State recognition method, device and equipment of tower crane and medium

Abstract

The invention relates to a state recognition method, device and equipment for a tower crane and a storage medium, and the method comprises the steps: obtaining a plurality of groups of images of a construction site where the tower crane to be recognized is located, constructing a live-action three-dimensional model of the construction site according to the plurality of groups of images, marking the contour position of a tower body of the tower crane from the live-action three-dimensional model, and calculating the height value of the tower body of the tower crane based on the contour position of the tower body of the tower crane, and identifying the state of the tower crane according to the height value of the tower body of the tower crane. By means of the method, management personnel can accurately judge the dismantling progress of the tower crane, meanwhile, potential risks can be analyzed and warned in advance, compared with a traditional mode of manual reporting and field investigation, the problem that information is lagged and inaccurate is solved, a more visual and comprehensive tower crane state monitoring method is provided, and the safety of the tower crane is improved. And the decision-making ability and the field control ability of the management personnel are enhanced, so that the project management level is improved in an auxiliary manner.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a state recognition method, device, equipment and storage medium for a tower crane. Background Art

[0002] At present, in traditional construction project management, company managers mainly understand the status of tower cranes in each project (for example, demolition status) through personal field visits, personnel reports, and electronic file review. On-site field visits are time-consuming and labor-intensive, resulting in delayed information acquisition and difficulty in real-time progress. Personnel reports and electronic file uploads are usually regular, and there may be delays in information transmission, especially in emergency situations, making it impossible to analyze and warn of potential risks in advance. These defects will prevent managers from accurately grasping the progress of tower crane demolition in real time, thereby affecting the timeliness and effectiveness of decision-making.

[0003] Therefore, how to identify the status of a tower crane has become a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] In view of the above, the present application provides a state identification method, device, equipment and storage medium for a tower crane, which aims to solve the above technical problems.

[0005] In a first aspect, the present application provides a method for identifying a state of a tower crane, the method comprising:

[0006] Acquire multiple sets of images of the construction site where the tower crane to be identified is located;

[0007] Constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0008] Marking the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0009] Calculating the height of the tower crane body based on the outline position of the tower crane body;

[0010] The state of the tower crane is identified according to the height value of the tower body of the tower crane.

[0011] In a second aspect, the present application provides a state identification device for a tower crane, the device comprising:

[0012] Acquisition module: used to acquire multiple sets of images of the construction site where the tower crane to be identified is located;

[0013] A construction module: used to construct a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0014] Marking module: used for marking the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0015] A calculation module: used for calculating the height value of the tower body of the tower crane based on the contour position of the tower body of the tower crane;

[0016] Identification module: used to identify the state of the tower crane according to the height value of the tower crane body.

[0017] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0018] Memory, used to store computer programs;

[0019] The processor is used to implement the state identification method of the tower crane described in any embodiment of the first aspect when executing the program stored in the memory.

[0020] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for identifying the state of a tower crane as described in any one of the embodiments of the first aspect is implemented.

[0021] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0022] This application ensures that images that fully cover the construction site can be obtained through autonomous drone flight and high-resolution aerial photography. The real-life three-dimensional model generated by the images of the construction site provides an intuitive display effect, allowing managers to clearly identify the specific location of the tower crane at the construction site. By calculating the tower height value, the status of the tower crane can be identified, and the tower height values ​​at different time nodes can be compared, so that managers can accurately judge the progress of the tower crane dismantling, and can analyze and warn of potential risks in advance to ensure construction safety. Compared with the traditional method of manual reporting and field inspections, it solves the problems of information lag and inaccuracy, provides a more intuitive and comprehensive tower crane status monitoring method, enhances the decision-making ability and on-site control of managers, and thus helps improve the level of project management. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a flow chart of an embodiment of a method for identifying a state of a tower crane according to the present application;

[0026] Figure 2 This is a module schematic diagram of an embodiment of a state identification device for a tower crane of the present application;

[0027] Figure 3 A schematic diagram of an electronic device embodiment of the present application;

[0028] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0030] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0031] The present application provides a method for identifying the state of a tower crane. Figure 1 , which is a schematic diagram of a method flow of an embodiment of a tower crane state identification method of the present application. The method can be executed by an electronic device, and the electronic device can be implemented by software and / or hardware. The tower crane state identification method includes:

[0032] Step S10: Acquire multiple groups of images of the construction site where the tower crane to be identified is located;

[0033] Step S20: constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0034] Step S30: marking the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0035] Step S40: Calculating the height of the tower crane body based on the outline position of the tower crane body;

[0036] Step S50: Identifying the state of the tower crane according to the height value of the tower crane body.

