Lifting operation safety early warning method and device, storage medium and electronic equipment

Abstract

The invention relates to a hoisting operation safety early warning method and device, a storage medium and electronic equipment. The safety and efficiency of hoisting operation can be improved. The method comprises the following steps: acquiring spatial position data corresponding to a crane, a hoisted object and a target obstacle in a hoisting site, wherein the spatial position data is obtained through a plurality of radar measuring points respectively arranged in preset areas of the crane, the hoisted object and the target obstacle; constructing a three-dimensional model according to the spatial position data so as to simulate an actual operation scene of the hoisting site; according to the three-dimensional model and a preset anti-collision distance, whether a collision risk exists between the hoisted object and the target obstacle or not is determined; and when it is determined that the collision risk exists between the hoisted object and the target obstacle, alarm prompting is carried out.

Description

Technical Field

[0001] The present disclosure relates to the technical field of safety warning, and in particular, to a method, device, storage medium and electronic equipment for safety warning of hoisting operations. Background Art

[0002] At present, during the hoisting operation of wind turbines, there are safety hazards such as visual blind spots in the crane's turning radius, sudden intrusion of personnel into restricted areas, and collision between hoisted objects and other obstacles. Once an accident occurs, it will cause significant economic losses and even threaten the lives of workers.

[0003] In the related art, a pre-collision sensor is usually only provided on the boom of the crane, which has limitations and is difficult to solve multiple safety hazards at the same time, thereby increasing the risk of accidents. Summary of the invention

[0004] The purpose of the present disclosure is to provide a method, device, storage medium and electronic equipment for safety warning of hoisting operations to solve the problems in related technologies.

[0005] In order to achieve the above objectives, in a first aspect, the present disclosure provides a hoisting operation safety early warning method, the method comprising: Acquire spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points respectively in preset areas of the crane, the hoisted object, and the target obstacle; Constructing a three-dimensional model according to the spatial position data to simulate the actual operation scene of the lifting site; Determining whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and the preset anti-collision distance; When it is determined that there is a risk of collision between the suspended object and the target obstacle, an alarm is issued.

[0006] Optionally, constructing a three-dimensional model according to the spatial position data includes: Determine, according to the spatial position data, contour features and real-time movement information corresponding to the crane, the hoisted object, and the target obstacle; The three-dimensional model is constructed according to the contour features and the real-time movement information.

[0007] Optionally, determining whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and a preset anti-collision distance includes: Determining shapes and sizes of a plurality of anti-collision body components in the three-dimensional model, wherein the anti-collision body components are respectively arranged in target areas for anti-collision detection in the three-dimensional model through a virtual engine; Whether there is a collision risk between the suspended object and the target obstacle is determined according to the preset anti-collision distance and the real-time position of the anti-collision body assembly.

[0008] Optionally, the determining whether there is a collision risk between the suspended object and the target obstacle includes: When the distance between any two of the anti-collision body components is less than the preset anti-collision distance, it is determined that there is a collision risk between the suspended object and the target obstacle.

[0009] Optionally, the method comprises: When it is determined that there is a risk of collision between the suspended object and the target obstacle, the crane is controlled to be in a stopped state.

[0010] Optionally, after constructing the three-dimensional model according to the spatial position data, the method further includes: Determine the corresponding lifting operation area in the three-dimensional model according to the swing radius of the crane arm; Obtaining real-time location information of each person at the hoisting site; Determine whether a person has entered the hoisting operation area according to the scope of the hoisting operation area and the real-time position information of the person; When it is determined that someone has entered the lifting operation area, an alarm will be issued.

[0011] In a second aspect, the present disclosure provides a hoisting operation safety warning device, the device comprising: An acquisition module is used to acquire spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points in preset areas of the crane, the hoisted object, and the target obstacle respectively; A modeling module, used to construct a three-dimensional model according to the spatial position data to simulate the actual operation scene of the hoisting site; A determination module, used to determine whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and a preset anti-collision distance; The alarm module is used to issue an alarm prompt when it is determined that there is a risk of collision between the suspended object and the target obstacle.

