Intelligent safety detection system for tower crane lifting

Abstract

The present invention discloses an intelligent safety detection system for tower crane jacking, including a frame state detection system, a jacking beam in place detection system, a slewing lower support bolt connection detection system, a climbing claw in place detection system and a detection and judgment system. The detection and judgment system is connected to the oil cylinder on the frame, and locks or unlocks the oil cylinder according to the detection results of each system; the frame state detection system includes a first monitoring camera group and an analysis and processing module. The first monitoring camera group is used to obtain detection picture data and is detachably arranged on the frame. The analysis and processing module is used to perform a first analysis and processing on the acquired detection picture data to obtain the relative inclination angle between the frame and the standard section. The present invention detects the leveling relationship between the frame and the standard section by a monitoring camera detachably installed on the frame, and does not need to add a structure to the standard section, thereby effectively reducing the cost of consumption.

Description

Technical Field

[0001] The invention relates to the technical field of tower crane jacking safety, and in particular to an intelligent safety detection system for tower crane jacking. Background Art

[0002] Safety is the top priority in engineering operations. If safety measures are not up to standard, it is very easy to cause serious safety accidents such as tower crane collapse. Therefore, the next step of the process can only be started when safety conditions are met.

[0003] In the current tower crane lifting process, the sleeve needs to be mounted on the outside of the standard section, and the sleeve itself is lifted through the lifting components on the sleeve to install the new standard section on the original standard section. In this process, the sleeve adjusts the luffing trolley through the tower crane driver's cab to adjust the position of the standard section used for balancing, thereby adjusting the positional relationship between the sleeve and the standard section. After adjustment, the on-site operators mainly rely on the naked eye to observe the gap size between the 16 guide wheels on the upper and lower layers of the sleeve and the main chord of the standard section, and confirm whether they are consistent (the gap size is usually between 2 and 4 mm). Only after the tower crane's boom is balanced to ensure that the overall upper structure of the tower crane is in a horizontal state, can the next lifting operation be carried out.

[0004] However, this method currently relies mainly on manual observation and monitoring. The human eye can only roughly judge the distance between each guide wheel and the string bar, which requires a relatively high level of experience from the operators and there is a certain error in the judgment of the distance. On the other hand, the monitoring is not effective enough, and the control over the operation process is not strong enough. It only relies on a single result of the operator's judgment to determine whether the jacking process should proceed downward. The judgment standards of each operator are different, and there is uncertainty in the operating status of the operators, which poses a certain safety risk.

[0005] There are also methods of using proximity sensors for detection in the prior art. For example, a proximity switch is added to the step of each standard section, and the control circuit is modified to connect the control circuit to allow jacking only when the proximity switch is closed. In this way, when the jacking beam and the safety pin are in place, it can be sensed so that jacking can be performed. However, this method requires all existing machines to be modified to add sensors, which is time-consuming, labor-intensive, and extremely costly. Summary of the invention

[0006] The embodiment of the present invention provides an intelligent safety detection system for tower crane jacking, so as to solve the problem that the detection accuracy before tower crane jacking is not high enough or the cost is too high in the prior art.

[0007] According to one aspect of the present invention, an intelligent safety detection system for tower crane lifting is provided, comprising:

[0008] The casing state detection system is used to detect the inclination angle of the casing, the inclination angle of the standard section, and the relative inclination angle between the casing and the standard section;

[0009] Lifting beam in place detection system, used to detect whether the lifting beam is in place;

[0010] The slewing lower support bolt connection detection system is used to detect whether the bolts between the sleeve frame and the slewing lower support are installed in place;

[0011] The climbing claw in place detection system is used to detect whether the climbing claw and the support block step are in place before the cylinder retracts;

[0012] A detection and judgment system is connected to the oil cylinder on the frame, and the detection and judgment system is used to obtain the detection results of the frame state detection system, the jacking beam in place detection system, the slewing lower support bolt connection detection system and the climbing claw in place detection system, and lock or unlock the oil cylinder according to the comparison results between the inclination angle of the frame, the inclination angle of the standard section, and the relative inclination angle between the frame and the standard section and the preset fault tolerance inclination angle, as well as the detection results of the jacking beam in place detection system, the slewing lower support bolt connection detection system and the climbing claw in place detection system;

[0013] The frame state detection system includes a first monitoring camera group and an analysis and processing module. The first monitoring camera group is used to obtain detection image data and is detachably arranged on the frame. The analysis and processing module is used to perform a first analysis and processing on the detection image data obtained by the first monitoring camera group to obtain the inclination angle of the frame, the inclination angle of the standard section, and the relative inclination angle between the frame and the standard section.

[0014] The intelligent safety detection system for tower crane lifting of the present invention can comprehensively detect the links and parts that may affect the lifting safety between the sleeve and the standard section during the lifting process of the tower crane through multiple groups of systems, including the position of the lifting crossbeam, the bolt connection between the sleeve and the lower rotary support, the matching between the climbing claw and the support block step, and the levelness of the entire sleeve and the standard section. At the same time, when detecting the levelness of the entire sleeve, the monitoring camera (first monitoring camera group) detachably installed on the sleeve is combined with the tilt angle calculation algorithm to detect the leveling relationship between the sleeve and the standard section, thereby replacing the manual naked eye observation method for judgment, and because the monitoring camera can be detachably installed on the sleeve, there is no need to further add structure to the standard section, thereby effectively reducing the cost of consumption, and the detachable installation between the monitoring camera and the sleeve enables the monitoring camera to be reused in various tower crane lifting systems, without the need to re-pair the system communication due to the replacement of the monitoring camera, and the monitoring camera can be disassembled and removed after the lifting is completed, which can avoid the sleeve from causing damage to the monitoring camera when it is stored.

[0015] In some embodiments, the first surveillance camera group includes a first surveillance camera and a second surveillance camera.

[0016] The detection picture data acquired by the first monitoring camera includes first picture data of a first frame main chord and a first standard section main chord located on a first side of the tower crane.

[0017] The detection image data acquired by the second monitoring camera includes second image data of a second frame main chord and a second standard section main chord located on the second side of the tower crane, wherein the first side and the second side are perpendicular to each other.

[0018] Therefore, through such an arrangement, two different groups of main chords located on different sides between the casing and the standard section can be detected, so that by detecting the inclination angles of the two groups of main chords, which are used as the inclination angles and relative inclination angles in two directions of the casing and the standard section, the horizontality of the current casing and the standard section can be determined. This method can minimize the number of monitoring cameras used while ensuring the accuracy of the detection, thereby further reducing the cost of consumption, reducing the amount of calculation during data processing, and improving efficiency.

[0019] In some embodiments, the inclination angle of the frame includes the inclination angle of the first frame main chord and the inclination angle of the second frame main chord, the inclination angle of the standard section includes the inclination angle of the first standard section main chord and the inclination angle of the second standard section main chord, the relative inclination angle between the frame and the standard section includes a first relative inclination angle between the inclination angle of the first frame main chord and the inclination angle of the first standard section main chord and a second relative inclination angle between the inclination angle of the second frame main chord and the inclination angle of the second standard section main chord,

[0020] The first analysis process includes

[0021] Determine the inclination angle of the main chord of the first frame and the inclination angle of the main chord of the first standard section according to the first picture data;

[0022] Determine the inclination angle of the main chord of the second frame and the inclination angle of the main chord of the second standard section according to the second picture data;

[0023] The first relative inclination angle between the sleeve and the standard section is determined according to the inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the first standard section, and the second relative inclination angle between the sleeve and the standard section is determined according to the inclination angle of the main chord of the second sleeve and the inclination angle of the main chord of the second standard section.

[0024] Therefore, the inclination angles of the two groups of main chords on the sleeve and the standard section can be determined through the first picture data and the second picture data, thereby determining the relative inclination angle between the two groups of main chords, and then determining the horizontality of the current sleeve and the standard section, providing protection for the safety of the jacking process.

[0025] In some embodiments, determining the inclination angle of the main chord of the first frame and the inclination angle of the main chord of the first standard section according to the first picture data includes:

[0026] The first model is used to process the first picture data, and an image including the main chord of the first frame and the main chord of the first standard section is extracted as an ROI area image;

[0027] Perform threshold segmentation on the ROI area image to obtain a binary image corresponding to the ROI area image;

[0028] Extracting the center point of the binary image to respectively fit the center lines of the main chord of the first frame and the main chord of the first standard section;

[0029] The inclination angle of the main chord of the first frame and the inclination angle of the main chord of the first standard section are calculated based on the center line formed by fitting.

