A tower crane collision detection method, device, electronic equipment and medium

Abstract

The present invention relates to a tower crane collision detection method, device, electronic equipment and medium, belonging to the technical field of tower crane safety monitoring, wherein the method comprises: obtaining the longitude and latitude information and height information of each entity structure in the tower crane environment, the entity structure comprising the tower crane body, each component structure of the tower crane and the object in the restricted area; using the longitude and latitude information and height information of the vertices and each face of each entity structure as a reference, using the generation midpoint method to generate multiple spatial points of each entity structure; and establishing a tower crane environment three-dimensional model based on the multiple spatial points of each entity structure; based on the tower crane environment three-dimensional model, traversing and calculating the spatial point overlap between the working tower crane and the restricted area object and other tower cranes; according to the overlap, performing collision detection on the tower crane to determine the tower crane collision result. The present invention solves the technical problem that the prior art cannot present the relationship between the state of the tower crane itself and the surrounding environment in actual work, resulting in the tower crane being prone to collision risk.

Description

Technical Field

[0001] The invention relates to the technical field of tower crane safety monitoring, and in particular to a tower crane collision detection method, device, electronic equipment and medium. Background Art

[0002] Tower cranes are indispensable and important equipment on construction sites and are widely used in high-rise buildings and large-scale infrastructure projects. Their main function is to hoist and carry building materials, providing efficient vertical transportation support for construction. However, on large construction sites, multiple tower cranes are usually required to work simultaneously to meet the needs of efficient construction. These tower cranes may operate in different operating areas, but due to the overlap of their working ranges or the close distance between them, the risk of collision between tower cranes increases significantly. If the distance between tower cranes is not properly controlled or the coordination between them is insufficient, serious safety accidents may occur, which may not only damage the equipment but also threaten the lives of workers. In addition, in some construction sites, the construction area may be restricted by buildings, walls or other structures, and these restricted areas may limit the operating range of the tower crane. When the working arm of the tower crane is operating in a restricted area, if there are no effective protective measures, collisions may occur, resulting in damage to the construction equipment and the building itself. This collision not only affects the construction progress, but also may cause construction safety hazards. Summary of the invention

[0003] In view of this, it is necessary to provide a tower crane collision detection method, device, electronic equipment and medium to solve the technical problems that the prior art lacks research on tower cranes and their surrounding environment, cannot present the relationship between the tower crane's own state and the surrounding environment in actual work, and leads to the risk of collision.

[0004] In order to solve the above problems, the present invention provides a tower crane collision detection method, comprising:

[0005] Acquire the latitude and longitude information and height information of each entity structure in the tower crane environment, wherein the entity structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area;

[0006] Based on the height information of each entity structure, the longitude and latitude information of the vertices of the entity structure, and the longitude and latitude information of each surface point, a multiple spatial points of each entity structure is generated by the generation midpoint method; and a three-dimensional model of the tower crane environment is established based on the multiple spatial points of each entity structure;

[0007] Based on the three-dimensional model of the tower crane environment, the spatial point overlap between the working tower crane and objects in the restricted area and other tower cranes is traversed and calculated;

[0008] According to the overlapping situation, the tower crane is subjected to collision detection to determine the collision result of the tower crane.

[0009] In a possible implementation, the method of using the latitude, longitude and height information of the vertices and faces of each entity structure as a reference and using the generation midpoint method to generate multiple spatial points of each entity structure includes:

[0010] Take the vertices of each face of the solid structure as the first-generation space points, find the midpoints of each first-generation space point pairwise, and get the second-generation space points;

[0011] The midpoints of the first-generation space points and the second-generation space points are obtained in pairs, and the midpoints of each second-generation space point are obtained in pairs, to obtain the third-generation space points;

[0012] The generation-by-generation midpoint method is used to iteratively generate multiple N-th generation space points until the number of space points reaches the preset sample value.