[0012] Optionally, the modeling module is used to: Determine, according to the spatial position data, contour features and real-time movement information corresponding to the crane, the hoisted object, and the target obstacle; The three-dimensional model is constructed according to the contour features and the real-time movement information.

[0013] In a third aspect, the present disclosure provides a non-temporary computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0014] In a fourth aspect, the present disclosure provides an electronic device, including: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of any one of the methods in the first aspect.

[0015] Through the above technical solution, the spatial position data corresponding to the crane, the hoisted object and the target obstacle in the hoisting site are obtained. The spatial position data is obtained by setting multiple radar measuring points in the preset areas of the crane, the hoisted object and the target obstacle respectively; a three-dimensional model is constructed based on the spatial position data to simulate the actual operation scene of the hoisting site; based on the three-dimensional model and the preset anti-collision distance, it is determined whether there is a collision risk between the hoisted object and the target obstacle; when it is determined that there is a collision risk between the hoisted object and the target obstacle, an alarm is issued. Among them, the hoisting operation scene simulated by the three-dimensional model constructed based on multi-radar perception can more intuitively reflect the spatial relationship and possible collision risks on the site, help operators predict potential risks and issue alarm prompts in time, thereby improving the safety and efficiency of hoisting operations.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The figure is a flow chart of a method for safety early warning of hoisting operations according to an exemplary embodiment of the present disclosure.

[0018] Figure 2 The present invention is a block diagram of a safety warning device for hoisting operations according to an exemplary embodiment of the present disclosure.

[0019] Figure 3 It is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0021] As mentioned in the background art, in the related art, usually only a pre-collision sensor is provided on the boom of the crane, which has limitations and is difficult to solve multiple safety hazards at the same time, thus increasing the risk of accidents.

[0022] In view of this, the embodiments of the present disclosure provide a method, device, storage medium and electronic device for safety warning of hoisting operations, which can improve the safety and efficiency of hoisting operations.

[0023] Figure 1 A method for early warning safety of a hoisting operation is shown according to an exemplary embodiment of the present disclosure. Figure 1 As shown, the hoisting operation safety warning method may include the following steps: Step S101, obtaining spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points in preset areas of the crane, the hoisted object, and the target obstacle respectively; Step S102, constructing a three-dimensional model according to the spatial position data to simulate the actual operation scene at the lifting site; Step S103, determining whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and the preset anti-collision distance; Step S104: when it is determined that there is a risk of collision between the suspended object and the target obstacle, an alarm is issued.

[0024] It should be understood that by setting multiple radar measuring points at key locations of an object, more accurate spatial position data can be obtained, thereby better understanding the positional relationship of each object during the lifting process, which is conducive to avoiding collisions and other problems. The number of measuring points can be appropriately adjusted according to the complexity of the shape of the object.

[0025] It should be understood that each radar measurement point can detect the distance and direction information of surrounding objects. By combining the data obtained from multiple measurement points, the complete three-dimensional spatial position data of the object can be obtained.

[0026] For example, for objects of conventional shapes such as suspended objects or obstacles, radar measurement points can be set in the six directions of top, bottom, front, back, left, and right. For example, for a rectangular cargo box, corresponding radar measurement points can be set on the six faces of the cargo box, namely, top, bottom, left, right, front, and back. The length, width, height, and specific position coordinates of the cargo box in space can be obtained through the measurement points in these six areas. Thus, the state of such conventional objects in space can be described more comprehensively.

