Tower crane hoisting visual limiting system and method

Abstract

The invention relates to the technical field of tower cranes, and discloses a visual limiting system and method for hoisting of a tower crane, the visual limiting system is located between a lifting hook and a pulley used for being matched with the lifting hook, and a pulling plate is connected between the lifting hook and the pulley; the system comprises an installation support which is in a square shape and abuts against the outer surface of a pulling plate from the inner surface; the image acquisition mechanism is mounted on the outer surface of the mounting bracket and is used for acquiring image information of the surrounding environment of the hanger; one end of the radar detection mechanism is connected with the pulling plate, and the other end is connected with the mounting bracket. The device is close to the hanging piece at a short distance and is fixedly mounted between the lifting hook and the pulley, and meanwhile, the accuracy of data acquisition of the hanging piece and the surrounding environment of the hanging piece can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tower cranes, and in particular to a tower crane hoisting visualization restriction system and method. Background Art

[0002] Tower cranes, as indispensable heavy equipment at construction sites, use their excellent performance to complete the precise lifting tasks of materials, components and equipment required for high-rise buildings in a narrow working environment. However, in this process, operators and signal commanders need to work closely together to deal with the potential multiple risks in the lifting operation. In the monitoring process of this lifting, we can only rely on the command of the signal commander and the experience of the operator. However, both the operator and the signal commander are limited by the observation angle and line of sight obstruction, and it is difficult for both parties to achieve full monitoring of the entire lifting process.

[0003] In order to deal with this problem, the existing technology has introduced visual image acquisition equipment and radar equipment, but whether it is a visual image acquisition device or a radar device, its use has different disadvantages due to the influence of the installation position. For example, the patent application number is CN220245353U, and the publication date is June 6, 2023. A tower crane visual radar monitoring alarm is installed on a linear axis above the tower crane hook. The tower crane visual radar monitoring alarm is fixed on the linear axis above the hook using left and right semicircular ring columns. Although this technical solution can realize the data collection of the camera and radar installed on the semicircular ring column, realize the visualization of the tower crane hoisting, and thus realize close monitoring of the working conditions near the tower crane hook. If the tower crane visual radar monitoring alarm is to be installed on the linear axis above the hook multiple times, due to the long linear axis, it is difficult to determine its installation position accordingly, and the installation position of the radar detector is easy to change. At the same time, after its installation position changes, the reference object and reference direction of the radar detector need to be adjusted.

[0004] As in patent application CN202410316151.1, published on March 20, 2024, an intelligent auxiliary system for refined operations of a construction tower crane and a method of use, the slide is vertically installed on the standard section of the construction tower crane, and the high-precision camera ranging module is located in the slide and can slide vertically along the slide. Although it solves the problems of limited field of view below the current tower crane construction, low visualization of the operation process, and unavoidable lifting risks. However, in actual lifting operations, there are easily buildings between the hanging parts and the tower crane, and the slide is vertically installed on the standard section of the construction tower crane, and the high-precision camera ranging module is located in the slide. In this way, the hanging parts are easily blocked by buildings, making it difficult for high-precision cameras to take pictures.

[0005] For example, patent application CN114955877A, published on August 30, 2022, is a visual device for tower crane blind spots. When the tower crane driver is blocked by high-rise buildings and cannot directly see the tower crane hoisting process, a 360° rotating camera is set on the tower crane loading trolley. Although this technical solution can provide a panoramic bird's-eye view of the transportation process of the hanging parts, it is far away from the location of the hanging parts, and it is difficult to obtain accurate information about the hanging parts and surrounding obstacles, so it can only play a monitoring role. Summary of the invention

[0006] In order to achieve closer proximity to the hanger and accurately obtain environmental information of the hanger and its surroundings while ensuring stable acquisition of environmental information of the hanger and its surroundings, the present invention provides a first solution which is a tower crane hoisting visualization restriction system.

[0007] The first scheme is a tower crane hoisting visualization limitation system, which is located between a hook and a pulley used to cooperate with the hook, and a pull plate is connected between the hook and the pulley; the system includes: a mounting bracket, which is in a U-shaped shape, and its inner surface is pressed against the outer surface of the pull plate; an image acquisition mechanism, which is mounted on the outer surface of the mounting bracket and faces the hanger, and is used to collect image information of the hanger and its surrounding environment; a radar detection mechanism, one end of which is pressed against the pull plate and the other end is connected to the mounting bracket, and is used to obtain position information of the surrounding environment of the hanger; the radar detection mechanism and the image acquisition mechanism are arranged in parallel; a display mechanism is installed in the cab of the tower crane, and is respectively connected to the image acquisition mechanism and the radar detection mechanism, and is used to display image information of the hanger and its surrounding environment as well as position information of the surrounding environment of the hanger.

[0008] Beneficial effects: Compared with the prior art, firstly, the scheme can install a tower crane hoisting visualization restriction system on the pull plate, and obtain image information of the hoisting parts and the surrounding environment of the hoisting parts and the location information of the surrounding environment of the hoisting parts at a closer distance, so as to improve the clarity of the image and the accuracy of radar detection;

[0009] At the same time, the mounting bracket is pressed against the outer surface of the pull plate from the inner surface, and the radar detection mechanism, with one end pressed against the pull plate and the other end connected to the mounting bracket, can not only be stably mounted on the pull plate, but also be easy to disassemble, and there is no need to modify the existing tower crane, and the applicability is strong;

[0010] Finally, setting the radar detection mechanism and the image acquisition mechanism in parallel and combining image recognition with radar detection can greatly improve the accuracy of the visualization limitation of tower crane hoisting.

