Anti-collision early warning system and method for building construction tower crane

Abstract

The invention discloses an anti-collision early warning method and system for a building construction tower crane. The system comprises a first radar sensor, first environment detection equipment and a central control system. The method comprises the steps that a first distance is obtained, the first distance is used for representing the distance between a second tower crane and a first tower crane, and the first distance is determined according to a radar ranging signal obtained after a first radar sensor arranged on the first tower crane detects the second tower crane; acquiring environment detection data; performing correction processing on the obtained first distance by using environment detection data to obtain a second distance; and when the second distance is smaller than or equal to the early warning distance threshold value, outputting an early warning signal to the corresponding terminal equipment to execute a corresponding control strategy. By using the early warning scheme provided by the embodiment of the invention, the working efficiency can be improved, and the early warning accuracy is also improved, so that the working safety of the tower crane group is ensured. The scheme can be widely applied to building construction sites.

Description

Technical Field

[0001] The present invention relates to monitoring and early warning technology, and in particular to an anti-collision early warning system and method for a tower crane in construction. Background Art

[0002] A tower crane is a rotating crane with a boom mounted on the top of a tall tower. It is mainly used for vertical and horizontal transportation of materials and installation of building components in house construction. Therefore, it is one of the indispensable and important equipment in the field of construction.

[0003] Generally, cluster tower cranes are deployed on construction sites, and adjacent tower cranes are installed in a high-low arrangement to avoid collisions between their booms. However, in actual operation, it is found that when the high tower crane is lifting materials vertically and rotating and translating them to the target position, there is still a risk of collision between the boom of the low tower crane and the rope, hook, and even the hoisted objects of the high tower crane. At present, in order to avoid this collision risk, it mainly depends on the cooperation between the controller of the tower crane and the commander on the ground. However, there may be a situation where the collision risk is not discovered in time due to fatigue caused by long-term work of the controller and the commander. In addition, the human eye is used to judge whether there is a collision risk between the rope / hook / hanging object in the air and the boom of the low tower crane. The judgment accuracy is low, which makes it difficult to ensure its safety and reliability while ensuring work efficiency. Summary of the invention

[0004] In view of this, the present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a highly reliable anti-collision warning system and method for a construction tower crane to ensure the safety of construction operations.

[0005] In a first aspect, an embodiment of the present application provides a construction tower crane anti-collision warning method, the method comprising the following steps:

[0006] Acquire a first distance, wherein the first distance is used to represent the distance of the second tower crane relative to the first tower crane, the first lifting arm of the first tower crane is higher than the second lifting arm of the second tower crane, and the first distance is determined by a radar ranging signal obtained after a first radar sensor disposed on the first tower crane detects the second tower crane;

[0007] Obtain environmental testing data;

[0008] The first distance is corrected by using the environmental detection data to obtain a second distance;

[0009] When the second distance is less than or equal to the warning distance threshold, a warning signal is output to the corresponding terminal device to execute a corresponding control strategy.

[0010] In some embodiments, the method further comprises the following steps:

[0011] After photographing the first tower crane and / or the second tower crane, a first image is obtained;

[0012] The step of correcting the first distance obtained by using the environmental detection data to obtain the second distance specifically includes:

[0013] After recognizing the first image using image recognition technology, a second sub-distance between the first tower crane and the second tower crane is obtained;

[0014] The first distance is corrected by using the environmental detection data to obtain a first sub-distance;

[0015] The minimum value between the first sub-distance and the second sub-distance is taken as the second distance.

[0016] In some embodiments, the warning distance threshold is a rope warning distance threshold, and the steps for determining the rope warning distance threshold include:

[0017] Obtaining a data input matrix, wherein the data input matrix includes a moving speed of the first tower crane, a braking speed of the first tower crane, a moving speed of the second tower crane, a braking speed of the second tower crane, and a moving direction between the first tower crane and the second tower crane;

[0018] After the data input matrix is ​​input into the trained deep learning training model for processing, the rope warning distance threshold is obtained.