[0027] For example, for objects with more complex shapes, such as cranes, corresponding measuring points need to be set on the boom and around the body. Among them, the arrangement of measuring points in various directions on the boom is specifically as follows: the measuring points set at the top and bottom of the boom can obtain the vertical height information of the boom; the measuring points set at the front and rear ends of the boom can obtain the horizontal extension length information of the boom; the measuring points set on the left and right sides of the boom can obtain the horizontal swing angle information of the boom. And the measuring point set at the end of the boom, that is, the hook that carries the items, can obtain the specific position coordinate information of the hook through this measuring point. At the same time, setting corresponding measuring points around the crane body can more completely describe the position and posture of the entire crane. For example, corresponding measuring points are set at the front, rear, and sides of the vehicle. The data obtained by these measuring points can more accurately depict the overall state of the crane in space, providing reliable data support for hoisting operations.

[0028] For example, the alarm prompt may be in the form of an audible and visual alarm, such as a buzzer and an alarm indicator light. When an alarm signal is received, the buzzer may be triggered to sound an alarm and the indicator light may be triggered to flash at the same time to provide an alarm prompt.

[0029] For example, the sound emitted by the buzzer can be different types of sounds, such as doorbell sounds, alarm sounds, music sounds, etc., and the alarm indicator light can be set to different colors of lights as needed, such as red light, yellow light, blue light, etc., which is not limited to the embodiments of the present disclosure.

[0030] Through the above method, the spatial position data corresponding to the crane, the hoisted object and the target obstacle in the hoisting site are obtained. The spatial position data is obtained by setting multiple radar measuring points in the preset areas of the crane, the hoisted object and the target obstacle respectively; a three-dimensional model is constructed based on the spatial position data to simulate the actual operation scene of the hoisting site; based on the three-dimensional model and the preset anti-collision distance, it is determined whether there is a collision risk between the hoisted object and the target obstacle; when it is determined that there is a collision risk between the hoisted object and the target obstacle, an alarm is issued. Among them, the hoisting operation scene simulated by the three-dimensional model constructed based on multi-radar perception can more intuitively reflect the spatial relationship and possible collision risks on the site, help operators predict potential risks and issue alarm prompts in time, thereby improving the safety and efficiency of hoisting operations.

[0031] In a possible implementation, constructing a three-dimensional model according to spatial position data may include: According to the spatial position data, determine the corresponding contour features and real-time movement information of the crane, the object being hoisted and the target obstacle; Build a 3D model based on contour features and real-time movement information.

[0032] It should be understood that by processing and analyzing the spatial data obtained by the radar measurement points, the contour shape, size and other characteristic information of the crane, the hoisted object and the target obstacle can be extracted. At the same time, by tracking the real-time position changes of these objects in space, their movement status and trajectory information can be obtained.

[0033] Specifically, the length, width, height and other dimensional parameters of the object can be determined by acquiring data from multiple radar measurement points arranged in the preset area of ​​the object. By integrating these dimensional parameters, the specific contour shape of the object can be depicted. For example, the length, width and height dimensions of a rectangular hoisted object. For complex objects such as cranes, a more detailed contour model can be constructed through the data from multiple measurement points around the boom and the body.

[0034] Specifically, with regard to determining the real-time movement information of an object based on spatial position data, the real-time position change of the object in space can be analyzed by comparing the time series data. For example, the telescopic speed and swing angle of the crane boom, as well as the movement trajectory of the hoisted object, can be calculated. These real-time movement data can be used to understand the dynamic changes of related objects during the hoisting operation.

[0035] It should also be understood that, using the extracted contours and movement information, corresponding models of the crane, the object being hoisted and the obstacle can be established in three-dimensional space. Such three-dimensional models can more accurately reflect the actual conditions of the on-site operation scene than simple two-dimensional plane maps.

[0036] Through the above method, building a three-dimensional model based on contour features and real-time movement information can greatly improve the authenticity and dynamics of the simulation scene, provide more reliable data support for subsequent collision risk analysis and warning, and thus improve the reliability of safety warnings.