[0011] Preferably, the mounting bracket includes two mounting half frames, a first connector and a second connector; the two mounting half frames are symmetrically pressed against each other, and the two mounting half frames are fixed at the pressing point by the first connector and the second connector.

[0012] Beneficial effect: The mounting bracket is fixed by the first connector and the second connection, and can be stably installed between the hook and the pulley.

[0013] Preferably, the radar detection mechanism includes a radar detector, a radar fixing sleeve and a top plate; the radar detection mechanism has a cross-shaped structure; the radar detector passes through the radar fixing sleeve and is fixedly connected to the radar fixing sleeve; four connecting ports are evenly arranged circumferentially on the radar fixing sleeve, among which two opposite connecting ports are connected to the mounting bracket, and the other two opposite connecting ports are rotatably connected to the top plate, and the top plate is used to tighten the pulling plate.

[0014] Beneficial effect: The radar detection mechanism can be fixedly mounted on the mounting bracket, so that the radar detector can stably obtain the position information of the surrounding environment of the hanging part.

[0015] Preferably, the radar detection mechanism also includes a plurality of connecting columns, a sleeve, a first threaded rod, a second threaded rod, a top plate, a second plug block and a plug plate; two opposite connecting ports on the radar fixing sleeve are respectively connected to one end of the first connecting column, the other end of the first connecting column is connected to one end of the first threaded rod, the other end of the first threaded rod is connected to one end of the sleeve, the other end of the sleeve is connected to one end of the second threaded rod, the other end of the second threaded rod is connected to one end of the second connecting column, the other end of the second connecting column is connected to the top plate, and the top plate is pressed against the pulling plate; a first plug block is provided on the mounting bracket, and the other two opposite connecting ports on the radar fixing sleeve are respectively connected to the second plug blocks, the first plug block and the second plug block are both provided with cross slots, and cross plug columns are respectively provided at both ends of the plug plate, which are plugged and unplugged with the first plug block and the second plug block respectively through the plug plate.

[0016] Beneficial effect: The radar detection mechanism can be stably mounted on the mounting bracket, and can also improve the stability of the entire mounting bracket by tightening the tension plate.

[0017] Preferably, there are four image acquisition mechanisms, which are respectively located at the ports of the U-shaped mounting bracket.

[0018] Beneficial effect: By setting it at the port, it can present 360-degree no-dead-angle, all-round collection of image information of the hanger and its surrounding environment.

[0019] Preferably, the image acquisition mechanism includes a camera, a camera fixing plate, a fixing clamp, a fixing column, a first fixing bolt, a triangular clamp block and an I-type fixing frame; the camera fixing plate is fixedly connected to the camera; the fixing plate is fixedly connected to the fixing clamp plate, and a fixing hole is provided in the middle of the fixing clamp plate; the fixing hole is slidably connected to the fixing column, and the fixing column is fixedly connected to the triangular clamp block at one end away from the fixing clamp plate, and the triangular clamp block is slidably connected to the I-type fixing frame, the I-type fixing frame is fixedly connected to the mounting half frame, a first sliding groove is provided in the middle of the I-type fixing frame, the middle of the triangular clamp block is threadedly connected to the first fixing bolt, and the first fixing bolt is slidably connected to the first sliding groove.

[0020] Beneficial effect: The image acquisition mechanism can be fixedly mounted on the mounting bracket, so that the camera can stably acquire image information of the surrounding environment of the hanging part.

[0021] Preferably, it also includes a cleaning mechanism, which includes a moving slide plate and cleaning rollers. The moving slide plate is slidably connected to the image acquisition mechanism, and the moving slide plate is rotatably connected to a plurality of cleaning rollers.

[0022] Beneficial effects: As the tower crane is at a high altitude for a long time and is also in a construction environment, the wind is strong and the wind easily covers the camera with dust, reducing the accuracy of the camera's photography. The cleaning mechanism is used to automatically clean the camera, and can remove dust, dirt, rain or ice and snow on the camera lens at any time to ensure that the camera always maintains a clear view.

[0023] The second scheme is a tower crane hoisting visualization restriction method, which uses a tower crane hoisting visualization restriction system described in the first scheme to observe the hoisting parts and visualize the hoisting restrictions, including: S1, installing a radar detection mechanism and an image acquisition mechanism on a mounting bracket; S2, installing the mounting bracket on a pull plate; S3, acquiring image information of the hoisting parts and the surrounding environment of the hoisting parts through the image acquisition mechanism; S4, acquiring position information of the surrounding environment of the hoisting parts through the radar detection mechanism; S5, displaying image information of the hoisting parts and the surrounding environment of the hoisting parts and position information of the surrounding environment of the hoisting parts through a display mechanism.

[0024] Beneficial effects: First, the tower crane hoisting visualization restriction system is installed on the tower crane. Secondly, the image acquisition mechanism collects image information of the hanging parts and the surrounding environment of the hanging parts, and the radar detection mechanism obtains the position information of the surrounding environment of the hanging parts. Combined with the above information, the operator is given a timely warning, so that he can respond quickly and take necessary avoidance measures to avoid accidents. This reduces the burden on the operator and reduces the dependence on manual observation and judgment, especially at night or in bad weather conditions, and improves the reliability of the system and the continuity of operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the tower crane structure of Example 1;

[0026] Figure 2 It is a structural schematic diagram of the installation position between the tower crane hoisting visualization restriction system and the tower crane of Example 1;

[0027] Figure 3 It is a front view of the tower crane hoisting visualization restriction system of the first embodiment;

[0028] Figure 4 It is a partial structural schematic diagram of the mounting bracket of the first embodiment;

[0029] Figure 5 (a) is a schematic structural diagram of a first connector of Embodiment 1;

[0030] Figure 6 (b) is a structural schematic diagram of the first connector of Embodiment 1;