[0030] Therefore, through such a setting, the center lines of the main chord of the frame and the main chord of the standard section can be determined using a binary graph, so that the inclination of the center line is used as the inclination of the main chord, which can more accurately determine the inclination of the main chord, improve the accuracy of detection, and improve safety during the jacking process.

[0031] In some embodiments, the housing state detection system further comprises a second monitoring camera group detachably arranged on the housing, the first monitoring camera group is used to obtain first detection picture data of the picture between the lower part of the housing and the standard section, and the second monitoring camera group is used to obtain second detection picture data of the picture between the upper part of the housing and the standard section;

[0032] The first monitoring camera group includes four groups of third monitoring cameras, and the first detection picture data obtained by each group of third monitoring cameras includes third picture data of a group of guide wheels and a main chord of a standard section located at the lower part of the sleeve on the same side of the tower crane, and the four groups of third monitoring cameras respectively obtain third picture data of different sides of the tower crane;

[0033] The second monitoring camera group includes four groups of fourth monitoring cameras, and the second detection picture data obtained by each group of fourth monitoring cameras includes fourth picture data of a group of guide wheels and a main chord of a standard section located on the upper part of the sleeve on the same side of the tower crane, and the four groups of fourth monitoring cameras respectively obtain fourth picture data of different sides of the tower crane;

[0034] The inclination angle of the frame includes the inclination angle of each main chord of the frame, the inclination angle of the standard section includes the inclination angle of each main chord of the standard section, and the relative inclination angle between the frame and the standard section includes the relative inclination angle between each main chord of the frame and the main chord of the standard section located on the same side of the tower crane.

[0035] The first analysis process includes:

[0036] Determine the gap size between each guide wheel in the four sets of guide wheels located at the lower part of the sleeve and the main chord of the standard section and the inclination angle of each main chord of the standard section according to the first detection picture data;

[0037] Determine the gap size between each guide wheel in the four sets of guide wheels located at the upper part of the sleeve and the main chord of the standard section and the inclination angle of each main chord of the standard section according to the second detection picture data;

[0038] Determine the relative inclination angle between each main chord of the casing and the main chord of the standard section located on the same side of the tower crane as the main chord of the standard section, according to the gap size between each guide wheel of the four sets of guide wheels located at the lower part of the casing and the main chord of the standard section, and the gap size between each guide wheel of the four sets of guide wheels located at the upper part of the casing and the main chord of the standard section;

[0039] The inclination angle of each main chord of the sleeve is determined according to the inclination angle of each main chord of the standard section and the relative inclination angle between each main chord of the sleeve and each main chord of the standard section.

[0040] Thus, through such an arrangement, the gaps between the four upper and lower groups of guide wheels on the frame and the main chord of the standard section can be detected by the four upper and lower groups of monitoring cameras, so that the gaps between the guide wheels and the main chord of the standard section can be determined, and the inclination angle of the main chord of the standard section in each group of monitoring cameras can be determined, and then it can be determined whether the frame and the standard section are in a parallel state, the relative inclination angle between the frame and the standard section can be determined, and the inclination angle of each main chord of the frame can be further determined. Although this method uses more monitoring cameras, the accuracy of its detection can be further improved, and the safety during the jacking process can be further improved.

[0041] In some embodiments, a marking strip is provided on the main chord of the frame, and the first monitoring camera group includes a first monitoring camera and a second monitoring camera.

[0042] The detection picture data acquired by the first monitoring camera includes first picture data including a first marking bar on a first frame main chord located on the first side of the tower crane and a second marking bar on a first standard section main chord located on the first side, wherein the first marking bar is parallel to the first frame main chord, and the second marking bar is parallel to the first standard section main chord;

[0043] The detection picture data acquired by the second monitoring camera includes second picture data including a third marking bar on the second frame main chord located on the second side of the tower crane and a fourth marking bar on the second standard section main chord located on the second side, wherein the third marking bar is parallel to the second frame main chord, and the fourth marking bar is parallel to the second standard section main chord;

[0044] The inclination angle of the sleeve includes the inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the second sleeve, the inclination angle of the standard section includes the inclination angle of the main chord of the first standard section and the inclination angle of the main chord of the second standard section, the relative inclination angle between the sleeve and the standard section includes the first relative inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the first standard section and the second relative inclination angle of the main chord of the second sleeve and the inclination angle of the main chord of the second standard section,

[0045] The first analysis process includes:

[0046] Determine the inclination angle of the first marking strip and the inclination angle of the second marking strip according to the first picture data, determine the inclination angle of the main chord of the first frame according to the inclination angle of the first marking strip, and determine the inclination angle of the main chord of the first standard section according to the inclination angle of the second marking strip;

[0047] Determine the inclination angle of the third marking strip and the inclination angle of the fourth marking strip according to the second picture data, determine the inclination angle of the second frame main chord according to the inclination angle of the third marking strip, and determine the inclination angle of the second standard section main chord according to the inclination angle of the fourth marking strip;

[0048] The first relative inclination angle between the main chord of the first frame and the main chord of the first standard section is determined according to the inclination angle of the first marking strip and the inclination angle of the second marking strip, and the second relative inclination angle between the main chord of the second frame and the main chord of the second standard section is determined according to the inclination angle of the third marking strip and the inclination angle of the fourth marking strip.

[0049] Thus, by such an arrangement, the marking strips arranged on the main chords of the sleeve and the standard section can be used to mark the inclination direction of the sleeve and the standard section, so that the inclination angles of the main chords of the sleeve and the standard section in the group can be determined by detecting the direction of the marking strips on the main chords of the same group, thereby realizing the detection of the inclination angles of the sleeve and the standard section. The marking strips used in this method are of regular shape, so that the difficulty of processing and generating the center line can be reduced, the processing amount during data processing can be reduced, and the efficiency can be improved.

[0050] In some embodiments, a fifth monitoring camera is further included which is detachably mounted on the sleeve frame, wherein the first picture data acquired by the first monitoring camera also includes the shaft head on one side of the lifting beam and the step groove on the standard section, and the fifth monitoring camera is used to acquire fifth picture data including the shaft head on the other side of the lifting beam and the step groove on the standard section, and the fifth monitoring camera, the first monitoring camera and the analysis and processing module constitute the lifting beam in-place detection system;

[0051] The analysis and processing module is also used to perform a second analysis and processing on the first picture data and the fifth picture data acquired by the first monitoring camera and the fifth monitoring camera to obtain the relative position between the lifting beam and the standard section.

[0052] Therefore, through such an arrangement, the fifth monitoring camera and further the first monitoring camera can be used to simultaneously detect the position status between the shaft head and the step groove on both sides of the jacking beam, thereby effectively reducing the number of monitoring cameras used and reducing consumption costs. The analysis of the position status of the jacking beam can be carried out together with the analysis of the horizontality of the sleeve and the standard section, thereby greatly improving efficiency.

[0053] In some embodiments, an intelligent early warning nut is provided on the bolt between the sleeve and the slewing lower support, and the slewing lower support bolt connection detection system includes a bolt monitoring camera group, which is detachably provided on the sleeve and is used to obtain third detection picture data including the intelligent early warning nut for detecting the sleeve and the slewing lower support, and the bolt monitoring camera group and the analysis and processing module constitute the slewing lower support bolt connection detection system;

[0054] The climbing claw in-place detection system includes a climbing claw monitoring camera group, which is detachably arranged on the sleeve frame and is used to obtain fourth detection picture data including the climbing claw and the support block stepping on the standard section. The climbing claw monitoring camera group and the analysis and processing module constitute the climbing claw in-place detection system;

[0055] The analysis and processing module is also used to perform a third analysis and processing on the acquired third detection image data to obtain the number of intelligent warning nut pre-tightening on the slewing lower support, and to perform a fourth analysis and processing on the acquired fourth monitoring image data to obtain the relative position between the climbing claw and the support block step on the standard section.

[0056] Therefore, through such a setting, it is possible to obtain and analyze the images of the bolt connection between the sleeve frame and the lower slewing support and the position between the climbing claw and the support block step through the monitoring camera, and obtain the number of intelligent warning nuts pre-tightened on the bolts between the sleeve frame and the lower slewing support and the relative position between the climbing claw and the support block step, thereby realizing the analysis of the safety status of jacking and improving the safety during the jacking process.

[0057] In some embodiments, the first monitoring camera group is arranged at the bottom of the lower working platform of the frame, and each monitoring camera is an intelligent pan-tilt camera.

[0058] Therefore, through such a setting, the shooting angle of the camera can be adjusted through the pan-tilt head, so that the corresponding image data can be better obtained, providing sufficient guarantee for the safety status analysis during the jacking process.

