Safety monitoring system and method for highway road construction process

Abstract

The invention discloses an expressway road construction process safety monitoring system and method, and belongs to the field of road construction safety monitoring, and the system comprises a ground-air dual-purpose inspection robot which is used for carrying out the collection, transmission and real-time monitoring of constructors, construction safety conditions and construction measurement data on the road ground or in the air; the computer control platform is used for receiving the image data and the audio data acquired by the ground-air dual-purpose inspection robot and comprehensively analyzing the image data and the audio data; the system comprises a construction personnel monitoring module, a wireless communication module, a mobile area planning module, a construction safety monitoring module, a safety alarm module and a control module. According to the invention, the ground inspection robot vehicle cooperates with the inspection unmanned aerial vehicle, constructors and a construction site are monitored through ground and air means, an intelligent control platform is combined, data are collected, analyzed and processed through multiple sensors, potential safety hazards existing in the construction site are pre-warned, the construction safety of the constructors is improved, and the construction efficiency is improved. And personnel injury is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of road construction safety monitoring, and in particular to a highway road construction process safety monitoring system and method. Background Art

[0002] Now with the emergence of a large number of expressways, the construction of expressways is increasing. During the road construction process, the safety of construction workers is always a very important issue.

[0003] In road construction, it is very important to ensure the safety of construction workers. The following are some existing methods to ensure the safety of construction workers: 1. Personnel selection and training When recruiting construction workers, their physical fitness should be strictly evaluated. The construction workers' work experience and professional skills should be reviewed. Experienced personnel should be given priority. For those with insufficient experience, they should be arranged to work under the guidance of experienced masters for a period of time to receive practical skills training. For example, in road construction, skilled construction workers have superb operating skills to ensure construction quality and safety. Construction workers should also receive comprehensive safety training, and they should also participate in safety refresher training regularly during work.

[0004] 2. Safety protection facilities and equipment Equip construction workers with safety helmets that meet the standards and have good impact resistance. There may be risks such as objects flying on the road, and safety helmets can effectively protect the heads of construction workers. Equip corresponding body protection equipment according to the different needs of construction positions.

[0005] 3. Construction management and emergency support Establish and improve the safety management system, and clarify the safety responsibilities of managers and construction workers at all levels. From project managers to front-line construction workers, safety responsibility letters are signed at all levels to implement safety responsibilities to everyone. For example, the project manager is responsible for the safety management of the entire road project, the on-site construction team leader is responsible for the daily safety management and supervision of the construction workers in his team, and the construction workers are responsible for their own work behavior. Arrange full-time safety managers to conduct on-site supervision at the construction site. Safety managers promptly correct violations during the construction process, and promptly discover and urge rectification of safety hazards. For example, during the road excavation process, if it is found that the construction workers do not wear safety protection equipment as required, the safety manager should immediately require them to rectify the problem, and record and punish the violations.

[0006] The above methods are all long-term implementation methods to avoid safety problems for construction workers. However, many construction workers are still in danger. Now there is an urgent need for an intelligent highway road construction process safety monitoring system to conduct real-time monitoring of construction workers and construction sites, and to issue early warnings for safety hazards, thereby greatly improving the construction safety of construction workers. Summary of the invention

[0007] The purpose of the present invention is to provide a highway road construction process safety monitoring system and method, which uses ground inspection robots and inspection drones to monitor construction personnel and construction sites through ground and air means, and combines with an intelligent control platform to collect data through multiple sensors, analyze and process the data, and issue early warnings for safety hazards existing at the construction site, thereby improving the construction safety of construction personnel and reducing personal injuries.

[0008] To achieve the above-mentioned object, the present invention provides a highway road construction process safety monitoring system, including a ground-to-air dual-purpose inspection robot, which is used to collect, transmit and monitor in real time the construction personnel, construction safety conditions and construction measurement data on the road surface or in the air; A computer control platform is used to receive image data and audio data collected by the ground-to-air dual-purpose inspection robot and conduct comprehensive analysis on them; The construction personnel monitoring module collects image and audio data of construction personnel through a ground-to-air inspection robot to monitor them in real time. Wireless communication module, used for wireless communication between the ground-to-air inspection robot and the computer control platform; The mobile area planning module is used to plan the mobile area of ​​the ground-to-air dual-purpose inspection robot to avoid obstacles; The construction safety monitoring module collects image data of the construction site and monitors it in real time through a ground-to-air inspection robot and an ear-hook camera; Safety alarm module, used for ground-to-air inspection robots and computer control platforms to make construction safety predictions and send out alarms to notify personnel to evacuate; The control module controls the ground-to-air inspection robot through a computer control platform to perform highway road area inspections, data collection, data transmission, and construction safety prediction and alarm.