[0031] Figure 7 This is a structural schematic diagram of the image acquisition mechanism of Embodiment 1;

[0032] Figure 8 for Figure 7 An enlarged schematic diagram of a part of the structure;

[0033] Fig. 9 It is a structural schematic diagram of a tower crane hoisting visualization restriction system according to Embodiment 1;

[0034] Fig.10 This is a schematic structural diagram of a second connector according to the first embodiment;

[0035] Fig.11 This is a schematic structural diagram of the connection between two second connectors, four first connectors and one mounting half frame of Embodiment 1. DETAILED DESCRIPTION

[0036] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0037] The following is a detailed description of the marked parts of the accompanying drawings:

[0038] Tower crane 1, mounting bracket 2, image acquisition mechanism 3, radar detection mechanism 4, hook 11, pull plate 12, pulley 13, mounting half frame 21, first connector 22, second connector 23, card slot 24, dial plate 221, semicircular ring plate 222, semicircular card plate 223, round head rod 224, limit plate 225, first spring 226, limit groove 227, limit plate 228, slide cavity 2221, slideway 2222, reinforcement bolt 231, trapezoidal top block 232, push plate 233, limit column 234, limit groove 235, chamfer 236, slider 237, second spring Spring 238, limiting slide groove 239, connecting block 240, camera 31, camera fixing plate 32, fixing splint 33, fixing column 34, triangular clamp block 35, I-shaped fixing frame 36, first slide groove 37, fixing hole 38, first fixing bolt 39, first threaded rod 40, radar detector 41, radar fixing sleeve 42, sleeve 43, top plate 44, plug plate 45, first plug block 46, connecting column 47, cross plug column 48, cross slot 49, second plug block 50, second threaded rod 51, movable slide plate 61, cleaning roller 62, baffle 63, second slide groove 631.

[0039] Embodiment 1

[0040] This embodiment provides a tower crane 1 lifting visualization restriction system, such as Figure 1 As shown, on the existing tower crane 1, the tower crane 1 includes a hook 11 located between two pull plates 12, and the hook 11 and the two pull plates 12 are fixedly connected by bolts, and the two pull plates 12 are fixedly connected to the pulley 13. Figure 2 As shown, a tower crane 1 hoisting visualization restriction system includes a mounting bracket 2, an image acquisition mechanism 3 and a radar detection mechanism 4. The mounting bracket 2 is located between the hook 11 and the pulley 13, and the inner side of the mounting bracket 2 is pressed against the outer side of the pull plate 12.

[0041] Specifically, Figure 3 and Figure 4 As shown, the mounting bracket 2 includes two mounting half frames 21, four first connectors 22 and four second connectors 23. The mounting half frame 21 is located between the hook 11 and the pulley 13, and abuts against the pull plate 12. The two mounting half frames 21 abut symmetrically in a "mouth" shape, and can be fixed by the first connector 22 and the second connector 23. Two first connectors 22 are fixedly installed on each mounting half frame 21, and the first connector 22 is located at the position where the two mounting half frames 21 abut.

[0042] like Figure 5 As shown, Figure 5Two first connectors 22 are shown to be close to each other. The first connector 22 includes a dial plate 221, a semicircular ring plate 222, a semicircular clamping plate 223, a round head rod 224, a limit plate 225 and a first spring 226. The first connector 22 is a semicircular structure. The semicircular ring plate 222 and the semicircular clamping plate 223 form a semicircular structure. The semicircular ring plate 222 and the semicircular clamping plate 223 are slidably connected. A limiting groove 227 is provided on the side of the semicircular clamping plate 223 away from the dial plate 221, and the semicircular ring plate 222 is provided with a sliding cavity 2221, and the round head rod 224 is slidably connected to the sliding cavity 2221. The round head rod 224 passes through the side of the semicircular ring plate 222 and is slidably connected to the semicircular ring plate 222. The middle part of the round head rod 224 is fixedly connected to the limit plate 225, and the middle part of the round head rod 224 is slidably connected to the first spring 226, the first spring 226 is located between the limit plate 225 and the sliding cavity 2221, and the round head rod 224 can be rotatably engaged with the limit groove 227. By rotatably engaging the round head rod 224 with the limit groove 227, the semicircular clamping plate 223 can be prevented from rotating. If the semicircular clamping plate 223 rotates, the two installation half frames 21 will be disconnected.

[0043] like Figure 6 As shown, Figure 6 The back of the first connectors 22 abutting against each other is shown, wherein one first connector 22 has a dial plate 221 and a semicircular clamping plate 223, and the other first connector 22 does not have a dial plate 221 and a semicircular clamping plate 223. The inner side of the semicircular ring plate 222 matches the outer side of the semicircular clamping plate 223. A slideway 2222 is provided on the back of the semicircular ring plate 222, and the semicircular clamping plate 223 abuts against the slideway 2222. The dial plate 221 can operate the semicircular clamping plate 223 to rotate on the slideway 2222.

[0044] First, the two installation half frames 21 are quickly connected through the first connector 22 to ensure the overall stability and safety of the installation bracket 2. During the connection process of the two first connectors 22, the two semicircular clamping plates 223 are operated to rotate through the dial plate 221. Since the semicircular clamping plates 223 are convex structures, the two ends of the two semicircular clamping plates 223 are respectively matched with the limiting grooves 24 on the two installation half frames 21 to achieve the fixation of the installation bracket 2. At the same time, when the semicircular clamping plates 223 rotate, the limiting groove 227 moves to the round head rod 224, and the first spring 226 pushes the round head rod 224, so that the round head end of the round head rod 224 can be rotatably engaged with the limiting groove 227, limiting the semicircular clamping plates 223 to prevent them from rotating, thereby improving the reliability and stability of the connection.