[0059] In some embodiments, the surveillance camera is detachably mounted on the frame via a portable mounting bracket, wherein the portable mounting bracket includes a connecting rod detachably connected to the surveillance camera, a rod sleeve slidably mounted on the connecting rod, and a first clamping structure for fixing the rod sleeve to the frame, and the rod sleeve is also provided with a second clamping structure for relatively fixing the position of the rod sleeve and the connecting rod.

[0060] Therefore, through such a setting, the monitoring camera can be installed through a portable mounting bracket, thereby avoiding damage to the monitoring camera when storing the bracket. The monitoring camera can also be reused in various tower crane jacking systems without the need to re-pair the system communication due to replacement of the monitoring camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0062] Figure 1 It is a principle block diagram of an intelligent safety detection system for tower crane jacking according to one embodiment of the present invention;

[0063] Figure 2It is a structural schematic diagram of a first side surface of a tower crane in an intelligent safety detection system for tower crane jacking according to an embodiment of the present invention;

[0064] Figure 3 It is a structural schematic diagram of the second side surface of the tower crane in the intelligent safety detection system for tower crane jacking according to one embodiment of the present invention;

[0065] Figure 4 The overall structure diagram of the tower crane in the intelligent safety detection system for tower crane jacking according to one embodiment of the present invention is as follows

[0066] Figure 5 The first monitoring camera group in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention adopts Figures 2 to 4 A flowchart of a method for first analysis and processing performed by the analysis and processing module when the setting mode is ;

[0067] Figure 6 It is a flow chart of determining the angle of the main chord of the frame and the inclination angle of the main chord of the standard section according to the acquired detection picture data in the intelligent safety detection system for tower crane jacking according to one embodiment of the present invention;

[0068] Figure 7 A partial image of an area of ​​interest of first picture data in an intelligent safety detection system for tower crane jacking according to an embodiment of the present invention;

[0069] Figure 8 An intelligent safety detection system for tower crane lifting according to an embodiment of the present invention Figure 7 Convert the image to grayscale;

[0070] Fig. 9 A binary image obtained after the processing of step S22 in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention;

[0071] Fig.10 An intelligent safety detection system for tower crane lifting according to an embodiment of the present invention Fig. 9 The image after the center point extraction of the main chord of the frame and the main chord of the standard section;

[0072] Fig.11 An intelligent safety detection system for tower crane lifting according to an embodiment of the present invention Fig.10 The image after the center point is fitted to form the center line;

[0073] Fig.12 It is a structural schematic diagram of a first side surface of a tower crane in an intelligent safety detection system for tower crane jacking according to another embodiment of the present invention;

[0074] Fig.13 For the present invention Fig.12A flow chart of a method for first analysis and processing performed by an analysis and processing module in an intelligent safety detection system for tower crane jacking according to an implementation method;

[0075] Fig.14 It is a structural schematic diagram of a first side surface of a tower crane in an intelligent safety detection system for tower crane jacking according to another embodiment of the present invention;

[0076] Fig.15 For the present invention Fig.14 A structural schematic diagram of a second side of a tower crane in an intelligent safety detection system for tower crane jacking according to an implementation method;

[0077] Fig.16 for Figure 2 A schematic diagram of the enlarged structure of part A;

[0078] Fig.17 for Figure 4 A schematic diagram of the enlarged structure of part B;

[0079] Fig.18 It is a schematic structural diagram of a portable mounting bracket used in an intelligent safety detection system for tower crane jacking according to an embodiment of the present invention;

[0080] Description of the accompanying drawings: 1, sleeve frame; 11, lower working platform; 12, oil cylinder; 13, lifting beam; 131, shaft head; 14, slewing lower support; 15, climbing claw; 16, guide wheel; 2, standard section; 21, step groove; 22, support block step; 31, first monitoring camera; 32, second monitoring camera; 33, third monitoring camera; 34, fourth monitoring camera; 35, fifth monitoring camera; 41, first sleeve frame main chord; 42, first standard section main chord; 5 1. Second main chord of the frame; 52. Second main chord of the standard section; 61. First marking strip; 62. Second marking strip; 63. Third marking strip; 64. Fourth marking strip; 71. Connecting rod; 72. Rod sleeve; 73. First screw; 74. Second screw; 75. First clamping plate; 76. Second clamping plate; 81. Frame status detection system; 82. Lifting beam in place detection system; 83. Rotating lower support bolt connection detection system; 84. Climbing claw in place detection system; 85. Detection and judgment system. DETAILED DESCRIPTION

[0081] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0082] In the description of the present application, it should be understood that if the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like are used to indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The features defined as "first" and "second" are used to distinguish the feature names, rather than having special meanings. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0083] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0084] It should also be noted that, in this article, the terms "include" and "comprise" include not only those elements, but also other elements not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the sentence "include..." do not exclude the existence of other identical elements in the process, method, article or equipment that includes the elements. The terms used in this article are generally commonly used by those skilled in the art. If there is any inconsistency with the commonly used terms, the terms in this article shall prevail.

[0085] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0086] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0087] The intelligent safety detection system for tower crane lifting of the present invention is used in tower cranes commonly used in existing construction sites. It is used to detect the safety of various parts of the tower crane related to the lifting safety of the frame during the overall lifting process of the frame when the tower crane needs to lift its frame to add a new standard section to the existing standard section to increase the height of the tower crane. Figure 1 The principle block diagram of the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention is schematically shown. Figure 1 As shown, the intelligent safety detection system for tower crane jacking of the present invention includes a frame state detection system 81, a jacking beam in place detection system 82, a slewing lower support bolt connection detection system 83, a climbing claw in place detection system 84 and a detection judgment system 85. In each of the above-mentioned systems, the frame state detection system 81 is used to detect the inclination angle of the frame 1, the inclination angle of the standard section 2 and the relative inclination angle between the frame 1 and the standard section 2. Only when the frame 1 and the standard section 2 are both in a horizontal or nearly horizontal state can safe jacking be achieved; the jacking beam in place detection system 82 is used to detect whether the jacking beam 13 is in place. Only when the jacking beam 13 is in place can the jacking beam 13 used for applying force when the cylinder 12 is extended during the jacking process be ensured to be uniformly stressed, thereby ensuring the safety of the jacking process of the frame 1; the slewing lower support bolt connection detection system 83 is used to detect whether the bolts between the slewing lower support 14 and the frame 1 are installed in place, and to determine the connection stability between the slewing lower support 14 and the frame 1, so as to ensure During the lifting process, there will be no loosening and resulting in tipping; the climbing claw in place detection system 84 is used to detect whether the climbing claw 15 and the support block step 22 are in place before the cylinder 12 retracts, to ensure that the climbing claw 15 and the support block step 22 can cooperate perfectly during the lifting process of the sleeve 1, provide support for the sleeve 1, and ensure the safety of the sleeve 1 during jacking; the detection judgment system 85 is connected to the cylinder 12 of the sleeve 1, and is used to obtain the detection results of the above-mentioned systems, and to judge whether each detection result is met according to the preset standard requirements, so as to lock the cylinder 12 when at least one detection result does not meet the standard to prevent the tower crane from jacking, and unlock the cylinder 12 when all detection results meet the standard to allow the tower crane to jack up.

[0088] In the overall system, the detection of the inclination angle of the frame 1 by the frame state detection system 81 can be represented by the inclination angle of the main chord in at least two mutually perpendicular directions on the frame 1. Similarly, the detection of the inclination angle of the standard section 2 can also be represented by the inclination angle of the main chord in at least two mutually perpendicular directions on the standard section 2. The relative inclination angle between the frame 1 and the standard section 2 can be represented by the relative inclination angle between two groups of main chords in at least two perpendicular directions of the frame 1 and the standard section 2. Among them, the frame state detection system 81 includes a first monitoring camera group and an analysis and processing module. The first monitoring camera group is composed of monitoring cameras, which are detachably mounted on the frame 1 so that they can be raised and lowered simultaneously with the frame 1. The first monitoring camera group is used to obtain detection picture data, and these detection picture data are used for analysis and processing to obtain the inclination angle data of the frame 1 and the standard section 2. The analysis and processing module is used to perform a first analysis and processing on the acquired detection picture data, and then obtain the inclination data of the frame 1 and the standard section 2 to form the detection result of the frame state detection system 81. When the analysis and processing module performs analysis and processing on the detection picture data, it performs analysis and processing on the frame pictures in the acquired video data. The analysis and processing module can be specifically formed by a customized industrial computer. The industrial computer is a reinforced enhanced personal computer with important computer properties and characteristics, such as a computer, a CPU, a hard disk, a memory, peripherals and an interface, and an operating system, a control network and protocol, computing power, and a friendly human-computer interface. Industrial computers often operate in a relatively harsh environment and have higher requirements for data security, so industrial computers are usually reinforced, dustproof, moisture-proof, corrosion-resistant, radiation-proof and other special designs. Each monitoring camera of the first monitoring camera group is connected to the analysis and processing module in communication, so that the acquired detection picture data can be transmitted to the analysis and processing module in real time to perform a first analysis and processing on the detection picture data. Among them, the communication connection can be achieved by cable connection or wireless communication. The cable connection method will obtain signals faster, while the wireless communication method does not require cables and therefore does not need to consider the cable length issue. This has certain advantages for signal transmission scenarios with the housing 1 located at high altitudes.