[0013] In a possible implementation, the step of establishing a three-dimensional model of a tower crane environment based on multiple spatial points of each entity structure includes:

[0014] Taking the vertices of each face of the tower crane body as the first generation of spatial points, a plurality of N-generation spatial points of the tower crane body are iteratively generated in sequence by using the generation-by-generation midpoint method; a three-dimensional model of the tower crane is established by using the plurality of N-generation spatial points of the tower crane body;

[0015] Taking the vertices of each face of each component structure of the tower crane as the first generation of spatial points, a multiple N-generation spatial points of each component structure of the tower crane are iteratively generated in sequence by using the generation-by-generation midpoint method; and establishing a three-dimensional model of each component structure of the tower crane by using multiple N-generation spatial points of each component structure of the tower crane;

[0016] Taking the vertices of each face of the restricted area object as the first generation of spatial points, a plurality of N-generation spatial points of the restricted area object are iteratively generated in sequence by using the generation-by-generation midpoint method; and a three-dimensional model of the restricted area object is established by using the plurality of N-generation spatial points of the restricted area object.

[0017] In a possible implementation, the components of the tower crane include a tower crane arm, and the traversal and calculation of the overlap of the spatial points of the working tower crane with the objects in the restricted area and other tower cranes based on the three-dimensional model of the tower crane environment includes:

[0018] Traverse and calculate whether the spatial point of the working tower crane is within the spatial point area of ​​the restricted area. If so, determine whether the working tower crane overlaps with the objects in the restricted area.

[0019] Based on the longest distance of the tower crane's boom, it is traversed and calculated whether the spatial point of the working tower crane is within the spatial point area of ​​other tower cranes. If so, it is determined whether the corresponding other tower cranes overlap with the working tower crane.

[0020] In a possible implementation, the traversal calculation of the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes also includes:

[0021] The spatial point overlap is calculated based on the area where the tower crane arm has the longest distance when the tower crane rotates 360°.

[0022] In a possible implementation, performing collision detection on the tower crane according to the overlap situation and determining the tower crane collision result includes:

[0023] Take the overlapping restricted area objects and other tower cranes as collision targets, and the working tower cranes as detection sources to build a detection pair list;

[0024] The preset KK critical algorithm is used to determine the relationship between the distance between the detection source and the collision target in the detection pair list and the critical distance threshold;

[0025] If it is less than, it means there is a risk of collision between the tower crane and the crane.

[0026] In a possible implementation, the performing collision detection on the tower crane and determining the tower crane collision result further includes:

[0027] The collision detection is started with the start of the detection source as the trigger condition;

[0028] The collision detection is terminated when all tower cranes stop working.

[0029] In a second aspect, the present invention further provides a tower crane collision detection device, comprising:

[0030] An acquisition module is used to acquire the latitude and longitude information and height information of each entity structure in the tower crane environment, wherein the entity structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area;

[0031] A modeling module is used to generate multiple spatial points of each entity structure by using the midpoint method of successive generations based on the height information of each entity structure, the longitude and latitude information of the vertices of the entity structure, and the longitude and latitude information of each surface point; and to establish a three-dimensional model of the tower crane environment based on the multiple spatial points of each entity structure;

[0032] The overlapping situation statistics module is used to traverse and calculate the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes based on the three-dimensional model of the tower crane environment;

[0033] The collision result determination module is used to perform collision detection on the tower crane according to the overlapping situation and determine the collision result of the tower crane.

[0034] In a third aspect, the present invention further provides an electronic device, comprising: a processor and a memory;

[0035] The memory stores a computer-readable program executable by the processor;

[0036] When the processor executes the computer-readable program, the steps in the tower crane collision detection method described above are implemented.

[0037] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the tower crane collision detection method as described above.

[0038] The beneficial effects of the present invention are: obtaining the longitude and latitude information and height information of each entity structure in the tower crane environment, the entity structure includes the tower crane body, each component structure of the tower crane and the object in the restricted area; using the height information of each entity structure, the longitude and latitude information of the vertex of the entity structure and the longitude and latitude information of each surface point as a benchmark, using the generation midpoint method to generate multiple spatial points of each entity structure; and establishing a three-dimensional model of the tower crane environment based on the multiple spatial points of each entity structure; thereby constructing the relationship between the state of the tower crane itself and the surrounding environment in actual work through the established three-dimensional model. Based on the three-dimensional model of the tower crane environment, the spatial point overlap between the working tower crane and the object in the restricted area and other tower cranes is traversed and calculated in real time and dynamically; two objects that may collide are selected by calculating the overlap, and according to the overlap, the tower crane is collided and the tower crane is detected to determine the collision result of the tower crane, thereby not only realizing the real-time dynamic collision risk detection and early warning between the tower crane and the surrounding environment, but also reducing the calculation amount of collision detection and improving the efficiency of collision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A method flow chart of an embodiment of a tower crane collision detection method provided by the present invention;