[0045] like Figure 7 and 8As shown, the image acquisition mechanism 3 includes a camera 31, a camera fixing plate 32, two fixing splints 33, two fixing pins 34, two triangular clamping blocks 35, and two I-shaped fixing frames 36. The camera fixing plate 32 is a quarter-circular ring structure, and the surface of the camera fixing plate 32 is connected to the camera 31 by bolts. The two ends of the camera fixing plate 32 can be fixedly connected to the fixing splints 33 by welding, and a fixing hole 38 is provided in the middle of each fixing splint 33. The fixing holes 38 are slidably connected to the two fixing pins 34, and the two fixing pins 34 are fixedly connected to a triangular clamping block 35 at one end away from the fixing splint 33, and each triangular clamping block 35 is slidably connected to an I-shaped fixing frame 36. The I-shaped fixing frame 36 is fixedly connected to the mounting half frame 21, and can be fixed by bolting or welding. In this embodiment, bolt fixing is adopted, which is also convenient during disassembly. A first slide groove 37 is provided in the middle of the I-shaped fixing frame 36 , and a first fixing bolt 39 is threadedly connected to the middle of the triangular clamp block 35 . The first fixing bolt 39 is slidably connected to the middle of the first slide groove 37 .

[0046] During the installation of the image acquisition mechanism 3, the first fixing bolt 39 between the two triangular clamps 35 and the I-shaped fixing frame 36 is loosened during installation, so that the two triangular clamps 35 can slide freely on the surface of the I-shaped fixing frame 36, and the fixing clamps 33 at both ends of the camera fixing plate 32 loaded with the camera 31 are placed between the two triangular clamps 35, and then the triangular clamps 35 are combined, and the first fixing bolt 39 is turned to fix the triangular clamps 35 on the I-shaped fixing frame 36 to achieve the installation and fixation of the image acquisition mechanism 3. During the installation and fixation of the image acquisition mechanism 3, it is particularly important to ensure the stability between the camera fixing plate 32 and the I-shaped fixing frame 36. The design of the installation structure should not only consider the firmness of its fixation, but also the convenience of its operation. By adopting this installation method, not only the stability of the camera 31 can be maintained, but also the image acquisition mechanism can be conveniently disassembled / installed. At the same time, the I-shaped fixing frame 36 is fixedly connected to the installation half frame 21, so that the image acquisition mechanism 3 can stably perform image acquisition. Furthermore, the image acquisition mechanism 3 can be removed conveniently by dismantling the bolts for maintenance or replacement.

[0047] like Figure 3As shown, the image acquisition mechanism 3 is located on the outer surface of the installation half frame 21. In this embodiment, there are a total of 4 image acquisition mechanisms 3. The 4 image acquisition mechanisms 3 are evenly installed on the corners of the rectangular body formed by the two installation half frames 21. In this way, the image acquisition mechanism 3 can also capture image information of the surrounding environment of the hanger with the hanger as the center and a range of 360° without using the wide-angle mode. If the image acquisition mechanism 3 uses the wide-angle mode to collect image information, it is more used to play an auxiliary monitoring role, because when the image acquisition mechanism 3 uses the wide-angle mode to collect image information, at this time, the distance between the hanger and the environment around the hanger, such as obstacles, will appear inaccurate images. Therefore, in this embodiment, 4 image acquisition mechanisms 3 are evenly distributed on the corners of the rectangular body formed by the two installation half frames 21, so that the image information of the surrounding environment of the hanger can be captured at 360° even without using the wide-angle mode, so as to achieve an accurate acquisition effect. At the same time, the installation half frame 21 is located between the hook 11 and the pulley 13, and the hanging part is photographed at a close distance. The image acquisition mechanism 3 can also collect image information of the hanging part, so as to analyze the hanging part and the environment around the hanging part. The image information collected by the image acquisition mechanism 3 can comprehensively analyze the hanging part and the environment around the hanging part. Specifically, the camera obtains environmental information around the hanging part by taking the hanging part as the center point and obtaining environmental information within 8 meters from the hanging part.

[0048] like Figure 8 As shown, the cleaning mechanism includes a baffle 63, a movable slide plate 61 and a cleaning roller 62. The camera 31 is slidably connected to the movable slide plate 61, and the middle of the movable slide plate 61 is rotatably connected to a plurality of cleaning rollers 62.

[0049] Specifically, baffles 63 are arranged around the camera 31, and the height of the baffles 63 is slightly greater than the height of the camera 31. In this embodiment, the height of the baffles 63 is 3 mm greater than the height of the camera 31. The baffles 63 are provided with second slide grooves 631 for the movable slide plate 61 to move. There are three cleaning rollers 62 in total; the cleaning rollers 62 are in contact with the surface of the camera 31 and are used to wipe and clean the camera 31.

[0050] The height of the baffle plate 63 is 3 mm greater than the camera probe, which not only does not block the camera 31, but also reduces dust pollution to a certain extent. At the same time, the camera 31 can also be cleaned through the baffle plate 63.

[0051] By utilizing the second slide groove 631 provided on the baffle 63, the movable slide plate 61 moves back and forth on the surface of the camera 31 through the second slide groove 631, and the cleaning roller 62 in the middle of the movable slide plate 61 contacts the camera 31, so that the movable slide plate 61 drives the cleaning roller 62 to roll and clean the camera 31.

[0052] The movable slide 61 and the rotating cleaning roller 62 can greatly maintain the clarity of the camera 31. During the operation of the tower crane 1, due to the complex environment, the camera 31 is prone to accumulate dust or dirt, affecting the clarity of image acquisition. The cleaning mechanism can regularly clean the camera 31 to ensure the clarity and accuracy of image acquisition.