[0009] Preferably, the ground-to-air dual-purpose inspection robot includes a ground inspection robot vehicle and an inspection drone arranged on the ground inspection robot vehicle. The ground inspection robot vehicle includes a vehicle body, and drone protection devices with lifting functions are arranged on both sides of the vehicle body.

[0010] Preferably, the vehicle body includes a mounting top plate, and the inspection UAV is arranged on the mounting top plate. A wireless charging module for wireless charging of the inspection UAV is arranged inside the mounting top plate, and a power module for powering the inspection UAV and the vehicle body is arranged below the mounting top plate. A fixed plate is arranged at the bottom end of the power module, and the fixed plate is connected to the mobile structure through a double lifting mechanism.

[0011] Preferably, the mobile structure comprises a box body, mobile wheels are installed on both sides of the box body, and a driving structure for driving the mobile wheels to move and turn is arranged inside the box body; The double lifting structure includes a base, in which a lifting hydraulic cylinder 1 and a lifting hydraulic cylinder 2 are arranged. The hydraulic cylinder of the lifting hydraulic cylinder 1 is connected to the bottom end of the fixed plate, and the hydraulic rod of the lifting hydraulic cylinder 2 is connected to the top end of the box.

[0012] Preferably, the drone protection device includes a fixed block, which is connected to the base through a number of fixed columns. A lifting hydraulic cylinder three is provided at the bottom end of the fixed block. The hydraulic cylinder of the lifting hydraulic cylinder three passes through the fixed block and is connected to a lifting side plate located above the fixed block. One side of the lifting side plate is slidably connected to the placement top plate through a sliding structure, and the other side of the lifting side plate is connected to the drone top protection component.

[0013] Preferably, the drone top protection component includes a top plate one rotatably connected to the lifting side plate, a lifting hydraulic cylinder four is arranged on the lifting side plate, the bottom end of the lifting hydraulic cylinder four is hinged to the lifting side plate, and the hydraulic rod of the lifting hydraulic cylinder four is hinged to the top plate one.

[0014] Preferably, top plate one is an L-shaped plate, top plate two is slidably arranged on top plate one, a lifting hydraulic cylinder five is arranged at one end of top plate one, and the hydraulic cylinder of lifting hydraulic cylinder five passes through top plate one and is connected with one end of top plate two.

[0015] Preferably, the sliding structure includes a slider, which is arranged on the side of the lifting side plate close to the vehicle body, and a strip groove adapted to the slider is arranged on the side of the top plate, and the slider is inserted into the strip groove and slidably connected to the strip groove.

[0016] Preferably, the inspection drone includes a number of laser sensors, thermal imagers, position sensors, and sound sensors arranged at the top of the middle body, and a binocular camera with pitch adjustment and rotation adjustment functions arranged at the bottom of the middle body; each construction worker wears an ear-hook camera, which is used to collect image data and audio data of the construction site, and transmits it to the computer control platform through the wireless communication module.