[0037] Tower crane, also known as tower crane, is a rotating crane with a boom mounted on the top of a tall tower. It is used for vertical transportation of materials and component installation in multi-story and high-rise building construction. Tower crane consists of three parts: metal structure, working mechanism and electrical system. The metal structure includes the tower, boom, base, attachment rod, etc.

[0038] In the management of construction projects, the removal of tower cranes is a milestone, marking the completion of multiple important construction stages and the start of a new stage. On the one hand, the removal of tower cranes means that the main structure of the building has been completed, which is an important milestone in the progress of the project. On the other hand, after the tower crane is removed, the top plate of the basement where the tower crane foundation is located can complete the final closing work, ensuring the integrity and waterproof performance of the underground structure, providing good working conditions for the subsequent batch completion of earth backfilling, supporting pipelines, and landscaping construction, marking the project has entered the final landscaping stage.

[0039] In traditional construction project management, company managers mainly learn about the tower crane dismantling status of each project through on-site inspections, personnel reports, and electronic file review. On-site inspections take time and manpower, resulting in delayed information acquisition and difficulty in real-time progress. Personnel reports and electronic file uploads are usually regular, and there may be delays in information transmission, especially in emergency situations, making it impossible to respond and adjust quickly. These defects prevent managers from accurately and comprehensively understanding the progress of tower crane dismantling in real time, affecting the timeliness and effectiveness of decision-making.

[0040] To this end, this embodiment provides a method for automatically identifying the state of a tower crane. Specifically, multiple sets of images of the construction site where the tower crane to be identified is located can be obtained through drone aerial photography. For example, the drone can be controlled to fly over the construction site where the tower crane to be identified is located to perform high-resolution aerial photography, thereby obtaining detailed image data of the construction site where the tower crane is located.

[0041] The step of "obtaining multiple sets of images of the construction site where the tower crane to be identified is located" specifically includes:

[0042] The drone is controlled to capture images of the construction site where the tower crane is located from multiple angles through a predetermined drone flight route.

[0043] By planning the drone’s route in advance, the drone can fly autonomously on a regular basis, with the flight route fully covering the entire construction site and taking images of the construction site from multiple angles (multiple viewing angles) to ensure there are no blind spots.

[0044] After obtaining multiple sets of images of the construction site where the tower crane is located, a real-life 3D model of the construction site is constructed based on the multiple sets of images. The real-life 3D modeling intuitively displays the actual situation of the construction site, allowing management personnel to intuitively understand the site. Specifically, the above step of "constructing a real-life 3D model of the construction site based on the multiple sets of images" specifically includes:

[0045] Preprocessing the multiple groups of images to obtain multiple groups of preprocessed images;

[0046] Extracting feature points of the preprocessed image and performing a feature point matching operation to obtain matched feature points;

[0047] Generating initial point cloud data through a geometric reconstruction algorithm according to the matched feature points;

[0048] Preprocessing the initial point cloud data to obtain preprocessed point cloud data;

[0049] The pre-processed point cloud data is converted into a real-scene three-dimensional model of the construction site.