[0053] like Figure 3 and Fig. 9 As shown, the radar detection mechanism 4 includes a radar detector 41, a radar fixing sleeve 42, four connecting columns 47, two sleeves 43, two first threaded rods 40, two second threaded rods 51, two top plates 44, two second plug blocks 50 and eight plug plates 45. The radar detector 41 is located at the center of the mounting bracket 2. Fig. 9 As shown, the inner walls of the two sleeves 43 located on the left and right sides of the radar detector 41 are respectively provided with threads matching the first threaded rod 40, and the threads of the first threaded rod 40 and the second threaded rod 51 are the same. In this embodiment, the structures of the first threaded rod 40 and the second threaded rod 51 are the same. The radar detector 41 passes through the radar fixing sleeve 42 and the surface of the radar detector 41 is fixedly connected to the inner wall of the radar fixing sleeve 42. Specifically, the radar detector 41 can be embedded into the inner wall of the radar fixing sleeve 42 to achieve the fixation of the radar detector 41. Connecting ports are provided at the left and right ends of the radar fixing sleeve 42, and the connecting ports are respectively rotatably connected to one end of the connecting column 47, and the other end of the connecting column 47 is fixedly connected to one end of the first threaded rod 40, and the other end of the first threaded rod 40 is threadedly connected to one end of the inner wall of the sleeve 43. The other end of the inner wall of the sleeve 43 is threadedly connected to the second threaded rod 51, and the second threaded rod 51 is fixedly connected to one end of the connecting column 47, and the other end of the connecting column 47 is rotatably connected to the top plate 44, and the two top plates 44 are respectively pressed against as shown in FIG. Figure 2 The two pull plates 12 are shown at the left and right ends. The connecting column 47 is rotatably connected to the top plate 44, and the distance between the connecting column 47 and the top plate 44 can be changed by rotation. In this embodiment, the first connecting column 47 and the second connecting column 47 have the same structure, and for convenience of representation, they are collectively referred to as connecting columns 47. There are two first connecting columns 47 and two second connecting columns 47, respectively.

[0054] like Figure 5As shown, first plug blocks 46 are fixedly installed in the middle of the two mounting half frames 21, and connection ports are provided at the upper and lower ends of the radar fixing sleeve 42, which are fixedly connected to the second plug blocks 50. Cross slots 49 are provided on the first plug block 46 and the second plug block 50, and there are four cross slots 49 on each plug block. Cross pins 48 are fixedly installed at both ends of each plug board 45. The cross pins 48 match the cross slots 49, and the cross pins 48 are plug-in connected to the cross slots 49. By plugging and unplugging all the cross slots 49 with the cross pins 48, the upper and lower ends of the radar detector 41 are stably installed on the inner wall of the mounting half frame 21, so that the radar detector 41 can be installed more stably.

[0055] In the prior art, although the hooks 11 are not of the same size, they all need to be fixed by two pull plates 12. The size of the hook 11 determines the distance between the two pull plates 12. In this embodiment, in order to ensure that the visual restriction system for hoisting the tower crane 1 can be stably installed on the pull plate 12, even when the tower crane 1 is in operation, the pull plate 12 is prone to frequent shaking due to the tension of the tower crane 1 hoisting rope, the wind force of the external environment, etc. Under the condition that the existing pull plate 12 is not modified, the inner walls of the two mounting half frames 21 are respectively pressed against the outer walls of the two pull plates 12, and then the lengths of the left and right two top plates 44 are extended by rotating the connecting column 47, the first threaded rod 40 and the second threaded rod 51, so that the top plate 44 can be pressed against the pull plate 12, thereby realizing that the visual restriction system for hoisting the tower crane 1 can be stably installed on the pull plate 12 of the tower crane 1.

[0056] The radar detection mechanism 4 is a cross-shaped structure, connected to the mounting bracket 2 at the upper and lower ends, and the top plate 44 is used to press against the pull plate 12 at the left and right ends, and the second connecting column 47 is connected to the top plate 44 by plugging. Since the radar detector 41 needs to maintain a fixed spatial position in three-dimensional space, it can accurately detect the position of the hanging part and the obstacles around the hanging part and the corresponding distance between the two. In this way, in the installation of the radar detection mechanism 4, it is fixed in a cross shape with the mounting bracket 2 and the pull plate 12 respectively, so that the radar detector 41 is fixed in the corresponding position, and the distance between the hanging part and the obstacles around the hanging part is stably and accurately collected. And by plugging and unplugging with the mounting bracket 2, and plugging and unplugging the second connecting column 47 and the top plate 44, the radar detector 41 can be easily removed from the tower crane 1. At the same time, it is also necessary for the radar detector 41 and the cameras 31 of the four image acquisition mechanisms 3 to be as parallel as possible in three-dimensional space, and the radar detector 41 should not only be closer to the image acquisition mechanism 3, but also be at the same distance from the four image acquisition mechanisms 3. In this way, when installing the radar detection mechanism 4, it is linked and aligned with the image acquisition mechanism 3 as much as possible, so that the radar detection mechanism 4 and the image acquisition mechanism 3 can cooperate with each other with high precision, further improving the accuracy of collecting the distance between the hanger and the obstacles around the hanger.