[0017] The present invention also provides a method for monitoring the safety of a highway construction process, which uses the above-mentioned system for monitoring the safety of a highway construction process, and comprises the following steps: Step S1, the ground-to-air inspection robot enters the highway construction site and plans a moving route to avoid obstacles by using a binocular camera and a laser sensor; Step S11, the binocular camera cooperates with the ear-hook camera to collect stereoscopic image information of the construction site and transmit it to the computer control platform; Step S12, the computer control platform models the construction site, and plans and segments the vehicle driving area, the drone flight area, and the obstacle area through the mobile area planning module, plans the route of the inspection drone through the simulated annealing algorithm and the particle swarm optimization algorithm, and plans the driving route of the ground inspection robot vehicle through the dynamic planning algorithm; Step S13, the computer control platform controls the ground-to-air dual-purpose inspection robot to move on the ground through the control module; Step S2, the ground-to-air inspection robot collects image information of construction workers through binocular cameras, thermal imagers, and laser sensors, and collects audio information of construction workers through sound sensors and ear-hook cameras; Step S21, the ground-to-air inspection robot collects facial information of construction workers through a binocular camera, collects information on the number of construction workers through a thermal imager, collects sound information emitted by construction workers through a sound sensor and an ear-hook camera, and transmits the information to a computer control platform; Step S22, the computer control platform analyzes the collected construction personnel information through the construction personnel monitoring module, compares it with the construction personnel identity and face information in the database and the preset number of construction personnel in each construction area, checks for missing construction personnel, and assists the management personnel in allocating the number of construction personnel in each construction area; Step S23, the computer control platform converts the collected audio information of the construction personnel into text through the construction personnel monitoring module, extracts the keywords related to construction safety based on the text through the TF-IDF algorithm, and monitors and analyzes the construction safety situation of each construction area; Step S3, collecting construction site image data by using a ground-to-air dual-purpose inspection robot and performing real-time monitoring on the data; Step S31, the ground-to-air inspection robot collects high-definition image information and three-dimensional image information of the construction area through a binocular camera and a laser sensor, and the ear-hook camera collects local high-definition image data of the construction area, and all image data are transmitted to the computer control platform; Step S32: The computer control platform analyzes the collected high-definition image information and three-dimensional image information through the construction safety monitoring module, compares them with the construction safety image information in the database, performs point cloud registration through a point cloud-based algorithm, extracts high-definition image information through a convolutional neural network, and compares the similarity of feature vectors of the images. If the similarity of the feature vectors is greater than 85% or the point cloud registration rate is greater than 90%, it is determined that there are safety hazards in the construction area. In step S33, the computer control platform sends out an alarm through the security alarm module to remind the management personnel, and at the same time controls the ground-to-air dual-purpose inspection robot to move to the construction area with potential safety hazards to warn the construction personnel there and evacuate in advance.

[0018] Therefore, the present invention adopts the above-mentioned highway road construction process safety monitoring system and method, which has the following beneficial effects: Through the use of ground inspection robots and inspection drones, construction personnel and construction sites are monitored through both ground and air means. In combination with an intelligent control platform, data is collected and processed through a variety of sensors to provide early warnings of potential safety hazards at the construction site, thereby improving the construction safety of construction personnel and reducing personal injuries.

[0019] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the system structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the side structure of the ground-to-air dual-purpose inspection robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the front structure of the ground-to-air dual-purpose inspection robot according to an embodiment of the present invention; Figure 4 A side view of a double lifting structure according to an embodiment of the present invention; Figure 5 A three-dimensional diagram of a vehicle body according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an inspection drone according to an embodiment of the present invention; Figure 7 This is a top view of the inspection drone according to an embodiment of the present invention.

[0021] Reference numerals

[0022] 1. Ground inspection robot; 2. Inspection drone; 3. Placement of top plate; 4. Wireless charging module; 5. Power module; 6. Fixed plate; 7. Box; 8. Moving wheels; 9. Base; 10. Lifting hydraulic cylinder one; 11. Lifting hydraulic cylinder two; 12. Fixed block; 13. Fixed column; 14. Lifting hydraulic cylinder three; 15. Lifting side plate; 16. Lifting hydraulic cylinder four; 17. Top plate one; 18. Top plate two; 19. Lifting hydraulic cylinder five; 20. Slider; 21. Laser sensor; 22. Thermal imager; 23. Position sensor; 24. Sound sensor; 25. Binocular camera; 26. Pitch frame; 27. Rotating disk; 28. Magnetic block. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention are further described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions.

[0024] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or devices.

[0025] Like reference numerals and letters denote similar items in the following drawings, and thus, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0026] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" 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 an indirect connection 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 the present invention can be understood according to specific circumstances.

[0028] Example

[0029] like Figure 1 As shown, a highway road construction process safety monitoring system described in the present invention includes a ground-to-air dual-purpose inspection robot, a computer control platform, a construction personnel monitoring module, a wireless communication module, a mobile area planning module, a construction safety monitoring module, a safety alarm module, and a control module.