[0019] In some embodiments, the data input matrix also includes the swing amplitude of the suspension rope.

[0020] In some embodiments, the warning distance threshold is a material hanging warning distance threshold, and the steps for determining the material hanging warning distance threshold include:

[0021] Get the maximum length of the hanging material;

[0022] The lifting material warning distance threshold is obtained by increasing the lifting rope warning distance threshold according to the maximum length value.

[0023] In some embodiments, the data input matrix also includes the swing amplitude of the hook.

[0024] In some embodiments, the method further comprises the following steps:

[0025] When the second distance is less than or equal to the warning distance threshold, the first image is sent to the corresponding terminal device for display.

[0026] In a second aspect, an embodiment of the present application provides a construction tower crane anti-collision warning system, the system comprising:

[0027] a first radar sensor, for detecting a distance of the second tower crane relative to the first tower crane;

[0028] The first environment detection device is used to detect the environment and obtain environment detection data;

[0029] The central control system comprises at least one processor, wherein the processor is used to execute the steps of implementing the above-mentioned anti-collision warning method for a construction tower crane;

[0030] The first radar sensor and the first environment detection device are both communicatively connected to the central control system.

[0031] In some embodiments, the system further includes a first image capturing device, a terminal device and / or a first swing detection sensor, and the first image capturing device, the terminal device and / or the first swing detection sensor are all communicatively connected to the central control system.

[0032] In some embodiments, the first radar sensor includes a radar sensor arranged on the first lifting arm of the first tower crane and / or arranged on the first hook; the first image capturing device is an image capturing device arranged on the first hook and / or carried on the unmanned aerial vehicle; the first swing detection sensor is a swing detection sensor arranged on the first hook.

[0033] The present application can achieve the following technical effects: The present application scheme detects the distance between the first and second tower cranes by using a radar sensor, and when the distance is less than or equal to the warning distance threshold, an early warning signal is output to the corresponding terminal device to execute the corresponding control strategy. It can be seen that this can reduce the workload of the traditional manual method to realize the anti-collision risk judgment, which not only improves the work efficiency, but also improves the accuracy. In addition, the present solution also uses environmental detection data to correct the distance measurement signal detected by the radar sensor before realizing the early warning distance judgment, which can further improve the accuracy of the anti-collision judgment, thereby ensuring the safety of the construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0035] Figure 1 A schematic structural diagram of a first embodiment of a construction tower crane anti-collision warning system provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the steps of a construction tower crane anti-collision warning method provided in an embodiment of the present application;

[0037] Figure 3 It is a schematic diagram of the deployment of the second tower crane and the first tower crane in the construction site;

[0038] Figure 4 It is a schematic diagram of a first hook of a first tower crane with hanging materials hooked on it;

[0039] Figure 5 A schematic structural diagram of a second embodiment of a construction tower crane anti-collision warning system provided in an embodiment of the present application.

[0040] Reference numerals:

[0041] 101. first lifting arm; 102. first lifting rope; 103. first lifting hook; 104. lifting material;

[0042] 201. Second boom. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described through the implementation method with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0044] In a construction site, there are usually at least two tower cranes working, and the adjacent tower cranes are set up one high and one low to avoid collision between the booms of the adjacent tower cranes (such as Figure 3 However, for a higher tower crane, if the position of its hook is lower than the boom of a lower tower crane, there is a risk that the boom of the lower tower crane will collide with the rope, hook, or hanging material on the hook of the higher tower crane. Therefore, a solution for early warning of these collision risks is one of the problems that need to be solved urgently.

[0045] Reference Figure 1 The embodiment of the present application also provides a construction tower crane anti-collision warning system, which includes a first radar sensor, a first environment detection device and a central control system, wherein the first radar sensor and the first environment detection device are both connected to the central control system for communication. The first radar sensor, the first environment detection device and the first environment detection device are specifically described as follows.