[0040] Figure 2 for Figure 1 A method flow chart of an embodiment of step S102;

[0041] Figure 3 for Figure 1 A method flow chart of an embodiment of step S103;

[0042] Figure 4 It is a schematic diagram of an embodiment of a tower crane collision detection device provided by the present invention;

[0043] Figure 5 It is a schematic diagram of the operating environment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0045] A specific embodiment of the present invention discloses a tower crane collision detection method, please refer to Figure 1 ,include:

[0046] S101, obtaining latitude and longitude information and height information of each physical structure in the tower crane environment, wherein the physical structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area;

[0047] S102, using the height information of each entity structure, the longitude and latitude information of the vertices of the entity structure, and the longitude and latitude information of each surface point as a reference, using the generation midpoint method to generate multiple spatial points of each entity structure; and establishing a three-dimensional model of the tower crane environment based on the multiple spatial points of each entity structure;

[0048] S103, based on the three-dimensional model of the tower crane environment, traverse and calculate the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes;

[0049] S104. Perform collision detection on the tower crane according to the overlapping situation and determine the collision result of the tower crane.

[0050] In this embodiment, the longitude and latitude information and height information of each entity structure in the tower crane environment are obtained, and the entity structure includes the tower crane body, each component structure of the tower crane, and the object in the restricted area; the longitude and latitude information and height information of the vertices and faces of each entity structure are used as the reference, and the midpoint method of successive generations is used to generate multiple spatial points of each entity structure; and a three-dimensional model of the tower crane environment is established based on the multiple spatial points of each entity structure; thus, the relationship between the state of the tower crane itself and the surrounding environment in actual work is constructed through the established three-dimensional model. Based on the three-dimensional model of the tower crane environment, the spatial point overlap between the working tower crane and the restricted area object and other tower cranes is traversed and calculated in real time and dynamically; two objects that may collide are selected by calculating the overlap, and according to the overlap, the tower crane is collided and the tower crane collision result is determined, thereby not only realizing the real-time dynamic collision risk detection and early warning between the tower crane and the surrounding environment, but also reducing the calculation amount of collision detection and improving the efficiency of collision detection.

[0051] It should be noted that in step S101, the working environment of a tower crane generally includes not only one tower crane, but also a tower crane is composed of multiple components, such as a boom, a hook, a tower body, a rotating platform, etc., which leads to a complex working environment of each tower crane. Therefore, it is necessary to collect the longitude, latitude and altitude information of each component. This information is crucial for understanding the relative position and height difference of each structure in space, especially during operation, the angle, amplitude and height change of the boom and the hanging object may affect the overall safety and work efficiency.

[0052] Furthermore, restricted areas refer to areas where tower crane operations are restricted under certain circumstances. Objects in restricted areas include but are not limited to buildings, other machines, or any obstacles that may cause collisions. The latitude, longitude, and altitude information of these objects must be obtained in order to build a three-dimensional model and present the relationship between the tower crane and the surrounding environment in real time when it is working, so as to avoid unnecessary collisions.

[0053] In step S102, each group of tower cranes is modeled from the minimum amplitude to the maximum amplitude according to the original boom modeling plus the hook (calculated by the length and width of the object being carried). The range of rotation of the tower crane is generally [-540°, 540°]. In this embodiment, the north direction is taken as the standard, and calculations are performed within 360°. If it exceeds 360°, no repeated calculations are performed, and rotation modeling calculations are performed, and modeling is performed every 1° of the boom rotation.

[0054] Furthermore, in step S103, the working tower crane refers to the tower crane in working state, and by monitoring whether the working tower crane and other tower cranes relative to the working tower crane and other objects in the restricted area will collide, the on-site construction or tower crane working parameters are adjusted in real time to avoid the occurrence of collision. It is understandable that when two or more tower cranes are working at the same time, the tower crane overlap calculation and collision detection are performed at the same time, both with the working tower crane as the target source and the physical structure other than the working tower crane itself as the collision target.