[0030] The ground-to-air inspection robot is used to collect, transmit and monitor in real time the data of construction personnel, construction safety and construction measurement on the road surface or in the air; the computer control platform is used to receive the image data and audio data collected by the ground-to-air inspection robot and conduct comprehensive analysis on them; the construction personnel monitoring module collects the image data and audio data of the construction personnel through the ground-to-air inspection robot and the ear-hook camera to conduct real-time monitoring on them; the wireless communication module is used for wireless communication between the ground-to-air inspection robot and the computer control platform; the mobile area planning module is used to plan the mobile area of ​​the ground-to-air inspection robot to avoid obstacles; the construction safety monitoring module collects the image data of the construction site through the ground-to-air inspection robot and monitors it in real time; the safety alarm module is used for the ground-to-air inspection robot and the computer control platform to make construction safety predictions and issue alarms to notify personnel to retreat; the control module controls the ground-to-air inspection robot through the computer control platform to conduct highway road area inspections, data collection, data transmission and construction safety prediction alarms. Each construction worker wears at least one ear-hook camera, which is used to collect image data and audio data of the construction site and transmit them to the computer control platform through the wireless communication module.

[0031] like Figure 2 , Figure 3 , Figure 5 As shown, the ground-to-air dual-purpose inspection robot includes a ground inspection robot vehicle 1 and an inspection drone 2 arranged on the ground inspection robot vehicle 1. The ground inspection robot vehicle 1 includes a vehicle body, and drone protection devices with lifting functions are arranged on both sides of the vehicle body. The vehicle body includes a placement top plate 3, and the inspection drone 2 is arranged on the placement top plate 3. A wireless charging module 4 for wireless charging of the inspection drone 2 is arranged in the placement top plate 3. A power module 5 for powering the inspection drone 2 and the vehicle body is arranged below the placement top plate 3. A fixing plate 6 is arranged at the bottom end of the power module 5, and the fixing plate 6 is connected to the mobile structure through a double lifting mechanism. The mobile structure includes a box body 7, and mobile wheels 8 are installed on both sides of the box body 7. A driving structure for driving the mobile wheels 8 to move and turn is arranged inside the box body 7. As shown Figure 4 As shown, the double lifting structure includes a base 9, in which a lifting hydraulic cylinder 10 and a lifting hydraulic cylinder 2 11 are arranged. The hydraulic cylinder of the lifting hydraulic cylinder 10 is connected to the bottom end of the fixed plate 6, and the hydraulic rod of the lifting hydraulic cylinder 2 11 is connected to the top end of the box 7.

[0032] The drone protection device includes a fixed block 12, which is connected to the base 9 through a plurality of fixed columns 13. A lifting hydraulic cylinder 3 14 is provided at the bottom end of the fixed block 12. The hydraulic cylinder of the lifting hydraulic cylinder 3 14 penetrates the fixed block 12 and is connected to the lifting side plate 15 located above the fixed block 12. One side of the lifting side plate 15 is slidably connected to the placement top plate 3 through a sliding structure, and the other side of the lifting side plate 15 is connected to the drone top protection component. The drone top protection component includes a top plate 17 rotatably connected to the lifting side plate 15, a lifting hydraulic cylinder 4 16 is provided on the lifting side plate 15, the bottom end of the lifting hydraulic cylinder 4 16 is hinged to the lifting side plate 15, and the hydraulic rod of the lifting hydraulic cylinder 4 16 is hinged to the top plate 17. The top plate 17 is an L-shaped plate, and a top plate 2 18 is slidably provided on the top plate 17. A lifting hydraulic cylinder 5 19 is provided at one end of the top plate 17, and the hydraulic cylinder of the lifting hydraulic cylinder 5 19 penetrates the top plate 17 and is connected to one end of the top plate 2 18. The sliding structure includes a slider 20, which is arranged on the side of the lifting side plate 15 close to the vehicle body. A strip groove matching the slider 20 is arranged on the side of the top plate 3, and the slider 20 is inserted into the strip groove and slidably connected with the strip groove.