[0046] The first radar sensor is used to detect the distance of the second tower crane relative to the first tower crane. Specifically, this radar sensor mainly uses electromagnetic waves to detect targets and measure distance. When the transmitting module in the radar sensor emits electromagnetic wave energy in a certain direction in space through its antenna, the object located in this direction will reflect the electromagnetic wave it encounters, and the antenna of the radar sensor will receive the reflected wave and send it to its processing chip for processing to extract relevant ranging information about the object, such as the distance from the target object to the electromagnetic wave emission point, the distance change rate, the azimuth, and the height. It can be seen that in order to detect the distance between the second tower crane and the first tower crane, the radar sensor can be set on the first tower crane and / or the second tower crane.

[0047] In this embodiment, the first radar sensor is preferably installed on the first tower crane. Specifically, since the embodiment of the present application is mainly to prevent the second boom 201 of the second tower crane from colliding with the first rope 102, the first hook 103 and the hanging material on the first hook 103 of the first tower crane, the first radar sensor can be preferably installed on the first boom 101 and / or the first hook 103. The specific installation quantity and installation structure of the first radar sensor can be selected and designed according to actual needs, and are not specifically limited here. For example, the installation structure of the radar sensor can be a fixed installation structure or a movable installation structure.

[0048] The first environment detection device is used to detect the environment and obtain environment detection data. Specifically, since environmental factors (such as wind speed, humidity, temperature, etc.) will have negative effects on electromagnetic waves such as slowing down the propagation speed, increasing attenuation, and reducing the refractive index, adding environment detection data to realize the correction processing of the ranging signal of the radar sensor can improve the accuracy of subsequent recognition.

[0049] The central control system includes at least one processor, which is used to execute a method for implementing a construction tower crane anti-collision warning method. The specific content of the tower crane anti-collision warning method is as follows and will not be described here.

[0050] In some embodiments, the system embodiment may also include a first image capturing device, a terminal device and / or a first swing detection sensor, and the first image capturing device, the terminal device and / or the first swing detection sensor are all communicatively connected to the central control system.

[0051] Specifically, the first image capturing device is mainly used to obtain the first image after capturing the first tower crane (high) and / or the second tower crane (low). After target recognition of the first image, the distance of the second tower crane relative to the first tower crane can be obtained, and then the final distance is determined based on this distance and the distance collected by the radar sensor. Finally, the final distance is used to determine whether the second lifting arm 201 of the second tower crane falls within the warning distance range. If so, a warning signal is issued. This can further improve the accuracy of the warning to ensure the safety of work operations. In addition, the image data captured by the first image capturing device can be synchronously sent to the terminal device when the warning is triggered, so that the staff can timely and clearly understand the current actual distance situation, so as to help the staff quickly decide on the corresponding solution strategy.

[0052] The first image capturing device is an image capturing device disposed on the first hook 103 and / or mounted on the unmanned aerial vehicle.

[0053] The terminal device may be a user terminal device used by staff, or a control terminal device for controlling the working status / mode of the tower crane.

[0054] The first swing detection sensor is arranged on the first hook 103 to detect the swing amplitude of the first hook 103. In addition, the swing amplitude of the first hook 103 and the length of the first rope 102, i.e., the swing length, can be used to calculate the swing amplitude corresponding to different positions on the rope using conventional mathematical geometric calculation methods. The above-mentioned swing detection sensor can be implemented by an acceleration sensor.

[0055] Reference Figure 2-4 Based on the above system, an embodiment of the present application provides a construction tower crane anti-collision warning method, and the method includes the following steps.

[0056] S1. Obtain a first distance, wherein the first distance is used to represent the distance of the second tower crane relative to the first tower crane, the first lifting arm of the first tower crane is higher than the second lifting arm of the second tower crane, and the first distance is determined by a radar ranging signal obtained after a first radar sensor arranged on the first tower crane detects the second tower crane.