[0037] In a possible implementation, determining whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and the preset anti-collision distance may include: Determine the shapes and sizes of multiple collision avoidance components in the three-dimensional model, and respectively set the collision avoidance components in the target areas for collision avoidance detection in the three-dimensional model through a virtual engine; According to the preset anti-collision distance and the real-time position of the anti-collision body component, determine whether there is a collision risk between the suspended object and the target obstacle.

[0038] It should be understood that the concept of anti-collision body in the Unity3D virtual engine can be used to perform collision detection in a virtual environment by comparing the current posture of the device and the positions of other devices and surrounding obstacles. Unity3D is a cross-platform real-time 3D engine that provides powerful graphics rendering, physical simulation, resource management and other functions, and has a visual editor for easy rapid development and debugging. Specifically, an anti-collision body component can be added to each component in the model that needs to detect collision. The component can be automatically adapted according to the component grid, and colliders such as box colliders and capsule colliders can also be customized. By changing the size of the collider, the range setting of deceleration or stopping can be achieved. Driven by the driver, the components in the three-dimensional model can change in real time with the running posture data, and the collider also moves accordingly, thereby achieving the effect of real-time anti-collision detection.

[0039] It should be understood that the anti-collision detection warning can be constructed through the anti-collision body concept in the virtual engine. Collision body components can be added to the objects that need to be monitored, such as the hoisted objects and target obstacles. When there is a risk of collision between the two collision bodies, an alarm will be issued to prevent collision accidents during the lifting process.

[0040] Through the above method, dynamic detection of virtual anti-collision body components can more accurately identify potential collision risks, further improve the reliability of safety warnings, and provide strong guarantees for ensuring the safety of lifting operations.

[0041] In a possible implementation, determining whether there is a collision risk between the suspended object and the target obstacle may include: When the distance between any two of the anti-collision body components is less than the preset anti-collision distance, it is determined that there is a collision risk between the suspended object and the target obstacle.

[0042] It should be understood that the anti-collision distance threshold can be pre-set according to the actual situation as the basis for collision judgment. The relative position of the anti-collision body components can be monitored in real time through the virtual engine. If the distance between the two components is less than the preset threshold, it means that there is a collision risk. In this way, the potential collision hazards between the hoisted object and the surrounding obstacles can be discovered in time, providing decision support for the subsequent hoisting operation planning.

[0043] It should also be understood that the preset anti-collision distance can be adjusted and optimized according to different operating environments and requirements. By pre-setting the safe anti-collision distance threshold, false alarms caused by slight distance changes can be effectively avoided.

[0044] Through the above methods, potential collision risks can be discovered and dealt with in a timely manner, thereby improving the safety of lifting operations.

[0045] In a possible implementation, the method may include: When it is determined that there is a risk of collision between the suspended object and the target obstacle, the crane is controlled to be in a stopped state.

[0046] It should be understood that, if a collision risk is determined, a stop command can be immediately issued to the crane's operating control system. All actions of the crane, including the extension and rotation of the boom, should be stopped immediately to maintain the current static state.

[0047] It should be understood that by controlling the crane to stop, the hoisted object can be prevented from continuing to move and colliding with obstacles, and it is also conducive to taking other collision avoidance measures later, such as adjusting the boom posture, adjusting the path of the hoisted object, etc., thereby effectively preventing and avoiding the occurrence of collision accidents and improving the safety of lifting operations.

[0048] In a possible implementation, after constructing the three-dimensional model according to the spatial position data, the method may further include: According to the swing radius of the crane's boom, determine the corresponding lifting operation area in the 3D model; Obtain the real-time location information of each person at the lifting site; Determine whether there are people entering the lifting operation area based on the scope of the lifting operation area and the real-time location information of the personnel; When it is confirmed that someone has entered the lifting operation area, an alarm will be issued.

[0049] It should be understood that the crane's boom has a certain rotation radius when working, forming a circular operating range. The crane needs to move left and right or forward and backward during operation. Because the crane cab is high, the workers have visual blind spots, and there is a safety hazard that someone suddenly breaks into the restricted area for hoisting operations and is not discovered in time. In the 3D model, the scope of this circular operating area can be determined based on the specific parameters of the crane, and this operating area range can be used as a benchmark for subsequent judgments on whether someone has entered the dangerous area.