[0057] In the current existing algorithms, the accuracy and precision of recognition are improved by combining radar detection and image recognition technology. However, in the current existing technology, even when the radar detection and the camera 31 are installed in a close position, considering that the radar detector 41 and the camera should not cover each other as much as possible, it is also necessary to ensure that the radar detector 41 and the camera can remain stable after installation, and try not to shift in space. Once there is a cover or shift, the upper limit of accuracy is relatively low, and it is difficult to give the driver an accurate judgment. The upper limit of accuracy of the existing scheme is relatively low. In this embodiment, the radar detector 41 and the camera 31 are arranged in parallel, and the distance between the radar detector 41 and the camera 31 is not more than 60cm, and the radar detection mechanism 4 is fixed on the mounting bracket 2 and the pull plate 12 with a cross structure, and the image acquisition mechanism is fixedly installed on the mounting bracket 2. In this way, through the structure of the device, it can be satisfied to improve the accuracy of the recognition of the visual restriction system of the tower crane 1 hoisting by combining the radar detection and image recognition technology of the prior art.

[0058] A visual lifting limit system for a tower crane 1 further includes a display mechanism and an alarm mechanism; the display mechanism and the alarm mechanism are arranged in the cab of the tower crane 1. Specifically, the display mechanism includes a display screen, the display screen is electrically connected to a processor, and the processor is respectively electrically connected or wirelessly connected to a camera 31 and a radar detector 41. The display screen is installed on the console in the cab of the tower crane 1. The alarm mechanism includes a sound alarm device, the sound alarm device is installed on the console in the cab of the tower crane 1, and is electrically connected or wirelessly connected to the processor.

[0059] As Fig.10 and 11 shown, clamping grooves 24 are provided at both ends of each mounting half-frame 21, and when the two mounting half-frames 21 are symmetrically clamped, the clamping grooves 24 are also symmetrical, and the openings of each pair of clamping grooves 24 face each other. The clamping grooves 24 are slidably connected to a second connector 23. The second connector 23 includes a reinforcing bolt 231, a push plate 233, a connecting block 240, a limiting groove 235, a limiting post 234, a second spring 238, a chamfer 236, a trapezoidal top block 232, a slider 237 and a limiting chute 239. Specifically, the connecting block 240 has a "冂"-shaped structure, and the upper and lower ends of the connecting block 240 penetrate and are threadedly connected to the reinforcing bolt 231, and the reinforcing bolt 231 is threadedly connected to the mounting half-frame 21. The push plate 233 is slidably connected through the middle of the connecting block 240. A limiting groove 235 is provided in the middle of the push plate 233. The limiting post 234 is slidably connected to the inner side of the limiting groove 235. The limiting post 234 is fixedly connected to the connecting block 240. One end of the limiting post 234 located inside the second connector 23 is fixedly connected to the second spring 238. Chamfers 236 are provided on both sides of the end of the limiting post 234 where the second spring 238 is provided. The trapezoidal top block 232 is slidably connected to the surface of the chamfer 236. The slider 237 is fixedly connected to the surface of the trapezoidal top block 232. A limiting chute 239 is provided inside the mounting half-frame 21, and the limiting chute 239 is slidably engaged with the slider 237.

[0060] In the connection between the second connector 23 and the clamping groove 24, the push plate 233 in the connecting block 240 slides along the limiting post 234 under the action of the trapezoidal top block 232, so that the connecting block 240 can smoothly slide into the clamping groove 24. At this time, the reinforcing bolt 231 is screwed into the inside of the mounting half-frame 21 to further increase the connection stability.

[0061] In this embodiment, the design of the card slot 24 and the second connector 23 is added at the connection of the installation half frame 21. Through the sliding connection between the trapezoidal top block 232 and the chamfer 236, the push plate 233 is automatically slid along the limit column 234, so that the connection block 240 can slide smoothly into the card slot 24. This process not only improves the convenience of installation, but also further enhances the stability of the second connector 23 connecting the two installation half frames 21 through the screwing in of the reinforcement bolt 231, ensuring the stability and reliability of the hoisting visualization restriction system during use. Through the combined design of the push plate 233, the limit slot 235, the limit column 234, the second spring 238, the trapezoidal top block 232 and the slider 237 in the second connector 23, the connection process is automated and self-locking. After the connection is completed, due to the restoring force of the second spring 238, the limiting column 234 is tightly abutted against the inside of the card slot 24, thereby realizing the self-locking function of the connection, avoiding the loosening or falling off phenomenon that may occur during the hoisting process, and further increasing the stability of the mounting bracket 2. In this embodiment, in addition to the bolt connection of the first fixing bolt 39 and the reinforcing bolt 231, the other bolt connections, the first fixing bolt 39 connection, the reinforcing bolt 231 connection and the threaded connection are all suitable for the technicians in the field to select bolts with appropriate diameters for application and connection, which belongs to the prior art.

[0062] The beneficial effects of this embodiment

[0063] Compared with the prior art, it is either installed on a linear axis above the hook 11 of the tower crane 1, or installed on the standard section of the construction tower crane 1, or installed on the load-carrying trolley of the tower crane 1, all of which are used to monitor the hanging parts and the surrounding environment of the hanging parts. The prior art such as the above-mentioned has a common feature, that is, it is far away from the hanging parts. This is because the prior art focuses more on image acquisition, and requires the image acquisition mechanism 3 to be far away from the hanging parts to ensure that it can cover the environmental information of more than ten meters or even dozens of meters around the hanging parts, which is conducive to the operator to observe the situation of the hanging parts. However, in this way, when the image acquisition mechanism 3 is far away from the hanging parts, its acquisition work is easily affected by environmental factors, and the hanging parts are either easily blocked by other buildings, or the images provided are not accurate, especially when the tower crane 1 is working on rainy days, it is difficult to obtain accurate image information.