[0057] Specifically, when the position of the first hook 103 is lower than or equal to the second boom 201, there is a risk of the second boom 201 colliding with the first rope 102, the first hook 103, or the hanging material 104. Alternatively, when the position of the first hook 103 is higher than the second boom 201 and the first hook 103 hooks the hanging material, there is a risk of the second boom 201 colliding with the hanging material 104. Therefore, the acquisition process of the first distance may be: the first radar sensor arranged on the first boom 101 and / or the first hook 103 performs distance detection on the second boom 201, and then calculates and processes the distance signal between the second boom 201 and the first rope 102 or the first hook 103 according to the distance measurement signal obtained by the detection, that is, the first distance. In other words, the first distance may be the distance between the second boom 201 and the first rope 102, or the distance between the second boom 201 and the first hook 103. In addition, this calculation process involves a position conversion calculation method, but it can be obtained using existing mathematical geometry formulas and will not be elaborated here.

[0058] S2. Obtaining environmental detection data, wherein the environmental detection data may at least include environmental parameters such as wind speed, humidity, temperature, and fog.

[0059] S3. Correct the first distance obtained by using the environmental detection data to obtain a second distance.

[0060] Specifically, the correction process can be implemented in the following two ways.

[0061] ①. Implemented by building a database: historical environmental detection data and historical correction coefficients are used to form a historical database. After acquiring the real-time detected environmental detection data, the historical environmental detection data with the highest matching degree is queried from the mapping relationship between the historical environmental detection data and the historical correction coefficients stored in the historical database according to the real-time acquired environmental detection data. Finally, the corresponding historical correction coefficient is obtained based on the mapping relationship. Then, the first distance is corrected using the obtained correction coefficient.

[0062] ②. Use deep learning training model to achieve: Use historical environmental detection data as training input data and historical correction coefficients as training output data to train the deep learning training model; then, use the trained deep learning model to process the input real-time collected environmental detection data to obtain the corresponding correction coefficient. Then, use the obtained correction coefficient to correct the first distance.

[0063] For the above two correction methods, the first one has the advantage of fast processing speed, while the second one has the advantage of high accuracy. Therefore, in the specific implementation, they can be selected and set according to actual needs.

[0064] In some embodiments, in the distance measurement method, in addition to using a radar sensor to achieve it, image recognition technology can also be used to achieve it. Generally, only one distance measurement method is used in the distance measurement scheme. In this embodiment, in order to further ensure the reliability of the anti-collision warning scheme, on the basis of using a radar sensor to measure the distance, the distance measurement method using image recognition technology is combined. Therefore, this method can also include the following steps.

[0065] The first image is obtained by photographing the first tower crane and / or the second tower crane, wherein the first image is image data obtained by photographing with a first image photographing device.

[0066] Then, the step S3 of obtaining the second distance by correcting the first distance obtained by using the environmental detection data specifically includes the following steps.

[0067] S301. Obtain a second sub-distance between a first tower crane and a second tower crane by recognizing a first image using image recognition technology.

[0068] Specifically, when the first image capturing device is installed on the first hook 103, or the first image capturing device is mounted on an unmanned aerial vehicle and the unmanned aerial vehicle is located on the first hook 103, then the first image capturing device is used to capture the second boom 201 of the second tower crane. At this time, it is only necessary to identify the area proportion, position, etc. of the target object of the second boom 201 in the first image, and then the current distance between the second boom 201 and the first rope 102 or the first hook 103, that is, the second sub-distance, can be determined.

[0069] Alternatively, when the first image capturing device is mounted on an unmanned aerial vehicle and the unmanned aerial vehicle is not located on the first hook 103, the position of the unmanned aerial vehicle must allow the first image capturing device to clearly capture the first rope 102, the first hook 103 and the second lifting arm 201 at the same time, and then determine the current distance between the second lifting arm 201 and the first rope 102 or the first hook 103, i.e., the second sub-distance, by performing target object positioning and identifying their position changes. It should be noted that the above-mentioned image recognition technology can be implemented using existing technologies, which will not be elaborated on here.

[0070] S302: Correct the acquired first distance using the environmental detection data to obtain a first sub-distance.

[0071] S303: Take the minimum value between the first sub-distance and the second sub-distance as the second distance.