[0033] like Figure 6 , Figure 7 As shown, the inspection drone 2 includes a plurality of laser sensors 21, a thermal imager 22, a position sensor 23, and a sound sensor 24 arranged at the top of the middle body, and a binocular camera 25 with pitch adjustment and rotation adjustment functions arranged at the bottom of the middle body. The binocular camera 25 is rotatably mounted on the pitch frame 26, and the motor drives the binocular camera 25 to rotate on the pitch frame 26 to achieve 360-degree pitch adjustment; the top of the pitch frame 26 is connected to the body of the inspection drone 2 through a rotating disk 27, and the motor drives the rotating disk 27 to rotate and then drives the pitch frame 26 to rotate, so as to achieve 360-degree rotation of the binocular camera 25 in the horizontal direction.

[0034] In the present invention, the inspection drone 2 and the ground inspection robot 1 use a large amount of carbon fiber materials in their structures, which can greatly improve the impact resistance and smash resistance of the device while greatly reducing the weight of the device. The specific connection methods of the various parts of the present invention all adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The drive structure in the ground inspection robot 1 adopts the existing inspection vehicle drive structure.

[0035] When in use, the lifting hydraulic cylinder 10 and the lifting hydraulic cylinder 2 11 extend, driving the entire vehicle body to rise, so that the inspection drone 2 can collect data from high places and far away without taking off. The dual lifting structure can greatly reduce the height of the vehicle body while increasing the height of the vehicle body, saving vehicle body space and making it more convenient. The lifting hydraulic cylinder 3 14 drives the lifting side plate 15 to rise, the lifting hydraulic cylinder 4 16 drives the top plate 1 17 to rotate and rise, and the lifting hydraulic cylinder 5 19 drives the top plate 2 18 to extend forward, so that the two top plates on both sides of the vehicle body are aligned together, protecting the top of the inspection drone 2 and improving the protection capability of the inspection drone 2. At the same time, after the dual lifting structure drives the vehicle body to rise, the lifting hydraulic cylinder 4 16 drives the top plate 1 17 to rotate and rise, which can improve the overall driving stability of the vehicle body. The inspection drone 2 and the ground inspection robot vehicle 1 can both achieve their positioning through the position sensor 23, and can achieve wireless communication with the computer control platform through the existing wireless communication device in conjunction with the wireless communication module. The bottom of the inspection drone 2 is connected to the hollow circular support frame in the middle through four support columns. The support frame has a built-in magnetic block 28, which can achieve stable stay on the vehicle body through magnetic adsorption. At the same time, the inspection drone 2 can be charged through the wireless charging module 4.

[0036] A method for monitoring the safety of a highway construction process according to the present invention comprises the following steps: Step S1, the ground-to-air inspection robot enters the highway construction site and plans a moving route to avoid obstacles by using the binocular camera 25 and the laser sensor 21; Step S11, the binocular camera 25 cooperates with the ear-hook camera to collect stereoscopic image information of the construction site and transmits it to the computer control platform; Step S12, the computer control platform models the construction site, and plans and segments the vehicle driving area, the drone flight area, and the obstacle area through the mobile area planning module, plans the route of the inspection drone 2 through the simulated annealing algorithm and the particle swarm optimization algorithm, and plans the driving route of the ground inspection robot vehicle 1 through the dynamic planning algorithm; Step S13, the computer control platform controls the ground-to-air dual-purpose inspection robot to move on the ground through the control module.

[0037] Step S2, the ground-to-air inspection robot collects image information of the construction personnel through the binocular camera 25, the thermal imager 22, and the laser sensor 21, and collects audio information of the construction personnel through the sound sensor 24 and the ear-hook camera; Step S21, the ground-to-air inspection robot collects the facial information of the construction workers through the binocular camera 25, collects the number of construction workers through the thermal imager 22, collects the sound information emitted by the construction workers through the sound sensor 24 and the ear-hook camera, and transmits it to the computer control platform; Step S22, the computer control platform analyzes the collected construction personnel information through the construction personnel monitoring module, compares it with the construction personnel identity and face information in the database and the preset number of construction personnel in each construction area, checks for missing construction personnel, and assists the management personnel in allocating the number of construction personnel in each construction area; Step S23, the computer control platform converts the collected audio information of the construction workers into text through the construction worker monitoring module, extracts the keywords related to construction safety based on the text through the TF-IDF algorithm, and monitors and analyzes the construction safety situation of each construction area.