[0064] This embodiment is completely different. First, this embodiment aims to monitor the hanger and its surrounding environment at the closest distance. Even if the closer to the hanger, the less image information of the surrounding environment of the hanger is obtained, but the closer the radar detector 41 is to the hanger, the more accurate the distance between the obstacles around the hanger and the hanger is; at the same time, the camera 31 can identify the obstacles around the hanger more accurately. This embodiment only chooses to obtain image information in a small range because due to the camera angle, clarity and the shaking of the hanger, even if the camera 31 is installed at a distance from the hanger to obtain a larger viewing range, it cannot directly and objectively reflect the environmental conditions around the hanger. At the same time, the main purpose of this embodiment is to enable the driver to analyze and judge the obstacles close to the hanger, so it is found that only a small range of image information next to the hanger is actually needed to be effective. In addition, the radar detector 41 can detect the distance between the hanger and the obstacles around the hanger more accurately, and the closer the radar detector 41 is to the hanger, the higher the accuracy. Therefore, the present embodiment uses the radar detector 41 as the main identification device, and the camera 31 as the auxiliary identification device. At the same time, the radar detector 41 and the camera 31 are combined, and the existing radar + image recognition algorithm can be more accurate than the recognition algorithm using only radar or image. The image acquisition mechanism 3 used in the prior art is mainly used for auxiliary monitoring, while the present embodiment combines the image acquisition mechanism 3 and the radar detection mechanism 4 close to the hanging parts, and the obstacles in the surrounding environment of the hanging parts are more accurately identified. The implementation of this embodiment can directly serve as an operator to accurately judge the distance between the hanging parts and the obstacles around the hanging parts in various weather conditions, such as sunny days, rainy days, etc. when performing the hanging work.

[0065] Secondly, since most of the tower cranes 1 are outdoors, in order to ensure that the visual restriction system for hoisting the tower crane 1 can be stably installed on the tower crane 1, the prior art generally needs to modify the tower crane 1 so that the visual restriction system for hoisting the tower crane 1 can be stably installed on the tower crane 1, which increases the cost. In addition, the prior art cannot install the visual restriction system for hoisting the tower crane 1 closer to the hanging part, because the hook 11 is above the hanging part, and the hook 11 is used for hanging objects and the hook 11 is arc-shaped and not easy to install. Above the hook 11 is the pull plate 12, which is prone to shaking, and the radar detector 41 and the camera need to be stably installed. If the camera and the radar detector 41 are directly welded on the pull plate 12, the pull plate 12 needs to be modified instead. Such a special modification requires special customization, which increases the modification cost. Therefore, it is not feasible to directly install the visual restriction system for hoisting the tower crane 1 in the prior art on the pull plate 12 without changing the pull plate 12. However, the present embodiment is different. The present embodiment can be stably installed on the pull plate 12 of the tower crane 1 without modifying the tower crane 1. Even if the pull plate 12 of the tower crane 1 moves vertically under the action of the pull rope of the tower crane 1, and the outdoor wind force will cause the pull plate 12 to shake, the present embodiment can overcome the aforementioned unfavorable factors, so that the tower crane 1 hoisting visualization restriction system can be stably installed on the pull plate 12, and can also achieve the characteristic of easy disassembly, and can also be applicable to hooks 11 and pull plates 12 of various models and sizes.

[0066] Specifically, the two mounting half frames 21 are quickly connected through the first connector 22 to ensure the overall stability and safety of the mounting bracket 2. The design of the card slot 24 and the second connector 23 is added at the connection of the mounting half frame 21. Through the sliding connection between the trapezoidal top block 232 and the chamfer 236, the push plate 233 is automatically slid along the limit column 234, so that the connecting block 240 can slide smoothly into the card slot 24. This process not only improves the convenience of installation, but also further enhances the stability of the second connector 23 connecting the two mounting half frames 21 by screwing in the reinforcement bolts 231, ensuring the stability and reliability of the hoisting visualization restriction system during use. Through the combined design of the push plate 233, the limit slot 235, the limit column 234, the second spring 238, the trapezoidal top block 232 and the slider 237 in the second connector 23, the connection process is automated and self-locking. At the same time, the inner wall of the installation half frame 21 is pressed against the outer wall of the pull plate 12, and then the top plate 44 in the radar detection mechanism 4 is pressed against the inner wall of the pull plate 12. By being fixed to the outer wall and the inner wall of the pull plate 12, the mounting bracket 2 can be stably fixed on the pull plate 12.

[0067] Next, the radar detector 41 and the cameras 31 of the four image acquisition mechanisms 3 are parallel in three-dimensional space, and the radar detector 41 should not only be closer to the image acquisition mechanism 3, but also be at equal distances from the four image acquisition mechanisms 3. In this way, when installing the radar detection mechanism 4, it is linked and aligned with the image acquisition mechanism 3 as much as possible, so that the radar detection mechanism 4 and the image acquisition mechanism 3 can cooperate with each other with high precision, further improving the accuracy of collecting the distance between the hanging parts and the obstacles around the hanging parts.

[0068] Furthermore, when installing the radar detection mechanism 4, it is fixed in a cross shape with the mounting bracket 2 and the pull plate 12, respectively, so that the radar detector 41 is fixed at a corresponding position, and the distance between the hanger and obstacles around the hanger is stably and accurately collected.

[0069] Finally, four image acquisition mechanisms 3 are evenly distributed on the corners of the rectangular body formed by the two mounting half frames 21, so that 360° image information of the surrounding environment of the hanging part can be acquired even without using the wide-angle mode, thereby achieving accurate acquisition effect.