[0072] It can be seen that in the embodiment of the present application, radar sensors and image recognition technology are used respectively to perform distance detection, and then the minimum value is taken from the respectively detected distances as the final required distance, which is used as the data basis for subsequent early warning judgment. This can further improve the accuracy of the early warning, thereby ensuring the safety of the operation of the tower crane group.

[0073] S4. When the second distance is less than or equal to the warning distance threshold, output a warning signal to the corresponding terminal device to execute a corresponding control strategy.

[0074] Specifically, for the warning distance threshold, it is respectively a rope warning distance threshold or a material warning distance threshold. When the first tower crane does not hook the material and it is determined that there is an interference overlap area between the second lifting arm 201 and the first lifting rope 102 or the first lifting hook 103, the warning distance threshold is the rope warning distance threshold; when the first tower crane has a hook for lifting materials, it is necessary to determine whether the first lifting rope 102 or the material 104 has an interference overlap area with the second lifting arm 201 based on the current vertical position of the first lifting hook 103. If it is the first lifting rope 103, then the warning distance threshold is the rope warning distance threshold, and if it is the material 104, then the warning distance threshold is the material warning distance threshold. Among them, in view of the relatively large volume of the lifting material, the material warning distance threshold is larger than the rope warning distance threshold.

[0075] In addition, for the above-mentioned control strategy, it can be used to control the tower crane to brake and stop operation, or control the load-carrying trolley on the first tower crane to move toward the control room, so that the first lifting rope 102, the first hook 103 and / or the lifting material 104 are outside the moving trajectory of the end of the second lifting arm 201, etc.

[0076] In some embodiments, the warning distance threshold is a hanging rope warning distance threshold, and the steps for determining the hanging rope warning distance threshold include the following steps.

[0077] A1. Obtain a data input matrix, wherein the data input matrix includes the movement speed of the first tower crane, the braking speed of the first tower crane, the movement speed of the second tower crane, the braking speed of the second tower crane, and the movement direction between the first tower crane and the second tower crane.

[0078] A2. After the data input matrix is ​​input into the trained deep learning training model for processing, a rope warning distance threshold is obtained.

[0079] Specifically, considering that the movement speed, braking speed and movement direction of the tower crane (movement in the same direction or opposite directions) will affect the warning distance threshold, such as the greater the movement speed of the tower crane, the greater the corresponding warning distance threshold, the smaller the braking speed of the tower crane, the greater the corresponding warning distance threshold, etc., the movement speed, braking speed and movement direction of the first and second tower cranes in history are used as training input data, and the historical warning distance threshold is used as training output data to train the deep learning training model, and then the trained deep learning training model is used to process the movement speed, braking speed and movement direction of the tower crane collected in real time, and the corresponding rope warning distance threshold is obtained. It can be seen that the rope warning distance threshold is confirmed by the above method with high accuracy, so as to further ensure the safety of the tower crane operation.

[0080] Preferably, during the rotation process of the tower crane and / or in an environment with high wind speed, the rope may swing, and in this case, the rope warning distance threshold needs to be increased. Therefore, for the above data input matrix, it may also preferably include a parameter of the swing amplitude of the rope. Specifically, since the swing amplitude of the rope will be different at different vertical positions, as can be seen from the above content, when the first swing detection sensor is set on the first hook 103, the swing amplitude at different positions on the rope can be combined with the swing amplitude of the hook detected and the swing length corresponding to different positions on the rope, and then calculated using conventional mathematical geometry calculation methods.

[0081] In some embodiments, the warning distance threshold is a hanging material warning distance threshold, and the step of determining the hanging material warning distance threshold includes the following steps.

[0082] B1. Get the maximum length of the hanging material.

[0083] B2. According to the maximum length value, the rope warning distance threshold is increased to obtain the material hanging warning distance threshold. The rope warning distance threshold described in this step can be achieved by using the above steps A1-A2.

[0084] Specifically, Figure 4 As shown, the volume of the hanging material 104 is relatively large. If the hoisted position is taken as the center point, then on the basis of the rope warning distance threshold, it is necessary to increase its length value by l / 2 to l, wherein l is the maximum length value of the hanging material. In this way, collision between the second lifting arm 201 and the hanging material 104 can be avoided.

