It is understood that the embodiments of this application perform three-dimensional mapping of the operation data through the established tower crane coordinate system to obtain the expression parameters of the operation data, and calculate the swing data of the suspended object based on the image data to obtain the building information model (BIM) data and construction progress data of the construction site, so as to facilitate subsequent import into the three-dimensional engine and provide support for dynamic simulation and targeted management.

[0035] In this embodiment of the application, the operating data is three-dimensionally mapped in the established tower crane coordinate system to obtain the expression parameters of the operating data, including: establishing a tower crane coordinate system with the projection of the tower centerline on the ground as the origin of the coordinate system, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis; under the tower crane coordinate system, the tower arm rotation angle and downward angle are obtained by means of an angle sensor to realize the parameterized expression of the tower arm movement.

[0036] The positioning of the tower crane can be obtained directly from the information on the site layout in the early stage of construction and is relatively fixed.

[0037] It is understood that the embodiments of this application establish a tower crane coordinate system, which takes the projection point of the tower centerline on the ground as the origin, the X-axis of the tower crane coordinate system as the due north direction of the geodetic coordinate system, the Y-axis of the tower crane coordinate system as the due east direction of the geodetic coordinate system, and the Z-axis of the tower crane coordinate system as the direction vertically upward along the central axis of the tower body; and uses angle sensors to obtain the tower arm movement rotation angle and downward pressure angle, realizing the parameterized expression of the tower arm movement, and providing support for the subsequent calculation of the parameterized expression of the suspended object position.

[0038] In this embodiment, calculating the swing data of the suspended object based on image data includes: determining the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground; calculating the spatial swing angle between the hook and the rope based on the actual offset distance; calculating the hook droop length based on the actual offset distance and the spatial swing angle; calculating an intermediate angle variable based on the actual offset distance, a first distance from the sliding trolley to the center point of the top of the tower body, and a second distance from the hook to the center point of the top of the tower body; calculating the height of the hook and the top of the tower body based on the second distance, the intermediate angle variable, and the downward angle; calculating the Z-axis coordinate of the hook in the tower crane coordinate system based on the tower height and the height of the hook and the top of the tower body; and calculating the X-axis and Y-axis coordinates of the hook in the tower crane coordinate system based on the first distance and the tower boom rotation angle.

[0039] It is understood that, in this embodiment of the application, the actual horizontal offset distance of the suspended object is determined based on image data arranged at the bottom of the boom sliding trolley and taken from a perspective perpendicular to the ground; the spatial swing angle between the hook and the rope is calculated, and the hook droop length is calculated based on the actual offset distance and the spatial swing angle; an intermediate angle variable is calculated based on the actual offset distance, the distance from the sliding trolley to the center point of the top of the tower, and the distance from the hook to the center point of the top of the tower; the height of the hook and the top of the tower is calculated based on the distance from the hook to the center point of the top of the tower, the intermediate angle variable, and the downward angle; the Z-axis coordinate of the hook in the tower crane coordinate system is calculated based on the tower height and the height of the hook and the top of the tower; the X-axis and Y-axis coordinates of the hook in the tower crane coordinate system are calculated based on the distance from the sliding trolley to the center point of the top of the tower and the boom rotation angle; thus, through the relevant calculation process, the parameterized expression of the tower crane's operating state in this coordinate system is realized.

[0040] In this embodiment of the application, determining the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground includes: establishing a camera system coordinate system with the center pixel of each frame image as the coordinate origin; detecting the relative coordinates of the hook in the image relative to the camera system coordinate system, and calculating the pixel offset based on the relative coordinates and the coordinate origin; calculating a length scale based on the length of the hook object recognition box and the actual size of the hook, and calculating the actual offset distance of the suspended object using the length scale and the pixel offset.

[0041] It is understood that in this embodiment, the camera system coordinate system is established with the center pixel of each frame image as the origin. Image recognition technology is used to detect the relative coordinates of the hook in the image with respect to the camera system coordinate system. The pixel offset is calculated based on the relative coordinates and the origin. The length scale is calculated based on the length of the hook object recognition box and the actual size of the hook. The actual offset distance of the suspended object is calculated using the length scale and the pixel offset. The position of the suspended object is parameterized so that it can be mapped to the three-dimensional simulation platform. The projection range of the suspended object on the construction plane is recorded as the danger zone.

[0042] In step S103, the expression parameters of the operating data, the swing data of the hoisted object, the BIM data, and the construction progress data are imported into the three-dimensional simulation platform and visualized based on the three-dimensional simulation platform to monitor and manage the operating status and dynamic hazards of the construction tower crane.