[0038] Step S3, collecting construction site image data by using a ground-to-air dual-purpose inspection robot and performing real-time monitoring on the data; Step S31, the ground-to-air inspection robot collects high-definition image information and three-dimensional image information of the construction area through the binocular camera 25 and the laser sensor 21, and the ear-hook camera collects local high-definition image data of the construction area, and all image data are transmitted to the computer control platform; Step S32: The computer control platform analyzes the collected high-definition image information and three-dimensional image information through the construction safety monitoring module, compares them with the construction safety image information in the database, performs point cloud registration through a point cloud-based algorithm, extracts high-definition image information through a convolutional neural network, and compares the similarity of feature vectors of the images. If the similarity of the feature vectors is greater than 85% or the point cloud registration rate is greater than 90%, it is determined that there are safety hazards in the construction area. In step S33, the computer control platform sends out an alarm through the security alarm module to remind the management personnel, and at the same time controls the ground-to-air dual-purpose inspection robot to move to the construction area with potential safety hazards to warn the construction personnel there and evacuate in advance.

[0039] The algorithms adopted by the computer control platform of the present invention are all existing algorithms.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A highway construction process safety monitoring system, characterized by: It includes ground-to-air dual-purpose inspection robots, which are used to collect, transmit and monitor in real time the data of construction personnel, construction safety conditions and construction measurement on the road surface or in the air; A computer control platform is used to receive image data and audio data collected by the ground-to-air dual-purpose inspection robot and conduct comprehensive analysis on them; The construction personnel monitoring module collects image and audio data of construction personnel through a ground-to-air inspection robot to monitor them in real time. Wireless communication module, used for wireless communication between the ground-to-air inspection robot and the computer control platform; The mobile area planning module is used to plan the mobile area of ​​the ground-to-air dual-purpose inspection robot to avoid obstacles; The construction safety monitoring module collects image data of the construction site and monitors it in real time through a ground-to-air inspection robot and an ear-hook camera; Safety alarm module, used for ground-to-air inspection robots and computer control platforms to make construction safety predictions and send out alarms to notify personnel to evacuate; The control module controls the ground-to-air inspection robot through a computer control platform to perform highway road area inspections, data collection, data transmission, and construction safety prediction and alarm.

2. The highway construction process safety monitoring system according to claim 1 is characterized by: The ground-to-air dual-purpose inspection robot includes a ground inspection robot vehicle and an inspection drone arranged on the ground inspection robot vehicle. The ground inspection robot vehicle includes a vehicle body, and drone protection devices with lifting functions are arranged on both sides of the vehicle body.

3. The highway construction process safety monitoring system according to claim 2 is characterized by: The vehicle body includes a mounting top plate, and the inspection drone is arranged on the mounting top plate. A wireless charging module for wireless charging of the inspection drone is arranged inside the mounting top plate. A power module for powering the inspection drone and the vehicle body is arranged below the mounting top plate. A fixed plate is arranged at the bottom of the power module, and the fixed plate is connected to the mobile structure through a double lifting mechanism.

4. The highway construction process safety monitoring system according to claim 3 is characterized by: The mobile structure includes a box body, mobile wheels are installed on both sides of the box body, and a driving structure for driving the mobile wheels to move and turn is arranged inside the box body; The double lifting structure includes a base, in which a lifting hydraulic cylinder 1 and a lifting hydraulic cylinder 2 are arranged. The hydraulic cylinder of the lifting hydraulic cylinder 1 is connected to the bottom end of the fixed plate, and the hydraulic rod of the lifting hydraulic cylinder 2 is connected to the top end of the box.

5. The highway construction process safety monitoring system according to claim 4 is characterized by: The drone protection device includes a fixed block, which is connected to the base through a number of fixed columns. A lifting hydraulic cylinder three is arranged at the bottom end of the fixed block. The hydraulic cylinder of the lifting hydraulic cylinder three passes through the fixed block and is connected to a lifting side plate located above the fixed block. One side of the lifting side plate is slidably connected to the placement top plate through a sliding structure, and the other side of the lifting side plate is connected to the drone top protection component.