[0055] In some embodiments, the latitude, longitude and height information of the vertices and faces of each entity structure are used as a reference to generate multiple spatial points of each entity structure using the midpoint method of successive generations. Figure 2 ,include:

[0056] S201, taking the vertices of each face of the entity structure as first-generation space points, finding the midpoints of each pair of first-generation space points to obtain second-generation space points;

[0057] S202, finding the midpoints of the first-generation space points and the second-generation space points in pairs, and finding the midpoints of each second-generation space point in pairs, to obtain the third-generation space points;

[0058] S203, using the generation-by-generation midpoint method to iteratively generate multiple N-th generation space points in sequence until the number of space points reaches a preset sample value.

[0059] In this embodiment, the four vertices of each face are defined as parent space points as the first generation, and the midpoints are calculated pairwise to obtain child space points, i.e., the second generation space points; the midpoints of the second generation space points are calculated pairwise and the midpoints of the second generation space points and the first generation space points are calculated pairwise to obtain the third generation; and the next generation of space points is calculated in this way.

[0060] It should be noted that when the number of spatial points reaches the sample value, the point calculation is stopped.

[0061] It should be noted that, by analogy, the set of spatial point coordinates calculated for each face of the object is a set of data, and the spatial position of the object is modeled based on this set of data. For a face with a height of 0, only the points on the four edges are calculated, and the points on the face are not calculated.

[0062] Theoretically, the more points we take, the closer we are to the real spatial shape of the object. The more points we take, the more calculations we make, and the higher the computing power required of the computer. However, the actual critical distance is from a few meters to more than ten meters, or even tens of meters, so there is no need for exhaustive calculations.

[0063] Furthermore, each building in the restricted area, the boom and hook of the tower crane are modeled according to the above steps, wherein the boom of the tower crane is required to be installed in the north direction when installing.

[0064] In some embodiments, the components of the tower crane include a tower crane arm. Based on the three-dimensional model of the tower crane environment, the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes is traversed and calculated. Figure 3 ,include:

[0065] S301, traversing and calculating whether the spatial point of the working tower crane is within the spatial point area of ​​the restricted area, if so, determining whether the working tower crane overlaps with the object in the restricted area;

[0066] S302, taking the longest distance of the tower crane's tower crane arm as a reference, traverse and calculate whether the spatial point of the working tower crane is within the spatial point area of ​​other tower cranes, and if so, determine whether the corresponding other tower cranes overlap with the working tower crane.

[0067] In this embodiment, for each spatial point of the working tower crane, it is checked whether it falls within the boundary of the restricted area, that is, whether the coordinates of this point meet the spatial coordinate range of the restricted area. If a spatial point meets the condition, it means that a part of the working tower crane overlaps with the object in the restricted area, and the overlap is marked.

[0068] When calculating the spatial overlap points of a tower crane with other tower cranes, the space swept by the longest distance of the two tower cranes' crane arms and the range of the tower cranes' rotation should be considered. The longest distance of the tower crane arms determines the maximum range of objects that the tower crane can grab or move. If a spatial point of a working tower crane overlaps with a spatial point of another tower crane (that is, the distance between the two is less than or equal to the maximum length of the tower crane's boom), it is determined that there is a spatial overlap between the two tower cranes, which may cause a collision risk. Mark the working tower crane and the tower crane that may collide.

[0069] Specifically, the spatial points of the tower crane modeling are overlapped with the restricted area and other tower crane spatial modeling point sets one by one. The calculation method of the tower crane and the restricted area is: the spatial point coordinates (x, y, z) of the tower crane meet x(min)<=x<=x(max) and y(min)<=y<=y(min) and z(min)<=z<=z(max), then the spatial point of the tower crane is in the restricted area space, and the restricted area is the collision target, where x(min), x(max), y(min), y(max), z(min), z(max) are the maximum and minimum values ​​of the vertex coordinates of the spatial point of the restricted area.

[0070] The calculation method of tower cranes: the distance between the tower crane spatial coordinates and the tower crane body of the collision target is less than the maximum length of the boom of the collision target tower crane, that is, the tower crane is the collision target. It can be understood that the space covered by the collision target tower crane is a cylinder with the boom as the radius. When the distance from the tower crane three-dimensional space point to the tower crane body of the collision target tower crane is less than or equal to the distance of the boom, it is inside the cylinder.

[0071] In some embodiments, the performing collision detection on the tower crane according to the overlapping situation and determining the tower crane collision result includes:

[0072] Take the overlapping restricted area objects and other tower cranes as collision targets, and the working tower cranes as detection sources to build a detection pair list;

[0073] The preset KK critical algorithm is used to determine the relationship between the distance between the detection source and the collision target in the detection pair list and the critical distance threshold;

[0074] If it is less than, it means there is a risk of collision between the tower crane and the crane.