[0089] As one possible implementation of the frame state detection system 81, the first monitoring camera group may include a first monitoring camera 31 and a second monitoring camera 32, wherein the detection image data acquired by the first monitoring camera 31 includes first image data of the first frame main chord 41 and the first standard section main chord 42 located on the first side of the tower crane, and the detection image data acquired by the second monitoring camera 32 includes second image data of the second frame main chord 51 and the second standard section main chord 52 located on the second side of the tower crane. Specifically, refer to Figures 2 to 4 As shown, in this embodiment, the Figure 2 The monitoring camera in the middle is the first monitoring camera 31, and the first picture data obtained by the first monitoring camera 31 is the picture data on the first side of the tower crane, and the first side is the side where the oil cylinder 12 of the frame 1 of the tower crane is located. The first picture data obtained by the first monitoring camera 31 includes the first frame main chord 41 and the first standard section main chord 42 located on the first side of the tower crane, that is, Figure 2 The left side of the sleeve main chord and the standard section main chord are located on the first side. Figure 3 The monitoring camera on the left side is the second monitoring camera 32, and the second picture data obtained by the monitoring camera is the picture data on the second side of the tower crane. The second side and the first side are perpendicular to each other. Specifically in this embodiment, the second side is Figure 2 The second image data acquired by the second monitoring camera 32 includes the second frame main chord 51 and the second standard section main chord 52 on the second side of the tower crane, that is, Figure 3 That is to say, in this embodiment, the first camera group in the frame state detection system 81 obtains two groups of frame main chords and standard section main chords on two different sides of two mutually perpendicular sides of the tower crane.

[0090] Since the analysis and processing module is connected to the first monitoring camera group in communication, the analysis and processing module can obtain the detection picture data obtained by the first monitoring camera group in real time, which includes the first picture data and the second picture data. After obtaining the detection picture data obtained by the first monitoring camera group, the analysis and processing module performs a first analysis and processing on the detection picture data. The first analysis and processing processes the detection picture data to obtain the inclination angle of the frame 1 and the standard section 2 and the relative inclination angle between the two. Figure 5 The first monitoring camera group adopts the intelligent safety detection system of tower crane lifting according to one embodiment of the present invention. Figures 2 to 4 When the setting mode is set, the analysis and processing module performs the first analysis and processing method flow. Figure 5 As shown, the first analysis process can be specifically implemented as including the following steps:

[0091] Step S11: determining the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42 according to the first picture data.

[0092] Step S12: Determine the inclination angle of the second frame main chord 51 and the inclination angle of the second standard section main chord 52 according to the second picture data.

[0093] Step S13: Determine the first relative inclination angle between the frame 1 and the standard section 2 according to the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42, and determine the second relative inclination angle between the frame 1 and the standard section 2 according to the inclination angle of the second frame main chord 51 and the inclination angle of the second standard section main chord 52.

[0094] Among them, the processing process of step S11 and step S12 is basically the same, which are steps for processing the first picture data and the second picture data respectively. After obtaining the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42 or the inclination angle of the second frame main chord 51 and the inclination angle of the second standard section main chord 52, step S13 can be directly performed to determine the relative inclination angle between the main chords of the corresponding group, so as to obtain the first relative inclination angle and the second relative inclination angle. It can be understood that the order of step S11 and step S12 can be reversed according to actual conditions, and this embodiment does not limit this.

[0095] Taking the determination of the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42 in step S11 as an example, Figure 6 The process of determining the angle of the main chord of the frame and the inclination angle of the main chord of the standard section according to the acquired detection image data is schematically shown. Figure 6 As shown, the method flow can be specifically implemented as including the following steps:

[0096] Step S21: using the first model to process the first picture data, extracting an image including the first frame main chord 41 and the first standard section main chord 42 as a ROI area image;

[0097] Step S22: performing threshold segmentation on the ROI region image to obtain a binary image corresponding to the ROI region image;

[0098] Step S23: extracting the center point of the binary image to respectively fit and form the center lines of the first frame main chord 41 and the first standard section main chord 42;

[0099] Step S24: Calculate the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42 and the first relative inclination angle according to the center line formed by fitting.

[0100] In step S21, it is first necessary to determine the region of interest (ROI region) in the acquired first picture data. Specifically, the main chords of the sleeve 1 and the standard section 2 can be detected by the first model as the ROI region. Among them, the first model can adopt the YOLOv10 algorithm model and train it so that the model can recognize the required target objects (i.e., the main chords of the sleeve 1 and the standard section 2), so that the local image containing the required target objects can be extracted, thereby narrowing the image range to be processed. The first model can also adopt other models that can directly detect or identify and detect the main chords of the sleeve 1 and the standard section 2 after training, such as edge detection algorithms, etc., which are not listed here one by one. Exemplarily, when executing step S21, the image of the ROI region can be extracted from the main chords of the sleeve 1 and the standard section 2 to obtain the ROI region image, and then the image can be grayed to obtain a grayscale image. Exemplarily, referring to Figure 7 and Figure 8 As shown, Figure 7 The ROI area image is obtained by performing ROI area extraction on the acquired detection screen data. Figure 8 It is the ROI area image after grayscale processing.

[0101] After the first frame main chord 41 and the first standard section main chord 42 in the first picture data are identified, step S22 is performed. At this time, the image quality of the ROI area image can be improved by image enhancement and image filtering algorithms, and then the ROI area image is threshold segmented to obtain a binary image of the target image. Finally, pixel impurities in the binary image are removed by morphological processing to obtain a complete binary image corresponding to the ROI area image.

[0102] After obtaining the binary image, continue to execute step S23. In step S23, the edges of the first frame main chord 41 and the first standard section main chord 42 are identified by the edge algorithm, and then the center points of the first frame main chord 41 and the first standard section main chord 42 are extracted respectively, and fitted into straight lines respectively. The straight lines formed by fitting in this step are the center lines of the first frame main chord 41 and the first standard section main chord 42 respectively. Among them, the algorithm for extracting the center point can use the grayscale centroid algorithm, and the algorithm for forming the center line according to the center point fitting can be completed by opencv. Finally, step S24 can be executed to calculate the inclination angle of the first frame main chord 41 and the inclination angle of the first standard section main chord 42 according to the center line formed by fitting. For example, refer to Figures 9 to 11 As shown, first Fig. 9 Extract the center points of the two objects to get Fig.10 , then Fig.10 The center points of the two objects are fitted to form the center lines of the two objects. Fig.11 .exist Figures 7 to 11 In the implementation manner, the calculated inclination angle of the first frame main chord 41 is 88.11°, the inclination angle of the first standard section main chord 42 is 85.98°, and the first relative inclination angle between the first frame main chord 41 and the first standard section main chord 42 is 2.13°.

[0103] It is understandable that, in the present invention, when performing the first analysis and processing, the side lines of the first frame main chord 41 and the first standard section main chord 42 can also be used to directly calculate the inclination angle. Considering that the detection image data acquired by the monitoring camera may have errors, the present invention adopts the method of first extracting the center point, then fitting to form the center line, and calculating the inclination angle of the first frame main chord 41 and the first standard section main chord 42 based on the center line, so that the inclination angle of the frame main chord and the inclination angle of the standard section main chord can be analyzed more accurately, thereby improving the accuracy of the system calculation and improving safety.

[0104] At the same time, in order to improve the accuracy of data detection and provide double protection for safety, inclination sensors can also be provided on the sleeve frame 1 and the standard section 2. The inclination sensors are connected to the analysis and processing module for communication, and then the data detected by the inclination sensors are transmitted to the analysis and processing module. After completing the first analysis and processing, the analysis and processing module can compare the obtained results with the data detected by the inclination sensor to ensure the accuracy of the detection results.