[0085] Preferably, when the warning distance threshold is the hanging material warning distance threshold, that is, anti-collision warning is currently required for the hanging material, then for the above data input matrix, the swing amplitude contained therein is the swing amplitude of the hook of the first hook 103.

[0086] In some embodiments, in order to trigger the warning function when the second distance is less than the second warning distance threshold, in addition to sending a warning signal to the corresponding terminal device to perform the corresponding control operation, the first image captured above can also be sent to the corresponding terminal device for display, so that the construction personnel can quickly and accurately understand the situation, thereby further determining whether the currently executed control strategy is reliable and feasible, thereby further improving the accuracy of the warning and the reliability and safety of the work. Therefore, the present method embodiment may also include the following steps.

[0087] S5. When the second distance is less than or equal to the warning distance threshold, the first image is sent to a corresponding terminal device for display.

[0088] It can be seen that by adopting the above-mentioned solution embodiment, the anti-collision warning of the tower crane can be realized quickly and accurately, thereby greatly ensuring the reliability and safety of the operation of the tower crane group.

[0089] Reference Figure 5 The embodiment of the present application also provides a construction tower crane anti-collision warning system, the system comprising:

[0090] a first acquisition processing unit, configured to acquire a first distance, wherein the first distance is used to represent the distance of the second tower crane relative to the first tower crane, the first lifting arm of the first tower crane is higher than the second lifting arm of the second tower crane, and the first distance is determined by a radar ranging signal obtained after a first radar sensor disposed on the first tower crane detects the second tower crane;

[0091] A second acquisition processing unit, used to acquire environmental detection data;

[0092] A first correction processing unit, used to perform correction processing on the acquired first distance using the environmental detection data to obtain a second distance;

[0093] The first judgment processing unit is used to output a warning signal to the corresponding terminal device to execute a corresponding control strategy when the second distance is less than or equal to the warning distance threshold.

[0094] In some embodiments, the system further comprises:

[0095] A third acquisition processing unit, configured to obtain a first image after photographing the first tower crane and / or the second tower crane;

[0096] The first correction processing unit specifically includes:

[0097] A first acquisition processing module, configured to obtain a second sub-distance between the first tower crane and the second tower crane after recognizing the first image using an image recognition technology;

[0098] A first correction processing module, used to perform correction processing on the acquired first distance using the environmental detection data to obtain a first sub-distance;

[0099] The first determination processing module is used to use the minimum value of the first sub-distance and the second sub-distance as the second distance.

[0100] In some embodiments, the warning distance threshold is a rope warning distance threshold, and the rope warning distance threshold is determined by the following functional modules:

[0101] a fourth acquisition processing unit, configured to acquire a data input matrix, wherein the data input matrix includes a moving speed of the first tower crane, a braking speed of the first tower crane, a moving speed of the second tower crane, a braking speed of the second tower crane, and a moving direction between the first tower crane and the second tower crane;

[0102] The first calculation processing unit is used to input the data input matrix into a trained deep learning training model for processing to obtain a suspension rope warning distance threshold.

[0103] In some embodiments, the data input matrix also includes the swing amplitude of the suspension rope.

[0104] In some embodiments, the warning distance threshold is a material hanging warning distance threshold, and the material hanging warning distance threshold is determined by the following functional modules:

[0105] A fifth acquisition processing unit is used to acquire the maximum length value of the hanging material;

[0106] The second calculation processing unit is used to increase the rope warning distance threshold according to the maximum length value to obtain the material hanging warning distance threshold.

[0107] In some embodiments, the data input matrix also includes the swing amplitude of the hook.

[0108] In some embodiments, the system further comprises:

[0109] The second judgment processing unit is used to send the first image to the corresponding terminal device for display when the second distance is less than or equal to the warning distance threshold.

[0110] The above-mentioned system embodiment units / modules correspond one to one with the steps of the method embodiment, so the beneficial effects of this embodiment are the same as the beneficial effects of the above-mentioned method, which will not be elaborated in detail here.