[0050] It should be understood that the real-time location information of on-site personnel can be obtained by adding electronic measuring points to the work badges worn by each staff member, or by installing positioning sensors, so as to grasp the distribution of on-site personnel in real time. The real-time location information of personnel can then be combined with the operation area marked in the three-dimensional model for analysis. Once it is detected that a person has entered the lifting operation area, the corresponding alarm prompt can be triggered in time to avoid accidents caused by personnel entering the dangerous area as much as possible.

[0051] For example, an infrared or lidar electronic fence can be arranged in the lifting operation area to form a complete electronic warning network through the transmitter and receiver equipment. Once a person enters the warning area, the transmission of the light beam signal will be blocked. When the system detects the signal interruption, it will immediately trigger an audible and visual alarm, which will be directly conveyed to the intruder until the relevant personnel evacuate to a safe area.

[0052] For example, the 3D model and real-time personnel position can be intuitively displayed on the display screen of the crane cab. The driver can observe the working area at any time and adjust the crane operation appropriately. This provides visual safety guidance for the operators to ensure the safety of the lifting operation.

[0053] Through the above methods, while paying attention to the risk of collision, the activities of relevant personnel in the hoisting operation area are monitored and corresponding warning measures are taken, which helps to optimize the management of hoisting operations, achieve more comprehensive safety monitoring, and reduce the major risks caused by the negligence of safety supervisors or operators. This can effectively prevent the occurrence of various safety accidents and improve the safety and efficiency of overall hoisting operations.

[0054] Figure 2 A safety warning device 200 for hoisting operation is shown according to an exemplary embodiment of the present disclosure. Figure 2 As shown, the hoisting operation safety warning device 200 includes: An acquisition module 201 is used to acquire spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points in preset areas of the crane, the hoisted object, and the target obstacle respectively; A modeling module 202 is used to construct a three-dimensional model according to the spatial position data to simulate the actual operation scene of the lifting site; A determination module 203 is used to determine whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and the preset anti-collision distance; The alarm module 204 is used to issue an alarm prompt when it is determined that there is a risk of collision between the suspended object and the target obstacle.

[0055] Optionally, the modeling module 202 is used to: According to the spatial position data, determine the corresponding contour features and real-time movement information of the crane, the object being hoisted and the target obstacle; Build a 3D model based on contour features and real-time movement information.

[0056] Optionally, the determination module 203 includes: A first determination submodule is used to determine the shapes and sizes of a plurality of anti-collision body components in the three-dimensional model, and the anti-collision body components are respectively set in the target area for anti-collision detection in the three-dimensional model through a virtual engine; The second determination submodule is used to determine whether there is a collision risk between the suspended object and the target obstacle according to a preset anti-collision distance and a real-time position of the anti-collision body assembly.

[0057] Optionally, the second determining submodule is used for: When the distance between any two of the anti-collision body components is less than the preset anti-collision distance, it is determined that there is a collision risk between the suspended object and the target obstacle.

[0058] Optionally, the device further comprises a crane control module, configured to: When it is determined that there is a risk of collision between the suspended object and the target obstacle, the crane is controlled to be in a stopped state.

[0059] Optionally, the device further comprises a personnel intrusion warning module, which is used, after constructing the three-dimensional model according to the spatial position data, to: According to the swing radius of the crane's boom, determine the corresponding lifting operation area in the 3D model; Obtain the real-time location information of each person at the lifting site; Determine whether there are people entering the lifting operation area based on the scope of the lifting operation area and the real-time location information of the personnel; When it is confirmed that someone has entered the lifting operation area, an alarm will be issued.