[0105] In the above-mentioned embodiment of the casing state detection system 81, the first monitoring camera 31 can be installed at the bottom of the lower working platform 11 of the casing 1, so that the detection image data containing the casing main chord and the standard section main chord can be obtained before each jacking. When detecting the horizontality of the casing 1 and the standard section 2, only two monitoring cameras are needed, which can greatly reduce the number of monitoring cameras used, further reduce the cost of consumption, and can reduce the amount of calculation during data processing, and improve the analysis efficiency.

[0106] As another possible implementation of the rack state detection system 81, refer to Fig.12 As shown, the frame state detection system 81 also includes a second monitoring camera group. At this time, the first monitoring camera group is used to obtain the first detection image data of the image between the lower part of the frame 1 and the standard section 2, and the second monitoring camera group is used to obtain the second detection image data of the image between the upper part of the frame 1 and the standard section 2. Fig.17As shown, the casing 1 is provided with guide wheels 16 for contacting the standard section 2 during jacking. The guide wheels 16 are provided on the four main chords of the casing 1. Generally, four guide wheels 16 are provided on each main chord, and two guide wheels 16 are provided on the upper and lower parts of the casing 1. The two guide wheels 16 face in different directions, that is, there are a total of sixteen guide wheels 16 on the casing 1. Then, the first monitoring camera group can obtain the position state between the guide wheel 16 located at the lower part of the casing 1 and the standard section 2, and the second monitoring camera group can obtain the position state between the guide wheel 16 located at the upper part of the casing 1 and the standard section 2. Exemplarily, in order to detect the position state between the guide wheels 16 on the four main chords of the casing 1 and the standard section 2, the first monitoring camera group can include four groups of third monitoring cameras 33, which are provided corresponding to the four main chords. Among them, for a group of third monitoring cameras 33 set on a single main chord, only one third monitoring camera 33 can be set, that is, one third monitoring camera 33 detects the two guide wheels 16 on the main chord, and a group of third monitoring cameras 33 can also be set with two third monitoring cameras 33, that is, each guide wheel 16 on the main chord is equipped with a third monitoring camera 33 to detect it. Similarly, the second monitoring camera group may include four groups of fourth monitoring cameras 34, which are set corresponding to the four main chords. Among them, for a group of fourth monitoring cameras 34 set on a single main chord, only one fourth monitoring camera 34 can be set, that is, one fourth monitoring camera 34 detects the two guide wheels 16 on the main chord, and a group of fourth monitoring cameras 34 can also be set with two fourth monitoring cameras 34, that is, each guide wheel 16 on the main chord is equipped with a fourth monitoring camera 34 to detect it. Furthermore, in this embodiment, the acquired detection picture data contains first detection picture data acquired by using the first monitoring camera group and second detection picture data acquired by using the second monitoring camera group, the first detection picture data contains third picture data of four groups of guide wheels 16 (two guide wheels 16) located at the lower part of the sleeve 1 on the same side of the tower crane and the main chord of the standard section 2, and the second detection picture data contains fourth picture data of four groups of guide wheels 16 (two guide wheels 16) located at the upper part of the sleeve 1 on the same side of the tower crane and the main chord of the standard section 2.

[0107] After acquiring the detection screen data, the analysis and processing module will perform a first analysis and processing on the detection screen data. In this embodiment, since the content of the acquired detection screen data is different from the content of the detection screen data acquired in the previous embodiment, the first analysis and processing performed is also different. Fig.13 The following schematically shows the first analysis and processing method flow of the analysis and processing module in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention, when two sets of upper and lower monitoring camera groups are arranged. Fig.13 As shown, the first analysis process can be specifically implemented as including the following steps:

[0108] S31: Determine the gap size between each guide wheel 16 in the four sets of guide wheels 16 located at the lower part of the sleeve 1 and the main chord of the standard section 2 and the inclination angle of each main chord of the standard section 2 according to the first detection picture data;

[0109] S32: Determine the gap size between each of the four groups of guide wheels 16 located at the upper part of the sleeve 1 and the main chord of the standard section 2 and the inclination angle of each main chord of the standard section 2 according to the second detection picture data;

[0110] S33: Determine the relative inclination angle between each main chord of the casing 1 and each main chord of the standard section 2 according to the gap size between each guide wheel 16 in the four sets of guide wheels 16 located at the lower part of the casing 1 and the main chord of the standard section 2 and the gap size between each guide wheel 16 in the four sets of guide wheels 16 located at the upper part of the casing 1 and the main chord of the standard section 2;

[0111] S34: Determine the inclination angle of each main chord of the casing 1 according to the inclination angle of each main chord of the standard section 2 and the relative inclination angle between each main chord of the casing 1 and each main chord of the standard section 2.

[0112] Among them, the processing process of step S31 and step S32 is basically the same, which are steps for processing the first detection picture data and the second detection picture data respectively. Since the first detection picture data and the second detection picture data both contain the main chord of the standard section 2, the inclination angle of the main chord of the standard section 2 in the corresponding picture data can be obtained by referring to the processing of step S21 to step S24. After completing step S31 and step S32 to obtain the gap size between all the guide wheels 16 and the main chord of the standard section 2, step S33 can be executed to determine the relative inclination angle between the main chord of the same group of sleeves and the main chord of the standard section. After obtaining the relative inclination angle between the main chord of the same group of sleeves and the main chord of the standard section and the inclination angle of each main chord of the standard section 2, the inclination angle of each main chord of the sleeve 1 can be reversed to obtain the detection result of the sleeve state detection system 81. It can be understood that the execution order of step S31 and step S32 can be reversed according to the actual situation, which will not affect the result, and this embodiment does not limit this. Specifically, the method used in step S31 and step S32 to determine the gap size between each guide wheel 16 and the main chord of the standard section 2 can first extract the ROI area image of the area containing the guide wheel 16 and the main chord of the standard section, and then pre-process the acquired image, convert the extracted color image into a grayscale image by grayscale processing, and improve the image quality of this part by image enhancement and image filtering algorithms, and then perform threshold segmentation on the image to obtain a binary image of the target image, and remove pixel impurities in the binary image by morphological processing to obtain a complete target image. After that, the pixel coordinates of the target geometric feature points are further extracted, and the actual spatial size corresponding to the pixel calculated by pixel calibration is converted into the actual distance between the feature points, so as to obtain the gap size between the guide wheel 16 and the main chord of the standard section 2. After obtaining the gap size between each guide wheel 16 and the main chord of the standard section 2, the relative inclination angle between the sleeve 1 and the standard section 2 can be determined based on these data.

[0113] In the above-mentioned embodiment of the casing state detection system 81, by means of the first monitoring camera group and the second monitoring camera group arranged at the lower part and the upper part of the casing 1, a total of sixteen guide wheels 16 on the casing 1 can be detected to determine the gap size between each guide wheel 16 and the standard section 2. Although the number of monitoring cameras used in this embodiment is relatively large, it can effectively ensure the accuracy of the detection results obtained after data analysis and processing, and can effectively improve the safety of the tower crane during the jacking process.

[0114] As another possible implementation of the rack state detection system 81, this implementation is similar to Figures 2 to 4Similar to the embodiment shown in the figure, the first monitoring camera group of the rack state detection system 81 is configured to include a first monitoring camera 31 and a second monitoring camera 32, and the positions of the images monitored by the first monitoring camera 31 and the second monitoring camera 32 are the same as those of the first monitoring camera 31 and the second monitoring camera 32. Figures 2 to 4 In the embodiment shown, the first monitoring camera 31 and the second monitoring camera 32 monitor the same position of the screen. Fig.14 and Fig.15 As shown, this embodiment is Figures 2 to 4 The difference between the embodiment of the present invention is that, in this embodiment, in a group of main chords on the first side of the first side of the tower crane, a first marking strip 61 is provided on the first frame main chord 41, and a second marking strip 62 is provided on the first standard section main chord 42; in a group of main chords on the second side of the tower crane, a third marking strip 63 is provided on the second frame main chord 51, and a fourth marking strip 64 is provided on the second standard section main chord 52. Among them, the marking strip can be arranged to be parallel to the corresponding main chord, so that the direction of the main chord can be directly indicated, and the marking strip can also be arranged to have a certain angle with the corresponding main chord, and then the direction of the corresponding main chord can also be calculated by the preset angle difference. The marking strip is preferably arranged in a long strip shape, and in order to make the marking strip in the picture captured by the monitoring camera more prominent, the surface of the marking strip can be provided with a reflective material coating, so that the marking strip is more prominent in the detection picture data captured by the monitoring camera.