[0050] Preprocessing operations are performed on multiple groups of images of the construction site taken by the drone to obtain multiple groups of preprocessed images, wherein the preprocessing can be denoising, image correction and image enhancement. By preprocessing the images taken by the drone, the accuracy of subsequent modeling can be improved. Feature points in the preprocessed image are extracted using a feature point detection algorithm, and the feature point detection algorithm can be a SIFT algorithm, a SURF algorithm, etc. In order to establish the correlation between different angles (different viewing angles), it is necessary to match the feature points to obtain matching feature points. Dense point cloud data (referred to as initial point cloud data) is generated by a geometric reconstruction algorithm, wherein the geometric reconstruction algorithm can be an algorithm such as stereo vision and parallax calculation. In order to improve the accuracy of the generated three-dimensional model, the initial point cloud data can also be preprocessed, such as filtering, denoising and sparseness of the initial point cloud data, so as to improve the quality of the point cloud. The preprocessed point cloud data is converted into a real-scene three-dimensional model of the construction site by a triangulation algorithm, and the generated real-scene three-dimensional model is rendered to improve the visual effect of the model, making it more intuitive and easy to understand.

[0051] After obtaining the real-life 3D model of the construction site, the outline position of the tower crane tower body is marked from the real-life 3D model to facilitate rapid positioning and monitoring by management personnel. For example, the characteristic points of the tower crane tower body are identified, and their positions in the real-life 3D model coordinate system are calculated. Combined with the parameters of the drone aerial camera (for example, the parameters obtained by camera calibration), the characteristic points of the tower body can be converted into 3D coordinates, thereby determining the outline position of the tower body.

[0052] Since the horizontal position of the tower body is fixed and will not change with the operation of the tower crane or the rotation of the tower arm, the height value of the tower crane body is calculated according to the outline position of the tower crane body. Specifically, the above step of "calculating the height value of the tower crane body based on the outline position of the tower crane body" specifically includes:

[0053] Determine the contour edge area of ​​the tower body of the tower crane by the contour position of the tower body of the tower crane in the real-scene three-dimensional model;

[0054] Acquire point clouds at preset intervals within the contour edge area to obtain a target point cloud set;

[0055] The height value of the tower crane tower body is calculated according to the target point cloud set.

[0056] Through the three-dimensional coordinate information of the characteristic points of the tower body, the outline area of ​​the tower body in the real three-dimensional model can be determined. By densely picking points in the outline area of ​​the tower body in the real three-dimensional model, hundreds of point clouds (recorded as target point cloud sets) can be obtained, among which the preset interval includes the interval of 10cm for obtaining point clouds in the horizontal X-axis and Y-axis directions. According to the target point cloud set, the height value of the tower crane tower can be calculated.

[0057] Further, calculating the height value of the tower crane tower body according to the target point cloud set includes:

[0058] Obtain the height value of each point cloud in the target point cloud set;

[0059] Sort the height values ​​of the point cloud and calculate the median of the height values ​​from the sorted results;

[0060] The median of the height values ​​is used as the height value of the tower body of the tower crane.

[0061] The height value of each point cloud in the target point cloud set is obtained, and the height value of each point cloud is sorted to obtain a sorting result. The median of the height value is calculated from the sorting result, and the median of the height value is used as the height value of the tower crane tower body, thereby obtaining the current height value of the tower body.

[0062] By comparing the height values ​​of the tower body at different time nodes, the state of the tower crane can be obtained and the state of the tower crane can be monitored. Specifically, the above step of "identifying the state of the tower crane according to the height value of the tower body of the tower crane" specifically includes:

[0063] Determine whether the height of the tower crane is less than a preset reference value, wherein the preset reference value includes the absolute height corresponding to positive and negative zero of the building associated with the tower crane plus a preset value (for example, one meter);

[0064] If so, identifying the state of the tower crane as being dismantled;

[0065] If not, it is identified that the state of the tower crane is not dismantled.

[0066] If the height value of the tower crane body is less than the preset reference value, it means that the tower body has been lowered to the ground, and the tower crane is dismantled. If the height value of the tower crane body is greater than the preset reference value, it means that the tower crane is not dismantled.

[0067] In one embodiment, after identifying the state of the tower crane, the method further comprises:

[0068] Determining whether the state of the tower crane is the same as the expected state at the current time point;

[0069] If different, an early warning message is generated and fed back to the preset terminal.

[0070] Based on the change of the tower height value, it is possible to analyze whether the tower crane has been dismantled and when it will be dismantled. By comparing the planned dismantling time of the tower crane with the actual completion time, risk warning of progress nodes can be achieved. For example, if the expected state of the tower crane at the current time point should be the dismantled state, but the actual state of the current tower crane is not dismantled, it means that there may be problems with the project progress. At this time, an early warning message is generated and fed back to the corresponding terminal of the manager to notify the manager, so that the manager can grasp the progress of the tower crane dismantling in a timely manner.