6. The highway construction process safety monitoring system according to claim 5 is characterized by: The drone top protection component includes a top plate one rotatably connected to a lifting side plate, a lifting hydraulic cylinder four is arranged on the lifting side plate, the bottom end of the lifting hydraulic cylinder four is hinged to the lifting side plate, and the hydraulic rod of the lifting hydraulic cylinder four is hinged to the top plate one.

7. The highway construction process safety monitoring system according to claim 6 is characterized by: The top plate one is an L-shaped plate, on which the top plate two is slidably arranged, and one end of the top plate one is provided with a lifting hydraulic cylinder five, the hydraulic cylinder of the lifting hydraulic cylinder five passes through the top plate one and is connected with one end of the top plate two.

8. The highway construction process safety monitoring system according to claim 5 is characterized by: The sliding structure comprises a slider, which is arranged on the side of the lifting side plate close to the vehicle body, and a strip groove matching the slider is arranged on the side of the top plate, and the slider is inserted in the strip groove and slidably connected with the strip groove.

9. The highway construction process safety monitoring system according to claim 2 is characterized by: The inspection drone includes several laser sensors, thermal imagers, position sensors, and sound sensors installed at the top of the middle body, and a binocular camera with pitch and rotation adjustment functions installed at the bottom of the middle body; each construction worker wears an ear-hook camera, which is used to collect image data and audio data of the construction site, and transmits it to the computer control platform through the wireless communication module.

10. A method for monitoring the safety of a highway construction process, characterized in that: A highway construction process safety monitoring system according to any one of claims 1 to 9 comprises the following steps: Step S1, the ground-to-air inspection robot enters the highway construction site and plans a moving route to avoid obstacles by using a binocular camera and a laser sensor; Step S11, the binocular camera cooperates with the ear-hook camera to collect stereoscopic image information of the construction site and transmit it to the computer control platform; Step S12, the computer control platform models the construction site, and plans and segments the vehicle driving area, the drone flight area, and the obstacle area through the mobile area planning module, plans the route of the inspection drone through the simulated annealing algorithm and the particle swarm optimization algorithm, and plans the driving route of the ground inspection robot vehicle through the dynamic planning algorithm; Step S13, the computer control platform controls the ground-to-air dual-purpose inspection robot to move on the ground through the control module; Step S2, the ground-to-air inspection robot collects image information of construction workers through binocular cameras, thermal imagers, and laser sensors, and collects audio information of construction workers through sound sensors and ear-hook cameras; Step S21, the ground-to-air inspection robot collects facial information of construction workers through a binocular camera, collects information on the number of construction workers through a thermal imager, collects sound information emitted by construction workers through a sound sensor and an ear-hook camera, and transmits the information to a computer control platform; Step S22, the computer control platform analyzes the collected construction personnel information through the construction personnel monitoring module, compares it with the construction personnel identity and face information in the database and the preset number of construction personnel in each construction area, checks for missing construction personnel, and assists the management personnel in allocating the number of construction personnel in each construction area; Step S23, the computer control platform converts the collected audio information of the construction personnel into text through the construction personnel monitoring module, extracts the keywords related to construction safety based on the text through the TF-IDF algorithm, and monitors and analyzes the construction safety situation of each construction area; Step S3, collecting construction site image data by using a ground-to-air dual-purpose inspection robot and performing real-time monitoring on the data; Step S31, the ground-to-air inspection robot collects high-definition image information and three-dimensional image information of the construction area through a binocular camera and a laser sensor, and the ear-hook camera collects local high-definition image data of the construction area, and all image data are transmitted to the computer control platform; Step S32: The computer control platform analyzes the collected high-definition image information and three-dimensional image information through the construction safety monitoring module, compares them with the construction safety image information in the database, performs point cloud registration through a point cloud-based algorithm, extracts high-definition image information through a convolutional neural network, and compares the similarity of feature vectors of the images. If the similarity of the feature vectors is greater than 85% or the point cloud registration rate is greater than 90%, it is determined that there are safety hazards in the construction area. In step S33, the computer control platform sends out an alarm through the security alarm module to remind the management personnel, and at the same time controls the ground-to-air dual-purpose inspection robot to move to the construction area with potential safety hazards to warn the construction personnel there and evacuate in advance.

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