[0115] In this embodiment, the first analysis and processing performed by the analysis and processing module is Figures 2 to 4The first analysis and processing performed by the analysis and processing module in the illustrated embodiment is similar, and the inclination angles of the first marking bar 61, the second marking bar 62, the third marking bar 63 and the fourth marking bar 64 are first determined respectively, so as to determine the inclination angles of the first frame main chord 41, the first standard section main chord 42, the second frame main chord 51 and the second standard section main chord 52, and then the first relative inclination angle between the first frame main chord 41 and the first standard section main chord 42, and the second relative inclination angle between the second frame main chord 51 and the second standard section main chord 52 can be determined. Among them, the calculation of the inclination angle of the marker strip is similar to step S21 to step S24, which can be realized by first extracting the ROI area image of the area including the main chord of the frame, the main chord of the standard section and the marker strip, and then preprocessing the image, converting the extracted color image into a grayscale image by grayscale processing, improving the image quality of this part by image enhancement and image filtering algorithms, performing threshold segmentation on the image to obtain a binary image of the target image, and removing pixel impurities in the binary image by morphological processing to obtain a complete target image. Then, the central pixel of the marker strip is extracted, and a straight line is fitted according to the central point pixel of the target image of the marker strip to calculate the inclination angle of the marker strip, and then the relative inclination angle between the two marker strips in the picture is calculated.

[0116] In the implementation manner of the above-mentioned casing state detection system 81, the analysis and processing of the casing main chord and the standard section main chord is replaced by the analysis and processing of the marking bar. Since the size of the marking bar is relatively small compared with the size of the main chord, the amount of calculation during data processing can be reduced during the analysis and processing, and the accuracy of the analysis and processing can be improved, thereby improving the analysis efficiency.

[0117] In the overall system, the lifting beam in place detection system 82 can also obtain corresponding detection image data through the monitoring camera, and use the analysis and processing module to perform other analysis and processing on the detection image data to confirm whether the lifting beam 13 is in place. Fig.16 As shown, whether the lifting beam 13 is in place is determined by the positional relationship between the shaft heads 131 on both sides of the lifting beam 13 and the step grooves 21 on the standard section 2. Since the lifting beam 13 is located at the lower part of the sleeve 1, the partial detection image data related to the lifting beam 13 can be obtained by the first monitoring camera group. Figure 2 As shown, the first picture data acquired by the first monitoring camera 31 in the first monitoring camera group may include a picture of the coordination between the shaft head 131 on one side of the lifting beam 13 and the step groove 21 on the standard section 2. Figure 2 As shown, a fifth monitoring camera 35 may also be provided. Figure 2The monitoring camera on the right side. The fifth monitoring camera 35 is used to obtain the fifth picture data including the coordination between the shaft head 131 on the other side of the lifting beam 13 and the step groove 21 on the standard section 2, and the fifth monitoring camera 35 is also communicatively connected to the analysis and processing module. Then, the position of the lifting beam 13 can be detected by the first monitoring camera 31 and the fifth monitoring camera 35. The first picture data detected by the first monitoring camera 31 and the fifth picture data detected by the fifth monitoring camera 35 are analyzed by the analysis and processing module to obtain the coordination between the shaft head 131 of the lifting beam 13 and the step groove 21 on the standard section 2, such as whether the shaft head 131 of the lifting beam 13 is inserted into the step groove 21 on the standard section 2. The specific method for the analysis and processing module to obtain whether the shaft head 131 of the lifting beam 13 is inserted into the step groove 21 on the standard section 2 according to the first screen data and the fifth screen data can be to extract a partial image of the target object (the shaft head 131 of the lifting beam 13 and the step groove 21) through the algorithm model, and match it with the pre-acquired image of the shaft head 131 inserted into the step groove 21 through the algorithm model, so as to obtain whether the shaft head 131 of the lifting beam 13 is inserted into the step groove 21 on the standard section 2. The algorithm model for extracting the target object can also adopt the algorithm model commonly used in the prior art such as the YOLO model, and the algorithm model used for matching and recognition can adopt the template matching model, etc., which are not listed in detail here.

[0118] In addition, in the lifting beam in place detection system 82, surface stress sensors and proximity switches can also be added for detection. The specific surface stress sensor can be set on the shaft head 131 of the lifting beam 13 to detect the surface stress on the shaft head 131, so as to determine whether the shaft head 131 of the lifting beam 13 is stuck in the step groove 21 on the standard section 2. The proximity switch can also be set on the shaft head 131 of the lifting beam 13 to detect whether the shaft head 131 of the lifting beam 13 is in contact with other structures, so as to determine whether the shaft head 131 of the lifting beam 13 has been stuck in the step groove 21 of the standard section 2 through the detection result. In addition, in the lifting beam in place detection system 82, it is also possible to further detect whether the safety pin between the lifting beam 13 and the support block step 22 has been inserted, so as to further improve the safety of the lifting process.

[0119] In the overall system, the slewing lower support bolt connection detection system 83 may include a bolt monitoring camera group, which is used to obtain the third detection picture data including the bolt connection position picture between the slewing lower support 14 and the frame 1. The bolt monitoring camera group may be provided with only one monitoring camera, or may be provided with multiple monitoring cameras. Since the connection position between the slewing lower support 14 and the frame 1 is located at the top of the frame 1, the bolt monitoring camera group may be arranged at the upper part of the frame 1 for upward monitoring, or arranged at the balance arm or boom guardrail of the tower crane to detect the bolt connection between the slewing lower support 14 and the frame 1 (the arrangement of the bolt monitoring camera group is not shown in the attached figure). Among them, an intelligent warning nut is provided on the bolt between the slewing lower support 14 and the frame 1, and the intelligent warning nut can emit a red light when the pre-tightening force is insufficient, and then the bolt monitoring camera group can determine the bolt connection status by detecting the pre-tightening amount of the intelligent pre-tightening nut. The bolt monitoring camera group is also connected to the analysis and processing module in communication, so that the analysis and processing module can obtain the third detection picture data obtained by the bolt monitoring camera group in real time. The analysis and processing module also analyzes the third detection picture data to obtain the number of intelligent warning nuts and the number of pre-tightened intelligent warning nuts as the detection result, so as to determine whether the connection between adjacent standard sections 2 is stable, so as to avoid safety problems during the jacking process of the sleeve 1.

[0120] In the overall system, the climbing claw in-position detection system 84 may include a climbing claw monitoring camera group, which is used to obtain the fourth detection picture data including each climbing claw 15 on the casing 1 and the support block step 22 on the standard section 2. The climbing claw monitoring camera group may be provided with only one monitoring camera, or may be provided with multiple monitoring cameras, which may be specifically arranged under the upper working platform on the upper part of the casing 1, so as to monitor the coordination between the support block step 22 on the standard section 2 located on the upper part of the casing 1 and the climbing claw 15 located on the upper part of the casing 1 (the arrangement of the climbing claw monitoring camera group is not shown in the attached figure). Figure 4 and Fig.17 As shown, since the cooperation between the climbing claw 15 and the support block step 22 needs to be confirmed before the oil cylinder 12 retracts, the detection of the climbing claw in-position detection system 84 is mainly before the oil cylinder 12 retracts during the jacking process. The climbing claw monitoring camera group is also connected to the analysis and processing module in communication, so that the analysis and processing module can obtain the fourth detection picture data obtained by the climbing claw monitoring camera group in real time. The analysis and processing module also analyzes the fourth detection picture data to obtain the relative position between each climbing claw 15 and the support block step 22 on the sleeve frame 1 as a detection result, such as whether the climbing claw 15 is in contact with the support block step 22.

[0121] In the overall system, the detection and judgment system 85 is connected to the cylinder 12 of the sleeve frame 1 to control the locking of the cylinder 12 or the unlocking of the cylinder 12. The detection and judgment system 85 can be composed of an analysis and processing module, or it can be formed by setting up an industrial control computer separately. Specifically, the detection and judgment system 85 needs to obtain the detection results of the sleeve frame state detection system 81, the lifting beam in place detection system 82, the slewing lower support bolt connection detection system 83 and the climbing claw in place detection system 84. In the implementation of the detection and judgment system 85 composed of the analysis and processing module, since the detection results of the above-mentioned systems are all located in the analysis and processing module, the detection results of the above-mentioned systems can be directly obtained. In the implementation of the detection and judgment system 85 in which an industrial control computer is set up separately, the detection and judgment system 85 needs to be communicated with the analysis and processing module to obtain the detection results of the above-mentioned systems obtained in the analysis and processing module. After obtaining the detection results of each system, it is judged whether each part meets the compliance standard according to the corresponding detection results, and the cylinder 12 is unlocked to confirm that the tower crane is allowed to lift only when the detection results of each system meet the compliance standard.