[0043] The parameters can be tower arm rotation angle, downward pressure angle, hook coordinates, etc., and are not specifically limited here.

[0044] It is understood that the embodiments of this application import the expression parameters of the operating data, the swing data of the hoisted object, the BIM data and the construction progress data into the three-dimensional simulation platform and display them visually to monitor and manage the operating status and dynamic hazards of the construction tower crane, and to judge in real time whether the relevant parameters during the operation meet the safety specifications and whether there are safety hazards for ground workers. This enables tower crane operators and on-site managers to grasp and judge relevant information in a timely manner, thereby improving the safety management level of tower crane operations.

[0045] The construction tower crane monitoring method proposed in this application acquires the tower crane's operational data and image data, performs three-dimensional mapping of the operational data in an established tower crane coordinate system to obtain the parameters representing the operational data, calculates the swing data of the suspended load based on the image data, and acquires the building information model (BIM) data and construction progress data of the construction site. This data is then input into a three-dimensional simulation platform for visualization, enabling monitoring and management of the tower crane's operational status and dynamic hazards. Real-time assessments are made to determine whether relevant parameters during operation comply with safety regulations and whether there are safety hazards for ground workers. This allows tower crane operators and on-site managers to promptly grasp and judge relevant information, improving the safety management level of tower crane operations. Therefore, this method solves the problems in related technologies where manual assessment of the tower crane's operational status is required, which can easily lead to low assessment accuracy, difficulty in timely and effective risk warnings, and low safety.

[0046] The following will combine Figures 2 to 5 The supervision methods for construction tower cranes are explained in detail, and the specific steps are as follows:

[0047] S1: Collection of tower crane operation data

[0048] The tower crane operation data mainly includes the tower crane's positioning information, the boom's rotation angle, the downward angle, the crane's sliding distance, the suspended distance of the load, and the load's swing data. To accurately obtain the above information, this application uses angle sensors, distance sensors, and cameras in the main body of the tower crane.

[0049] The specific location is as follows: Figure 2 As shown; the angle sensor is installed on the tower arm truss directly above the tower body; the distance sensor is installed at the center point of the bottom of the tower arm directly above the tower body; the positioning chip that matches the distance sensor is installed on the tower arm sliding trolley and hook to measure the distance from the trolley and hook to the center point of the top of the tower body in real time; the camera is arranged at the bottom of the tower arm sliding trolley, and it is necessary to ensure that the camera is perpendicular to the bottom plane of the trolley to obtain the vertical perspective of the suspended object.

[0050] In addition, in this embodiment, an industrial control computer is also installed inside the tower crane operator's cab. It is connected to the angle sensor, distance sensor and camera respectively through shielded network cables. Data transmission between the industrial control computer and the ground switch and host network is realized with the help of a network bridge, so as to ensure that the tower arm operation parameters are transmitted to the ground in real time and effectively.

[0051] S2: Mapping of tower crane operation data

[0052] After acquiring the raw data of tower crane operation, the sensor data format needs to be parsed and further calculated in order to achieve a parameterized expression of the tower crane's operating status, thereby providing support for subsequent import into a 3D engine to carry out dynamic simulation and targeted management.

[0053] Since the tower crane's positioning can be directly obtained from the initial construction site layout information and is relatively fixed, no additional calculation process is required. This application uses the projection of the tower's centerline onto the ground as the origin of the coordinate system O(x0, y0, z0), with the north direction of the geodetic coordinate system as the X-axis, the east direction as the Y-axis, and the vertical upward direction along the tower's centerline as the Z-axis. In this coordinate system, if the tower height is H, then the center point of the tower top is C(x0, y0, H). Furthermore, using an angle sensor, this application can directly obtain the tower boom's rotation angle A1 and downward angle A2, achieving a parameterized expression of the tower boom's movement and providing support for subsequent parameterized calculations of the suspended object's position.

[0054] Considering the horizontal swaying of the load during lifting and aerial transport, the parameterization process for the load's position in this application mainly consists of two steps: obtaining the vertical offset distance of the load based on image data, and obtaining the coordinates of the load in the tower crane coordinate system by combining the distance data. The specific calculation process is as follows:

[0055] (1) Calculation of horizontal offset distance of suspended object

[0056] The embodiments of this application mainly obtain the horizontal offset distance of the suspended object based on image data arranged at the bottom of the crane's sliding trolley and with the shooting angle perpendicular to the ground.