[0071] This embodiment ensures that images that fully cover the construction site can be obtained through autonomous flight of drones and high-resolution aerial photography. The real-life three-dimensional model generated by the images of the construction site provides an intuitive display effect, allowing managers to clearly understand the specific location of the tower crane at the construction site. By calculating the tower height value, the tower height values ​​at different time nodes can be compared, allowing managers to accurately judge the progress of tower crane dismantling, and at the same time, potential risks can be analyzed and warned in advance to ensure construction safety. Compared with the traditional method of manual reporting and field inspections, this embodiment solves the problems of information lag and inaccuracy, provides a more intuitive and comprehensive tower crane status monitoring method, enhances the decision-making ability and on-site control of managers, and thus helps improve the level of project management.

[0072] Reference Figure 2 , which is a schematic diagram of functional modules of a state recognition device 100 for a tower crane of the present application.

[0073] The state recognition device 100 of the tower crane described in the present application can be installed in an electronic device. According to the functions to be implemented, the state recognition device 100 of the tower crane can include an acquisition module 110, a construction module 120, a marking module 130, a calculation module 140 and an identification module 150. The module described in the present application can also be referred to as a unit, which refers to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, which are stored in the memory of the electronic device.

[0074] In this embodiment, the functions of each module / unit are as follows:

[0075] Acquisition module 110: used to acquire multiple groups of images of the construction site where the tower crane to be identified is located;

[0076] Construction module 120: used to construct a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0077] Marking module 130: used to mark the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0078] Calculation module 140: used to calculate the height value of the tower body of the tower crane based on the outline position of the tower body of the tower crane;

[0079] The identification module 150 is used to identify the state of the tower crane according to the height value of the tower crane body.

[0080] In one embodiment, constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images includes:

[0081] Preprocessing the multiple groups of images to obtain multiple groups of preprocessed images;

[0082] Extracting feature points of the preprocessed image and performing a feature point matching operation to obtain matched feature points;

[0083] Generating initial point cloud data through a geometric reconstruction algorithm according to the matched feature points;

[0084] Preprocessing the initial point cloud data to obtain preprocessed point cloud data;

[0085] The pre-processed point cloud data is converted into a real-scene three-dimensional model of the construction site.

[0086] In one embodiment, the step of acquiring multiple sets of images of the construction site where the tower crane to be identified is located includes:

[0087] The drone is controlled to capture images of the construction site where the tower crane is located from multiple angles through a predetermined drone flight route.

[0088] In one embodiment, the calculating the height value of the tower body of the tower crane based on the outline position of the tower body of the tower crane comprises:

[0089] Determine the contour edge area of ​​the tower body of the tower crane by the contour position of the tower body of the tower crane in the real-scene three-dimensional model;

[0090] Acquire point clouds at preset intervals within the contour edge area to obtain a target point cloud set;

[0091] The height value of the tower crane tower body is calculated according to the target point cloud set.

[0092] In one embodiment, the step of calculating the height of the tower crane body according to the target point cloud set includes:

[0093] Obtain the height value of each point cloud in the target point cloud set;

[0094] Sort the height values ​​of the point cloud and calculate the median of the height values ​​from the sorted results;

[0095] The median of the height values ​​is used as the height value of the tower body of the tower crane.

[0096] In one embodiment, the identifying the state of the tower crane according to the height value of the tower crane body includes:

[0097] Determine whether the height of the tower crane is less than a preset reference value, wherein the preset reference value includes the absolute height corresponding to positive and negative zero of the building associated with the tower crane plus a preset value;

[0098] If so, identifying the state of the tower crane as being dismantled;

[0099] If not, it is identified that the state of the tower crane is not dismantled.

[0100] In one embodiment, the state identification of the tower crane further includes a feedback module, and the feedback module is used to:

[0101] Determining whether the state of the tower crane is the same as the expected state at the current time point;

[0102] If different, an early warning message is generated and fed back to the preset terminal.