[0122] Specifically, when judging whether the detection result of the frame state detection system 81 meets the compliance standard, the inclination angle of the frame 1, the inclination angle of the standard section 2 and the relative inclination angle of the two detected in the frame state detection system 81 can be compared with the preset fault tolerance inclination angle. If the relative inclination angle is less than the fault tolerance inclination angle, it is considered that the compliance standard is met. The specific fault tolerance inclination angle can include a relative inclination fault tolerance value and a main chord inclination fault tolerance value. The relative inclination fault tolerance value can be specifically set to ±1.5°, and the main chord inclination fault tolerance value can be specifically set to 90±3°. When calculating the inclination angles of multiple sets of frame main chords and standard section main chords, and the relative inclination angles of multiple sets of frame 1 and standard section 2, the inclination angles of each set of frame main chords and standard section main chords should be compared with the main chord inclination fault tolerance value, and the relative inclination angles of each set of frame 1 and standard section 2 should be compared with the relative inclination fault tolerance value, and when each set of inclination data meets the requirements, it is considered that the compliance standard is met. Because in some other implementations of the sleeve state detection system 81, the detection result of the sleeve state detection system 81 is the gap size between each guide wheel 16 and the standard section 2, at this time, the difference of these gap sizes can also be judged to calculate the variance. If the calculated variance value is also lower than the preset threshold, it is considered to meet the compliance standard.

[0123] When judging whether the detection result of the lifting beam in place detection system 82 meets the compliance standard, it can be confirmed whether the shaft heads 131 at both ends of the lifting beam 13 have been inserted into the step grooves 21 of the standard section 2. If the shaft heads 131 at both ends of the lifting beam 13 have been inserted into the step grooves 21 of the standard section 2, it is considered that the compliance standard is met. In the detection system 84, it is also detected whether the safety pin between the lifting beam 13 and the support block step 22 has been inserted. The detection result that meets the compliance standard also includes that the safety pin between the lifting beam 13 and the support block step 22 has been inserted.

[0124] When judging whether the detection results of the slewing lower support bolt connection detection system 83 meet the compliance standards, it can be confirmed whether the number of detected intelligent warning nuts is sufficient and whether the intelligent warning nuts are all in a pre-tightened state. If the number of detected intelligent warning nuts is sufficient and the intelligent warning nuts are all in a pre-tightened state, it is considered that the compliance standards are met.

[0125] When judging whether the detection result of the climbing claw in place detection system 84 meets the compliance standard, it can be confirmed whether each climbing claw 15 on the sleeve frame 1 is in contact with the support block step 22. If each climbing claw 15 on the sleeve frame 1 is in contact with the support block step 22, it is considered that the compliance standard is met. Among them, for the detection result of the climbing claw in place detection system 84, in the jacking process, the detection result of the climbing claw in place detection system 84 can be ignored in the detection judgment before the oil cylinder 12 extends, and it is necessary to confirm that the detection result of the climbing claw in place detection system 84 meets the compliance standard in the detection judgment before the oil cylinder 12 retracts.

[0126] When the detection results of the frame state detection system 81, the lifting beam in place detection system 82, the slewing lower support bolt connection detection system 83 and the climbing claw in place detection system 84 all meet the standards, the detection judgment system 85 will unlock the oil cylinder 12 so that the tower crane can be lifted. The detection judgment system 85 is connected to the oil cylinder 12 of the frame 1, so that the oil cylinder 12 can be locked or unlocked by electronic control. Then, when there are detection results that do not meet the standards, the tower crane driver cannot start the oil cylinder 12 to lift the frame 1. Only when all the detection results meet the standards, the oil cylinder 12 will be unlocked, and the tower crane driver can start the oil cylinder 12 to lift the frame 1, providing safety protection for the overall lifting process.

[0127] In each of the above detection systems, the surveillance cameras used can all be set as intelligent PTZ cameras, so that the shooting range of the surveillance cameras can be controlled and adjusted through the connection with the analysis and processing module, so as to appropriately reduce the number of surveillance cameras. The pixel of the surveillance camera is required to be no less than 4 million pixels to ensure the accuracy of the detection results obtained based on the acquired detection screen data.

[0128] In addition, a portable mounting bracket may be provided between the monitoring camera and the frame 1 to achieve a detachable connection between the monitoring camera and the frame 1. Specifically, the portable mounting bracket may include a connecting rod 71 detachably connected to the monitoring camera, a rod sleeve 72 slidably mounted on the connecting rod 71, and a first clamping structure for fixing the rod sleeve 72 on the frame 1. The rod sleeve 72 is also provided with a second clamping structure for relatively fixing the position of the rod sleeve 72 and the connecting rod 71. With such a configuration, the rod sleeve 72 of the portable mounting bracket can be detachably mounted and fixed on the frame 1 by the first clamping structure, and the monitoring camera can be detachably mounted on the connecting rod 71, while the connecting rod 71 is slidably connected to the rod sleeve 72 and fixed by the second clamping structure, so that the monitoring camera can adjust its setting position along the length direction of the connecting rod 71 to adjust the detection picture data acquired by the monitoring camera. For example, referring to Fig.18 As shown, in Fig.18 In the illustrated embodiment, the connecting rod 71 of the portable mounting bracket is a round rod, one end of the connecting rod 71 is connected to the surveillance camera by bolts, the rod sleeve 72 is sleeved on the connecting rod 71, and the second clamping structure is provided as a first screw 73 that passes through the rod sleeve 72. By screwing the first screw 73 so that the first screw 73 abuts against the connecting rod 71, the rod sleeve 72 and the connecting rod 71 are relatively fixed. The first clamping structure provided on the rod sleeve 72 includes a first clamping plate 75 and a second clamping plate 76 that are arranged in parallel, and the first clamping plate 75 is penetrated by a second screw 74. During installation, the first clamping plate 75 and the second clamping plate 76 are arranged on both sides of the frame of the housing 1, and the second screw 74 is screwed so that the second screw 74 abuts against the frame of the housing 1, thereby realizing the detachable installation of the surveillance camera on the housing 1.

[0129] The intelligent safety detection system for tower crane jacking of the present invention can comprehensively detect the links and parts between the frame 1 and the standard section 2 that may affect the jacking safety during the jacking process of the tower crane through multiple groups of systems, including the position of the jacking beam 13, the bolt connection between the frame 1 and the slewing lower support 14, the matching between the climbing claw 15 and the support block step 22, and the horizontality of the entire frame 1 and the standard section 2. At the same time, when detecting the horizontality of the entire casing 1, the monitoring camera (first monitoring camera group) detachably installed on the casing 1 is combined with the inclination angle calculation algorithm to detect the leveling relationship between the casing 1 and the standard section 2, thereby replacing the manual naked eye observation method for judgment, and because the monitoring camera can be detachably installed on the casing 1, there is no need to further add structure to the standard section 2, which can effectively reduce the consumption cost, and the detachable installation between the monitoring camera and the casing 1 can make the monitoring camera reusable in various tower crane jacking systems, without the need to re-pair the system communication due to the replacement of the monitoring camera, and the monitoring camera can be disassembled and removed after the jacking is completed, which can avoid damage to the monitoring camera when the casing 1 is stored.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent safety detection system for tower crane jacking, characterized in that: include The casing state detection system is used to detect the inclination angle of the casing, the inclination angle of the standard section, and the relative inclination angle between the casing and the standard section; Lifting beam in place detection system, used to detect whether the lifting beam is in place; The slewing lower support bolt connection detection system is used to detect whether the bolts between the sleeve frame and the slewing lower support are installed in place; The climbing claw in place detection system is used to detect whether the climbing claw and the support block step are in place before the cylinder retracts; A detection and judgment system is connected to the oil cylinder on the frame, and the detection and judgment system is used to obtain the detection results of the frame state detection system, the jacking beam in place detection system, the slewing lower support bolt connection detection system and the climbing claw in place detection system, and lock or unlock the oil cylinder according to the comparison results between the inclination angle of the frame, the inclination angle of the standard section, and the relative inclination angle between the frame and the standard section and the preset fault tolerance inclination angle, as well as the detection results of the jacking beam in place detection system, the slewing lower support bolt connection detection system and the climbing claw in place detection system; The frame state detection system includes a first monitoring camera group and an analysis and processing module, wherein the first monitoring camera group is used to obtain detection picture data and is detachably arranged on the frame, and the analysis and processing module is used to perform a first analysis and processing on the detection picture data obtained by the first monitoring camera group to obtain the inclination angle of the frame, the inclination angle of the standard section, and the relative inclination angle between the frame and the standard section; The first surveillance camera group includes a first surveillance camera and a second surveillance camera, The detection picture data acquired by the first monitoring camera includes first picture data of a first frame main chord and a first standard section main chord located on a first side of the tower crane. The detection picture data acquired by the second monitoring camera includes second picture data of a second frame main chord and a second standard section main chord located on the second side of the tower crane, wherein the first side and the second side are perpendicular to each other; The inclination angle of the sleeve includes the inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the second sleeve, the inclination angle of the standard section includes the inclination angle of the main chord of the first standard section and the inclination angle of the main chord of the second standard section, the relative inclination angle between the sleeve and the standard section includes the first relative inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the first standard section and the second relative inclination angle of the main chord of the second sleeve and the inclination angle of the main chord of the second standard section, The first analysis process includes Determine the inclination angle of the main chord of the first frame and the inclination angle of the main chord of the first standard section according to the first picture data; Determine the inclination angle of the main chord of the second frame and the inclination angle of the main chord of the second standard section according to the second picture data; The first relative inclination angle between the sleeve and the standard section is determined according to the inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the first standard section, and the second relative inclination angle between the sleeve and the standard section is determined according to the inclination angle of the main chord of the second sleeve and the inclination angle of the main chord of the second standard section.