[0057] First, the image data captured by the camera for each frame, such as Figure 3 As shown, the origin of the coordinate system is the center pixel of the image, denoted as P(x). p ,y p Then, using image recognition technology, the coordinates P of the hook in the image relative to the camera system coordinate system are detected. i (u i ,v iNext, to convert the pixel offset in the image into distance in actual space, it is necessary to calculate the ratio between the pixel size and the actual size. In this application, the length of the hook object recognition box is denoted as `box_width`, and the width as `box_height`. Combined with the measured actual hook dimensions W1 and L1, the formula for calculating the length scale is:

[0058]

[0059] The formula for calculating the width scale is:

[0060]

[0061] Based on this, and considering the instability of the recognition frame caused by the rotation of the hook itself, this application takes S... li S wi The minimum value is used as the actual reference value. Finally, based on P and P... i The pixel offset distance between them is used to calculate the actual offset distance D of the suspended object. i The specific calculation formula is as follows:

[0062]

[0063] (2) Calculation of hook coordinates

[0064] The calculation of the load's coordinates mainly involves considering the spatial distance of the load's swing, the distance of the load relative to the origin, and data such as the boom's rotation and downward angles. Trigonometric formulas are used to deduce the load's position coordinates in the tower crane's coordinate system. Key parameters involved include... Figure 4 As shown.

[0065] First, calculate the spatial swing angle θ of the hook and rope. i This application utilizes distance sensors to obtain the distance d1 from the sliding trolley to the center point of the top of the tower and the distance d2 from the hook to the center point of the top of the tower. The specific calculation formula is as follows:

[0066]

[0067] θ i =arctanθ i

[0068] Calculate the hook droop length h i The formula is:

[0069]

[0070] Then, calculate the position M of the hook in space. i (x i ,y i ,zi During the process, such as Figure 4 As indicated by the annotation, an intermediate angle variable A is also involved. i The calculation formula is as follows:

[0071]

[0072] A i =arcsinA i

[0073] Therefore, the height L between the hook and the top of the tower is calculated. i for:

[0074] L i =d2*sin(A2+A i )

[0075] The Z-axis coordinate of the hook in the tower crane coordinate system is:

[0076] z i =HL i

[0077] The coordinates of the hook on the X-axis of the tower crane coordinate system are:

[0078] x i =d1 cosA1

[0079] The Y-coordinate of the hook in the tower crane coordinate system is:

[0080] y i =d1 sin A1

[0081] Finally, the coordinates of the hook in the tower crane coordinate system are (d1 cosA1, d1 sinA1, HL). i ).

[0082] S3: Risk Monitoring of Tower Crane Operation in a 3D Platform

[0083] This application imports the tower crane operation parameters (tower boom rotation angle, downward pressure angle, and hook coordinates) obtained above into a three-dimensional simulation platform. Combined with the building information model of the construction site and construction progress data, it realizes real-time visual monitoring of the tower crane's operation in space. At the same time, this application sets the hook's projection plane on the working plane as a dynamic hazard source. Based on the interview results with tower crane operators on site regarding common dimensions of the suspended objects, the dynamic hazard source is set as a circle with a radius of 2.5 meters projected onto the working plane.

[0084] Finally, this application, in conjunction with tower crane operation safety standards, assesses in real time whether relevant parameters during operation comply with safety regulations and whether there are safety hazards for ground workers. This enables tower crane operators and on-site managers to promptly grasp and assess relevant information, thereby improving the safety management level of tower crane operations.

[0085] In summary, this application embodiment, by equipping the tower crane with hardware devices such as angle sensors, distance sensors, cameras, and industrial control computers, and utilizing spatial trigonometric functions to calculate the motion trajectory of the hoisted object, achieves real-time comprehensive monitoring of the tower crane's operating status in a 3D simulation platform. Combined with tower crane operation standards, it accurately assesses relevant risk factors. Furthermore, by incorporating tower crane operation safety standards, this application enables timely and effective comprehensive intelligent monitoring of tower crane hazardous conditions. In addition, by analyzing the motion trajectory and range of the hoisted object, it achieves real-time monitoring and management of dynamic hazardous sources in tower crane operation at the construction site, and can make timely early warning judgments.

[0086] Next, the monitoring device for the construction tower crane proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0087] Figure 6 This is a block diagram of a monitoring device for a construction tower crane according to an embodiment of this application.

[0088] like Figure 6 As shown, the monitoring device 10 for the construction tower crane includes: an acquisition module 100, a three-dimensional mapping module 200, and an import module 300.