[0075] In this embodiment, after the overlap calculation, the restricted area and tower crane that overlap are used as collision targets and form a detection pair <detection source, [collision target]>, where the detection source is the tower crane spatial modeling point set, and the collision target is a list of spatial modeling point sets of the restricted area and other tower cranes. For a single tower crane scenario, there is only one detection pair. For a group of tower cranes, it is a list of detection pairs.

[0076] Among them, the calculation method of the KK critical algorithm is: traverse the spatial points in the detection source point concentration and the points in the collision target point concentration to see if the distance between the two points is less than the critical value. If so, stop the calculation, record the detection source and the collision target, and issue a warning.

[0077] In some embodiments, the performing collision detection on the tower crane and determining the collision result of the tower crane further includes:

[0078] The collision detection is started with the start of the detection source as the trigger condition;

[0079] The collision detection is terminated when all tower cranes stop working.

[0080] In this embodiment, the collision detection trigger condition is that when a detection source is turned on, the collision detection process is started. After the tower crane is started, it starts working. The main movement modes are lifting and rotation. Dynamic modeling is required during the working process. The status data of all tower cranes (hook height, amplitude, rotation angle) are obtained once every 0.5 seconds to calculate the spatial position point set of the boom and the lifting weight. The detection is performed every second, and one thread performs the detection of a detection pair. A thread is started for each collision target to execute the kk critical algorithm to predict the collision. When all detection sources are shut down, the collision detection is also terminated.

[0081] Based on the above tower crane collision detection method, the embodiment of the present invention also provides a tower crane collision detection device, please refer to Figure 4 ,include:

[0082] An acquisition module 410 is used to acquire the latitude and longitude information and height information of each physical structure in the tower crane environment, wherein the physical structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area;

[0083] Modeling module 420, used to generate multiple spatial points of each entity structure by using the generation midpoint method based on the height information of each entity structure, the longitude and latitude information of the vertices of the entity structure and the longitude and latitude information of each surface point; and to establish a three-dimensional model of the tower crane environment based on the multiple spatial points of each entity structure;

[0084] The overlapping situation statistics module 430 is used to traverse and calculate the spatial point overlapping situation between the working tower crane and the objects in the restricted area and other tower cranes based on the three-dimensional model of the tower crane environment;

[0085] The collision result determination module 440 is used to perform collision detection on the tower crane according to the overlapping situation and determine the collision result of the tower crane.

[0086] like Figure 5 As shown, based on the above tower crane collision detection method, the present invention also provides an electronic device, which can be a computing electronic device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device includes a processor 510, a memory 520, and a display 530. Figure 5 Only some components of the electronic device are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0087] In some embodiments, the memory 520 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 520 may also be an external storage electronic device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 520 may also include both an internal storage unit of the electronic device and an external storage electronic device. The memory 520 is used to store application software and various types of data installed in the electronic device, such as program codes installed in the electronic device. The memory 520 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a tower crane collision detection program 540 is stored on the memory 520, and the tower crane collision detection program 540 can be executed by the processor 510, thereby realizing the tower crane collision detection method of each embodiment of the present application.

[0088] In some embodiments, the processor 510 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 520, such as executing a tower crane collision detection method.

[0089] In some embodiments, the display 530 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 530 is used to display information of the detection electronic device of the tower crane collision and to display a visual user interface. The components 510-530 of the electronic device communicate with each other through a system bus.