[0060] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0061] Figure 3 FIG. 1 is a block diagram of an electronic device 300 according to an exemplary embodiment. Figure 3 As shown, the electronic device 300 may include: a processor 301 , a memory 302 . The electronic device 300 may also include one or more of a multimedia component 303 , an input / output (I / O) interface 304 , and a communication component 305 .

[0062] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned hoisting operation safety warning method. The memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method used to operate on the electronic device 300, and application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may be further stored in the memory 302 or sent through the communication component 305. The audio component also includes at least one speaker for outputting an audio signal. The I / O interface 304 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, a button, etc. These buttons may be virtual buttons or physical buttons. The communication component 305 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, is not limited here. Therefore, the corresponding communication component 305 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0063] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned lifting operation safety warning method.

[0064] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned hoisting operation safety warning method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 302 including program instructions, and the above-mentioned program instructions can be executed by the processor 301 of the electronic device 300 to complete the above-mentioned hoisting operation safety warning method.

[0065] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0066] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0067] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A method for early warning of safety in hoisting operations, characterized in that: The method comprises: Acquire spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points respectively in preset areas of the crane, the hoisted object, and the target obstacle; Constructing a three-dimensional model according to the spatial position data to simulate the actual operation scene of the lifting site; Determining whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and the preset anti-collision distance; When it is determined that there is a risk of collision between the suspended object and the target obstacle, an alarm is issued.

2. The method according to claim 1, characterized in that The constructing of a three-dimensional model according to the spatial position data comprises: Determine, according to the spatial position data, contour features and real-time movement information corresponding to the crane, the hoisted object, and the target obstacle; The three-dimensional model is constructed according to the contour features and the real-time movement information.

3. The method according to claim 1, characterized in that The determining, according to the three-dimensional model and the preset anti-collision distance, whether there is a collision risk between the suspended object and the target obstacle includes: Determining shapes and sizes of a plurality of anti-collision body components in the three-dimensional model, wherein the anti-collision body components are respectively arranged in target areas for anti-collision detection in the three-dimensional model through a virtual engine; Whether there is a collision risk between the suspended object and the target obstacle is determined according to the preset anti-collision distance and the real-time position of the anti-collision body assembly.

4. The method according to claim 3, characterized in that The determining whether there is a collision risk between the suspended object and the target obstacle includes: When the distance between any two of the anti-collision body components is less than the preset anti-collision distance, it is determined that there is a collision risk between the suspended object and the target obstacle.

5. The method according to any one of claims 1 to 4, characterized in that: The method comprises: When it is determined that there is a risk of collision between the suspended object and the target obstacle, the crane is controlled to be in a stopped state.

6. The method according to claim 1, characterized in that After constructing the three-dimensional model according to the spatial position data, the method further includes: Determine the corresponding lifting operation area in the three-dimensional model according to the swing radius of the crane arm; Obtaining real-time location information of each person at the hoisting site; Determine whether a person has entered the hoisting operation area according to the scope of the hoisting operation area and the real-time position information of the person; When it is determined that someone has entered the lifting operation area, an alarm will be issued.

7. A safety warning device for hoisting operations, characterized in that: The device comprises: An acquisition module is used to acquire spatial position data corresponding to a crane, a hoisted object, and a target obstacle at a hoisting site, wherein the spatial position data is obtained by setting a plurality of radar measuring points in preset areas of the crane, the hoisted object, and the target obstacle respectively; A modeling module, used to construct a three-dimensional model according to the spatial position data to simulate the actual operation scene of the hoisting site; A determination module, used to determine whether there is a collision risk between the suspended object and the target obstacle according to the three-dimensional model and a preset anti-collision distance; The alarm module is used to issue an alarm prompt when it is determined that there is a risk of collision between the suspended object and the target obstacle.

8. The device according to claim 7, characterized in that The modeling module is used to: Determine, according to the spatial position data, contour features and real-time movement information corresponding to the crane, the hoisted object, and the target obstacle; The three-dimensional model is constructed according to the contour features and the real-time movement information.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. An electronic device, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 6.

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