[0089] The acquisition module 100 is used to acquire the operation data and image data of the construction tower crane; the 3D mapping module 200 is used to perform 3D mapping of the operation data in the established tower crane coordinate system to obtain the expression parameters of the operation data, calculate the swing data of the hoisted object based on the image data, and acquire the building information model (BIM) data and construction progress data of the construction site; the import module 300 is used to import the expression parameters of the operation data, the swing data of the hoisted object, the BIM data and the construction progress data into the 3D simulation platform, and perform visualization display based on the 3D simulation platform to monitor and manage the operation status and dynamic hazards of the construction tower crane.

[0090] In this embodiment of the application, the three-dimensional mapping module 200 is further used to: establish a tower crane coordinate system with the projection of the tower centerline on the ground as the origin of the coordinate system, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis; and in the tower crane coordinate system, obtain the tower arm rotation angle and downward angle by means of an angle sensor to realize the parameterized expression of the tower arm movement.

[0091] In this embodiment, the three-dimensional mapping module 200 is further configured to: determine the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground; calculate the spatial swing angle between the hook and the rope based on the actual offset distance; calculate the hook droop length based on the actual offset distance and the spatial swing angle; calculate an intermediate angle variable based on the actual offset distance, a first distance from the sliding trolley to the center point of the top of the tower body, and a second distance from the hook to the center point of the top of the tower body; calculate the height of the hook and the top of the tower body based on the second distance, the intermediate angle variable, and the downward angle; calculate the Z-axis coordinate of the hook in the tower crane coordinate system based on the tower height and the height of the hook and the top of the tower body; and calculate the X-axis and Y-axis coordinates of the hook in the tower crane coordinate system based on the first distance and the boom rotation angle.

[0092] In this embodiment, the 3D mapping module 200 is further configured to: establish a camera system coordinate system with the center pixel of each frame image as the origin; detect the relative coordinates of the hook in the image with respect to the camera system coordinate system, and calculate the pixel offset based on the relative coordinates and the origin; calculate a length scale based on the length of the hook object recognition box and the actual size of the hook, and calculate the actual offset distance of the suspended object using the length scale and the pixel offset.

[0093] It should be noted that the explanation of the aforementioned method for monitoring construction tower cranes also applies to the monitoring device for construction tower cranes in this embodiment, and will not be repeated here.

[0094] The monitoring device for construction tower cranes proposed in this application acquires the tower crane's operational data and image data, performs three-dimensional mapping of the operational data in an established tower crane coordinate system to obtain the expression parameters of the operational data, calculates the swing data of the suspended load based on the image data, and acquires the building information model (BIM) data and construction progress data of the construction site. This data is then input into a three-dimensional simulation platform for visualization, enabling monitoring and management of the tower crane's operational status and dynamic hazards. It allows for real-time assessment of whether relevant parameters during operation comply with safety regulations and whether there are safety hazards for ground workers. This achieves timely understanding and judgment of relevant information for tower crane operators and on-site management personnel, improving the safety management level of tower crane operations. Therefore, it solves the problems in related technologies where manual assessment of the tower crane's operational status is required, which can easily lead to low assessment accuracy, difficulty in timely and effective risk warnings, and low safety.

[0095] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0096] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0097] When the processor 702 executes the program, it implements the monitoring method for construction tower cranes provided in the above embodiments.

[0098] Furthermore, electronic devices also include:

[0099] Communication interface 703 is used for communication between memory 701 and processor 702.

[0100] The memory 701 is used to store computer programs that can run on the processor 702.

[0101] The memory 701 may include high-speed RAM (Random Access Memory) memory, and may also include non-volatile memory, such as at least one disk storage.

[0102] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0103] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0104] The processor 702 may be a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of this application.

[0105] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described method for monitoring construction tower cranes.