2. The intelligent safety detection system for tower crane lifting according to claim 1 is characterized in that: Determining the inclination angle of the main chord of the first frame and the inclination angle of the main chord of the first standard section according to the first picture data includes: The first model is used to process the first picture data, and an image including the main chord of the first frame and the main chord of the first standard section is extracted as an ROI area image; Perform threshold segmentation on the ROI area image to obtain a binary image corresponding to the ROI area image; Extracting the center point of the binary image to respectively fit the center lines of the main chord of the first frame and the main chord of the first standard section; The inclination angle of the main chord of the first frame, the inclination angle of the main chord of the first standard section and the first relative inclination angle are calculated according to the center line formed by fitting.

3. The intelligent safety detection system for tower crane lifting according to claim 1 is characterized in that: The housing state detection system further comprises a second monitoring camera group detachably arranged on the housing, the first monitoring camera group is used to obtain first detection picture data of the picture between the lower part of the housing and the standard section, and the second monitoring camera group is used to obtain second detection picture data of the picture between the upper part of the housing and the standard section; The first monitoring camera group includes four groups of third monitoring cameras, and the first detection picture data obtained by each group of third monitoring cameras includes third picture data of a group of guide wheels and a main chord of a standard section located at the lower part of the sleeve on the same side of the tower crane, and the four groups of third monitoring cameras respectively obtain third picture data of different sides of the tower crane; The second monitoring camera group includes four groups of fourth monitoring cameras, and the second detection picture data obtained by each group of fourth monitoring cameras includes fourth picture data of a group of guide wheels and a main chord of a standard section located on the upper part of the sleeve on the same side of the tower crane, and the four groups of fourth monitoring cameras respectively obtain fourth picture data of different sides of the tower crane; The inclination angle of the frame includes the inclination angle of each main chord of the frame, the inclination angle of the standard section includes the inclination angle of each main chord of the standard section, and the relative inclination angle between the frame and the standard section includes the relative inclination angle between each main chord of the frame and the main chord of the standard section located on the same side of the tower crane. The first analysis process includes: Determine the gap size between each guide wheel in the four sets of guide wheels located at the lower part of the sleeve and the main chord of the standard section and the inclination angle of each main chord of the standard section according to the first detection picture data; Determine the gap size between each guide wheel in the four sets of guide wheels located at the upper part of the sleeve and the main chord of the standard section and the inclination angle of each main chord of the standard section according to the second detection picture data; Determine the relative inclination angle between each main chord of the casing and the main chord of the standard section located on the same side of the tower crane as the main chord of the standard section, according to the gap size between each guide wheel of the four sets of guide wheels located at the lower part of the casing and the main chord of the standard section, and the gap size between each guide wheel of the four sets of guide wheels located at the upper part of the casing and the main chord of the standard section; The inclination angle of each main chord of the sleeve is determined according to the inclination angle of each main chord of the standard section and the relative inclination angle between each main chord of the sleeve and each main chord of the standard section.

4. The intelligent safety detection system for tower crane lifting according to claim 1 is characterized in that: A marking strip is arranged on the main chord of the sleeve, and the first monitoring camera group includes a first monitoring camera and a second monitoring camera. The detection picture data acquired by the first monitoring camera includes first picture data including a first marking bar on a first frame main chord located on the first side of the tower crane and a second marking bar on a first standard section main chord located on the first side, wherein the first marking bar is parallel to the first frame main chord, and the second marking bar is parallel to the first standard section main chord; The detection picture data acquired by the second monitoring camera includes second picture data including a third marking bar on the second frame main chord located on the second side of the tower crane and a fourth marking bar on the second standard section main chord located on the second side, wherein the third marking bar is parallel to the second frame main chord, and the fourth marking bar is parallel to the second standard section main chord; The inclination angle of the sleeve includes the inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the second sleeve, the inclination angle of the standard section includes the inclination angle of the main chord of the first standard section and the inclination angle of the main chord of the second standard section, the relative inclination angle between the sleeve and the standard section includes the first relative inclination angle of the main chord of the first sleeve and the inclination angle of the main chord of the first standard section and the second relative inclination angle of the main chord of the second sleeve and the inclination angle of the main chord of the second standard section, The first analysis process includes: Determine the inclination angle of the first marking strip and the inclination angle of the second marking strip according to the first picture data, determine the inclination angle of the main chord of the first frame according to the inclination angle of the first marking strip, and determine the inclination angle of the main chord of the first standard section according to the inclination angle of the second marking strip; Determine the inclination angle of the third marking strip and the inclination angle of the fourth marking strip according to the second picture data, determine the inclination angle of the second frame main chord according to the inclination angle of the third marking strip, and determine the inclination angle of the second standard section main chord according to the inclination angle of the fourth marking strip; The first relative inclination angle between the main chord of the first frame and the main chord of the first standard section is determined according to the inclination angle of the first marking strip and the inclination angle of the second marking strip, and the second relative inclination angle between the main chord of the second frame and the main chord of the second standard section is determined according to the inclination angle of the third marking strip and the inclination angle of the fourth marking strip.

5. The intelligent safety detection system for tower crane lifting according to claim 1 is characterized in that: It also includes a fifth monitoring camera detachably mounted on the sleeve frame, wherein the first picture data acquired by the first monitoring camera also includes the shaft head on one side of the lifting beam and the step groove on the standard section, and the fifth monitoring camera is used to acquire fifth picture data including the shaft head on the other side of the lifting beam and the step groove on the standard section, and the fifth monitoring camera, the first monitoring camera and the analysis and processing module constitute the lifting beam in place detection system; The analysis and processing module is also used to perform a second analysis and processing on the first picture data and the fifth picture data acquired by the first monitoring camera and the fifth monitoring camera to obtain the relative position between the lifting beam and the standard section.

6. The intelligent safety detection system for tower crane lifting according to claim 5 is characterized in that: An intelligent early warning nut is arranged on the bolt between the sleeve and the slewing lower support, and the slewing lower support bolt connection detection system includes a bolt monitoring camera group, which is detachably arranged on the sleeve and is used to obtain third detection picture data including the intelligent early warning nut of the detection sleeve and the slewing lower support, and the bolt monitoring camera group and the analysis and processing module constitute the slewing lower support bolt connection detection system; The climbing claw in-place detection system includes a climbing claw monitoring camera group, which is detachably arranged on the sleeve frame and is used to obtain fourth detection picture data including the climbing claw and the support block stepping on the standard section. The climbing claw monitoring camera group and the analysis and processing module constitute the climbing claw in-place detection system; The analysis and processing module is also used to perform a third analysis and processing on the acquired third detection image data to obtain the number of intelligent warning nut pre-tightening on the slewing lower support, and to perform a fourth analysis and processing on the acquired fourth monitoring image data to obtain the relative position between the climbing claw and the support block step on the standard section.

7. The intelligent safety detection system for tower crane jacking according to any one of claims 1 to 6, characterized in that: The first monitoring camera group is arranged at the bottom of the lower working platform of the frame, and each monitoring camera is an intelligent pan-tilt camera.

8. The intelligent safety detection system for tower crane jacking according to any one of claims 1 to 6, characterized in that: The surveillance camera is detachably mounted on the frame via a portable mounting bracket, wherein the portable mounting bracket comprises a connecting rod detachably connected to the surveillance camera, a rod sleeve slidably mounted on the connecting rod, and a first clamping structure for fixing the rod sleeve on the frame, and the rod sleeve is also provided with a second clamping structure for fixing the position of the rod sleeve and the connecting rod relatively.

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