[0090] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0091] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A tower crane collision detection method, characterized in that: include: Acquire the latitude and longitude information and height information of each entity structure in the tower crane environment, wherein the entity structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area; Taking the vertices of each face of the physical structure as the first-generation spatial points, the midpoints of each first-generation spatial point are calculated in pairs according to the latitude, longitude and altitude information corresponding to the vertices to obtain the second-generation spatial points; the midpoints of the first-generation spatial points and the second-generation spatial points are calculated in pairs, and the midpoints of each second-generation spatial point are calculated in pairs to obtain the third-generation spatial points; the generation-by-generation midpoint method is used to iteratively generate multiple N-th generation spatial points in sequence until the number of spatial points reaches the preset sample value; Taking the vertices of each face of the tower crane body as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N-generation spatial points of the tower crane body; establishing a three-dimensional model of the tower crane with multiple N-generation spatial points of the tower crane body; taking the vertices of each face of each component structure of the tower crane as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N-generation spatial points of each component structure of the tower crane; Establish a three-dimensional model of each component structure of the tower crane using N-generation spatial points of each component structure of the tower crane; Taking the vertices of each face of the restricted area object as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N generations of spatial points of the restricted area object; Establish a three-dimensional model of the restricted area object by using N spatial points of multiple restricted area objects; Based on the three-dimensional model of the tower crane environment, the spatial point overlap between the working tower crane and objects in the restricted area and other tower cranes is traversed and calculated; According to the overlapping situation, the tower crane is subjected to collision detection to determine the collision result of the tower crane.

2. The tower crane collision detection method according to claim 1, characterized in that: The components of the tower crane include a tower crane arm. The traversal and calculation of the overlapping of the spatial points of the working tower crane with the objects in the restricted area and other tower cranes based on the three-dimensional model of the tower crane environment includes: Traverse and calculate whether the spatial point of the working tower crane is within the spatial point area of ​​the restricted area. If so, determine whether the working tower crane overlaps with the objects in the restricted area. Based on the longest distance of the tower crane's boom, it is traversed and calculated whether the spatial point of the working tower crane is within the spatial point area of ​​other tower cranes. If so, it is determined whether the corresponding other tower cranes overlap with the working tower crane.

3. The tower crane collision detection method according to claim 2, characterized in that: The traversal calculation of the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes also includes: The spatial point overlap is calculated based on the area where the tower crane arm has the longest distance when the tower crane rotates 360°.

4. The tower crane collision detection method according to claim 2, characterized in that: The method of performing collision detection on the tower crane according to the overlapping situation and determining the collision result of the tower crane comprises: Take the overlapping restricted area objects and other tower cranes as collision targets, and the working tower cranes as detection sources to build a detection pair list; The preset KK critical algorithm is used to determine the relationship between the distance between the detection source and the collision target in the detection pair list and the critical distance threshold; If it is less than, it means there is a risk of collision between the tower crane and the crane.

5. The tower crane collision detection method according to claim 4, characterized in that: The performing of collision detection on the tower crane to determine the collision result of the tower crane also includes: The collision detection is started with the start of the detection source as the trigger condition; The collision detection is terminated when all tower cranes stop working.

6. A tower crane collision detection device, characterized in that: include: An acquisition module is used to acquire the latitude and longitude information and height information of each entity structure in the tower crane environment, wherein the entity structure includes the tower crane body, each component structure of the tower crane, and objects in the restricted area; A modeling module is used to use the vertices of each face of the physical structure as first-generation spatial points, and to obtain the midpoints of each first-generation spatial point in pairs according to the latitude and longitude information and height information corresponding to the vertices to obtain the second-generation spatial point; to obtain the midpoints of the first-generation spatial point and the second-generation spatial point in pairs, and to obtain the midpoints of each second-generation spatial point in pairs to obtain the third-generation spatial point; and to iteratively generate multiple N-th generation spatial points in sequence using a generation-by-generation midpoint method until the number of spatial points reaches a preset sample value; Taking the vertices of each face of the tower crane body as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N-generation spatial points of the tower crane body; establishing a three-dimensional model of the tower crane with multiple N-generation spatial points of the tower crane body; taking the vertices of each face of each component structure of the tower crane as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N-generation spatial points of each component structure of the tower crane; Establish a three-dimensional model of each component structure of the tower crane using N-generation spatial points of each component structure of the tower crane; Taking the vertices of each face of the restricted area object as the first generation of spatial points, the midpoint method of successive generations is used to iteratively generate multiple N generations of spatial points of the restricted area object; Establish a three-dimensional model of the restricted area object by using N spatial points of multiple restricted area objects; The overlapping situation statistics module is used to traverse and calculate the spatial point overlap between the working tower crane and the objects in the restricted area and other tower cranes based on the three-dimensional model of the tower crane environment; The collision result determination module is used to perform collision detection on the tower crane according to the overlapping situation and determine the collision result of the tower crane.

7. An electronic device, characterized in that: include: Processor and memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the tower crane collision detection method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the tower crane collision detection method according to any one of claims 1-5.

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