[0106] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0107] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0108] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0109] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0110] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A method for supervising construction tower cranes, characterized in that, Includes the following steps: Acquire operational data and image data of the construction tower crane; The operation data is three-dimensionally mapped in the established tower crane coordinate system to obtain the expression parameters of the operation data. The swing data of the suspended object is calculated based on the image data, and the building information model (BIM) data and construction progress data of the construction site are obtained. The expression parameters of the operation data, the swing data of the suspended object, the BIM data and the construction progress data are imported into the three-dimensional simulation platform, and the visualization is performed based on the three-dimensional simulation platform to monitor and manage the operation status and dynamic hazards of the construction tower crane. The step of calculating the swing data of the suspended object based on the image data includes: The actual horizontal offset distance of the suspended object is determined based on image data arranged at the bottom of the crane's sliding trolley and taken from a perspective perpendicular to the ground. Calculate the spatial swing angle between the hook and the rope based on the actual offset distance, and calculate the hook droop length based on the actual offset distance and the spatial swing angle. The intermediate angle variable is calculated based on the actual offset distance, the first distance from the sliding trolley to the center point of the top of the tower, and the second distance from the hook to the center point of the top of the tower. The height of the hook and the top of the tower is calculated based on the second distance, the intermediate angle variable, and the downward angle. The hook's position in the tower crane coordinate system is calculated based on the tower height and the heights of the hook and the top of the tower. The axis coordinates are calculated based on the first distance and the tower jib rotation angle in the tower crane coordinate system. Axis coordinates and Axis coordinates.

2. The method according to claim 1, characterized in that, The step of performing a three-dimensional mapping of the operating data in the established tower crane coordinate system to obtain the expression parameters of the operating data includes: The tower crane coordinate system is established with the projection of the tower centerline onto the ground as the origin, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis. In the tower crane coordinate system, the rotation angle and downward angle of the tower arm are obtained by means of an angle sensor, so as to realize the parameterized expression of the tower arm motion.

3. The method according to claim 1, characterized in that, The step of determining the actual horizontal offset distance of the suspended object based on image data arranged at the bottom of the boom sliding trolley and with the shooting angle perpendicular to the ground includes: A coordinate system for the camera system is established with the center pixel of each frame as the origin. The relative coordinates of the hook in the image with respect to the camera system coordinate system are detected, and the pixel offset is calculated based on the relative coordinates and the origin of the coordinate system. Calculate the length scale based on the length of the hook object identification frame and the actual size of the hook, and use the length scale and the phase pixel offset to calculate the actual offset distance of the suspended object.

4. A monitoring device for a construction tower crane, characterized in that, include: The acquisition module is used to acquire the operating data and image data of the construction tower crane; The 3D mapping module is used to perform 3D mapping on the operating data in the established tower crane coordinate system to obtain the expression parameters of the operating data, calculate the swing data of the suspended object based on the image data, and obtain the building information model (BIM) data and construction progress data of the construction site. The import module is used to import the expression parameters of the operation data, the swing data of the hoisted object, the BIM data and the construction progress data into the three-dimensional simulation platform, and perform visualization display based on the three-dimensional simulation platform to monitor and manage the operation status and dynamic hazards of the construction tower crane; The three-dimensional mapping module is further used for: The actual horizontal offset distance of the suspended object is determined based on image data arranged at the bottom of the crane's sliding trolley and taken from a perspective perpendicular to the ground. Calculate the spatial swing angle between the hook and the rope based on the actual offset distance, and calculate the hook droop length based on the actual offset distance and the spatial swing angle. The intermediate angle variable is calculated based on the actual offset distance, the first distance from the sliding trolley to the center point of the top of the tower, and the second distance from the hook to the center point of the top of the tower. The height of the hook and the top of the tower is calculated based on the second distance, the intermediate angle variable, and the downward angle. The hook's position in the tower crane coordinate system is calculated based on the tower height and the heights of the hook and the top of the tower. The axis coordinates are calculated based on the first distance and the tower jib rotation angle in the tower crane coordinate system. Axis coordinates and Axis coordinates.

5. The apparatus according to claim 4, characterized in that, The three-dimensional mapping module is further used for: The tower crane coordinate system is established with the projection of the tower centerline onto the ground as the origin, the north direction of the geodetic coordinate system as the X-axis, the east direction of the geodetic coordinate system as the Y-axis, and the vertical upward direction along the tower centerline as the Z-axis. In the tower crane coordinate system, the rotation angle and downward angle of the tower arm are obtained by means of an angle sensor, so as to realize the parameterized expression of the tower arm motion.

6. The apparatus according to claim 5, characterized in that, The three-dimensional mapping module is further used for: A coordinate system for the camera system is established with the center pixel of each frame as the origin. The relative coordinates of the hook in the image with respect to the camera system coordinate system are detected, and the pixel offset is calculated based on the relative coordinates and the origin of the coordinate system. Calculate the length scale based on the length of the hook object identification frame and the actual size of the hook, and use the length scale and the phase pixel offset to calculate the actual offset distance of the suspended object.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the monitoring method for construction tower cranes as described in any one of claims 1-3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the monitoring method for construction tower cranes as described in any one of claims 1-3.

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