[0111] In addition, the present application also provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of the above method embodiment.

[0112] In view of the readable storage medium in the storage medium embodiment, which stores a computer program, and the computer program is executed by the processor to implement the steps of the above-mentioned method embodiment, the beneficial effects of this embodiment are the same as the beneficial effects of the above-mentioned method and system embodiments, and will not be elaborated in detail here.

[0113] For the processors mentioned in the above storage medium embodiment and the system embodiment, the number can be at least 1, and at least any step in the above method embodiment can be executed. When the number is at least two, at least two processors can be connected to each other in a communication manner, not limited to a wired or wireless communication connection, and the at least one processor can be connected to various intelligent terminal devices in a communication manner. In addition, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0114] Finally, it should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0115] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A construction tower crane anti-collision warning method, characterized in that: The method comprises the following steps: Acquire a first distance, wherein the first distance is used to represent the distance of the second tower crane relative to the first tower crane, the first lifting arm of the first tower crane is higher than the second lifting arm of the second tower crane, and the first distance is determined by a radar ranging signal obtained after a first radar sensor disposed on the first tower crane detects the second tower crane; Obtain environmental testing data; The first distance is corrected by using the environmental detection data to obtain a second distance; When the second distance is less than or equal to the warning distance threshold, a warning signal is output to the corresponding terminal device to execute a corresponding control strategy.

2. The method according to claim 1, characterized in that The method further comprises the following steps: After photographing the first tower crane and / or the second tower crane, a first image is obtained; The step of correcting the first distance obtained by using the environmental detection data to obtain the second distance specifically includes: After recognizing the first image using image recognition technology, a second sub-distance between the first tower crane and the second tower crane is obtained; The first distance is corrected by using the environmental detection data to obtain a first sub-distance; The minimum value between the first sub-distance and the second sub-distance is taken as the second distance.

3. The method according to claim 1, characterized in that The warning distance threshold is a rope warning distance threshold, and the steps for determining the rope warning distance threshold include: Obtaining a data input matrix, wherein the data input matrix includes a moving speed of the first tower crane, a braking speed of the first tower crane, a moving speed of the second tower crane, a braking speed of the second tower crane, and a moving direction between the first tower crane and the second tower crane; After the data input matrix is ​​input into the trained deep learning training model for processing, the rope warning distance threshold is obtained.

4. The method according to claim 3, characterized in that The data input matrix also includes the swing amplitude of the suspension rope.

5. The method according to claim 3, characterized in that The warning distance threshold is a material hanging warning distance threshold, and the steps for determining the material hanging warning distance threshold include: Get the maximum length of the hanging material; The lifting material warning distance threshold is obtained by increasing the lifting rope warning distance threshold according to the maximum length value.

6. The method according to claim 5, characterized in that The data input matrix also includes the swing amplitude of the hook.

7. The method according to claim 2, characterized in that The method further comprises the following steps: When the second distance is less than or equal to the warning distance threshold, the first image is sent to the corresponding terminal device for display.

8. A construction tower crane anti-collision warning system, characterized in that: The system includes: a first radar sensor, for detecting a distance of the second tower crane relative to the first tower crane; The first environment detection device is used to detect the environment and obtain environment detection data; A central control system, comprising at least one processor, wherein the processor is used to execute the steps of implementing the method according to any one of claims 1 to 7; The first radar sensor and the first environment detection device are both communicatively connected to the central control system.

9. The system according to claim 8, characterized in that The system also includes a first image capturing device, a terminal device and / or a first swing detection sensor, and the first image capturing device, the terminal device and / or the first swing detection sensor are all communicatively connected to the central control system.

10. The system according to claim 9, characterized in that The first radar sensor includes a radar sensor arranged on the first lifting arm of the first tower crane and / or on the first hook; the first image capturing device is an image capturing device arranged on the first hook and / or carried on the unmanned aerial vehicle; the first swing detection sensor is a swing detection sensor arranged on the first hook.

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