[0070] Embodiment 2

[0071] The present embodiment provides a visual restriction method for the hoisting of a tower crane 1, which uses a visual restriction system for the hoisting of a tower crane 1 as described in the first embodiment to observe the hoisting parts and visually restrict the hoisting, including: S1, installing a radar detection mechanism 4 and an image acquisition mechanism 3 on the mounting bracket 2. S2, installing the mounting bracket 2 on the pull plate 12. S3, collecting image information of the hoisting parts and the surrounding environment of the hoisting parts through the image acquisition mechanism 3. S4, obtaining the position information of the surrounding environment of the hoisting parts through the radar detection mechanism 4. S5, displaying the image information of the hoisting parts and the surrounding environment of the hoisting parts and the position information of the surrounding environment of the hoisting parts through the display mechanism. S6, a collision warning threshold is set, and whether the hoisting parts will collide is monitored according to the collision warning threshold. S7, if the collision warning threshold is reached, an alarm is issued through the alarm mechanism.

[0072] This embodiment is a brief description. For matters not mentioned in the embodiment part, reference can be made to the corresponding contents in the aforementioned embodiments.

[0073] In this specification, a lot of specific details are described. However, it is understood that embodiments of the present invention can be put into practice without these specific details. In some examples, known methods, systems and techniques are not shown in detail so as not to obscure the understanding of this specification. In the description of this specification, the description of reference terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, methods, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this specification.

[0074] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, systems, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0075] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the technical solution of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A tower crane hoisting visualization limitation system, characterized in that: Located between the hook and the pulley used to cooperate with the hook, a pull plate is connected between the hook and the pulley; the system includes: The mounting bracket is in a square shape, and its inner surface is pressed against the outer surface of the pull plate; An image acquisition mechanism is mounted on the outer surface of the mounting bracket and faces the hanging component, and is used to acquire image information of the hanging component and its surrounding environment; A radar detection mechanism, one end of which is pressed against the pull plate and the other end is connected to the mounting bracket, and is used to obtain the position information of the surrounding environment of the hanging part; The radar detection mechanism and the image acquisition mechanism are arranged in parallel; The display mechanism is installed in the cab of the tower crane and is respectively connected to the image acquisition mechanism and the radar detection mechanism, and is used to display the image information of the hanging part and its surrounding environment as well as the position information of the surrounding environment of the hanging part.

2. A tower crane hoisting visualization restriction system according to claim 1, characterized in that: The mounting bracket includes two mounting half frames, a first connector and a second connector; The two installation half frames are symmetrically pressed against each other, and the two installation half frames are fixed at the pressing position by the first connector and the second connector.

3. A tower crane hoisting visualization restriction system according to claim 1, characterized in that: The radar detection mechanism includes a radar detector, a radar fixing sleeve and a top plate; The radar detection mechanism has a cross-shaped structure; the radar detector passes through the radar fixing sleeve and is fixedly connected to the radar fixing sleeve; four connecting ports are evenly arranged circumferentially on the radar fixing sleeve, among which two opposite connecting ports are connected to the mounting bracket, and the other two opposite connecting ports are rotatably connected to the top plate, and the top plate is used to tighten the pulling plate.

4. A tower crane hoisting visualization restriction system according to claim 3, characterized in that: The radar detection mechanism also includes a plurality of connecting columns, a sleeve, a first threaded rod, a second threaded rod, a top plate, a second plug block and a plug plate; Two opposite connection ports on the radar fixing sleeve are respectively connected to one end of the first connection column, the other end of the first connection column is connected to one end of the first threaded rod, the other end of the first threaded rod is connected to one end of the sleeve, the other end of the sleeve is connected to one end of the second threaded rod, the other end of the second threaded rod is connected to one end of the second connection column, the other end of the second connection column is connected to the top plate, and the top plate is pressed against the tension plate; A first plug block is provided on the mounting bracket, and the other two opposite connection ports on the radar fixing sleeve are respectively connected to the second plug block, the first plug block and the second plug block are both provided with a cross slot, and cross plug posts are respectively provided at both ends of the plug board, which are plugged and unplugged with the first plug block and the second plug block respectively through the plug board.

5. The tower crane hoisting visualization restriction system according to claim 1 is characterized in that: There are four image acquisition mechanisms in total, which are respectively located at the four vertices of the U-shaped mounting bracket.

6. A tower crane hoisting visualization restriction system according to claim 1, characterized in that: The image acquisition mechanism includes a camera, a camera fixing plate, a fixing clamp, a fixing column, a first fixing bolt, a triangular clamp block and an I-type fixing frame; the camera fixing plate is fixedly connected to the camera; the fixing plate is fixedly connected to the fixing clamp plate, and a fixing hole is provided in the middle of the fixing clamp plate; the fixing hole is slidably connected to the fixing column, and the fixing column is fixedly connected to the triangular clamp block at one end away from the fixing clamp plate, and the triangular clamp block is slidably connected to the I-type fixing frame, and the I-type fixing frame is fixedly connected to the mounting half frame, and a first sliding groove is provided in the middle of the I-type fixing frame, and the middle of the triangular clamp block is threadedly connected to the first fixing bolt, and the first fixing bolt is slidably connected to the first sliding groove.

7. A tower crane hoisting visualization restriction system according to claim 1, characterized in that: It also includes a cleaning mechanism; the cleaning mechanism includes a moving slide plate and a cleaning roller; the moving slide plate is slidably connected to the image acquisition mechanism, and the moving slide plate is rotatably connected to a plurality of cleaning rollers.

8. A tower crane hoisting visualization restriction method, characterized in that: The tower crane hoisting visualization restriction system according to any one of claims 1 to 7 is used to observe the hoisting parts and to perform hoisting visualization restriction, including: S1, installing the radar detection mechanism and the image acquisition mechanism on a mounting bracket; S2, install the mounting bracket on the pull plate; S3, collecting image information of the hanging part and its surrounding environment through an image collection mechanism; S4, obtaining the position information of the surrounding environment of the hanging part through a radar detection mechanism; S5, displaying the image information of the hanging part and its surroundings and the position information of the surroundings of the hanging part through a display mechanism.

Images