[0103] Reference Figure 3 , which is a schematic diagram of a preferred embodiment of the electronic device of the present application.

[0104] The electronic device includes a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other via the communication bus 114;

[0105] A memory 113, for storing computer programs, for example, a tower crane state recognition program;

[0106] The processor 111 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 111 is generally used to control the overall operation of the electronic device, such as performing control and processing related to data interaction or communication. In this embodiment, the processor 111 is used to run the program code stored in the memory 113 or process data, such as running the program code of the state recognition program of the tower crane.

[0107] The communication interface 112 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and the communication interface 112 may also be used to establish a communication connection between the electronic device and other electronic devices.

[0108] The memory 113 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 113 can be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory 113 can also be an external storage device of the electronic device, such as a plug-in hard disk equipped with the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Of course, the memory 113 can also include both the internal storage unit of the electronic device and its external storage device. In this embodiment, the memory 113 is generally used to store the operating system and various computer programs installed in the electronic device, such as the program code of the state recognition program of the tower crane, etc. In addition, the memory 113 can also be used to temporarily store various types of data that have been output or are to be output.

[0109] Figure 3 Only an electronic device having components 111 - 114 is shown, but it is understood that implementing all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0110] In one embodiment of the present application, the processor 111 is used to execute the program stored in the memory 113 to implement the state identification method of the tower crane provided by any one of the above method embodiments, including:

[0111] Acquire multiple sets of images of the construction site where the tower crane to be identified is located;

[0112] Constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0113] Marking the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0114] Calculating the height of the tower crane body based on the outline position of the tower crane body;

[0115] The state of the tower crane is identified according to the height value of the tower body of the tower crane.

[0116] For a detailed description of the above steps, please refer to the above Figure 1 Description of a flowchart of an embodiment of a method for identifying a state of a tower crane.

[0117] In addition, the embodiment of the present application also proposes a computer-readable storage medium, which may be non-volatile or volatile. The computer-readable storage medium includes a data storage area and a program storage area, and the program storage area stores a state recognition program of a tower crane. When the state recognition program of the tower crane is executed by a processor, the following operations are implemented:

[0118] Acquire multiple sets of images of the construction site where the tower crane to be identified is located;

[0119] Constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images;

[0120] Marking the outline position of the tower crane tower body from the real-scene three-dimensional model;

[0121] Calculating the height of the tower crane body based on the outline position of the tower crane body;

[0122] The state of the tower crane is identified according to the height value of the tower body of the tower crane.

[0123] The specific implementation of the computer-readable storage medium of the present application is substantially the same as the specific implementation of the state identification method of the tower crane described above, and will not be described in detail herein.

[0124] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0126] It should be noted that the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0127] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0128] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for identifying the state of a tower crane, characterized in that: The method comprises: Acquire multiple sets of images of the construction site where the tower crane to be identified is located; Constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images; Marking the outline position of the tower crane tower body from the real-scene three-dimensional model; Calculating the height of the tower crane body based on the outline position of the tower crane body; The state of the tower crane is identified according to the height value of the tower body of the tower crane.

2. The method for identifying the state of a tower crane according to claim 1, characterized in that: The step of constructing a real-scene three-dimensional model of the construction site according to the multiple groups of images includes: Preprocessing the multiple groups of images to obtain multiple groups of preprocessed images; Extracting feature points of the preprocessed image and performing a feature point matching operation to obtain matched feature points; Generating initial point cloud data through a geometric reconstruction algorithm according to the matched feature points; Preprocessing the initial point cloud data to obtain preprocessed point cloud data; The pre-processed point cloud data is converted into a real-scene three-dimensional model of the construction site.

3. The method for identifying the state of a tower crane according to claim 1, characterized in that: The step of obtaining multiple groups of images of the construction site where the tower crane to be identified is located includes: The drone is controlled to capture images of the construction site where the tower crane is located from multiple angles through a predetermined drone flight route.

4. The method for identifying the state of a tower crane according to claim 1, characterized in that: The step of calculating the height of the tower crane body based on the outline position of the tower crane body comprises: Determine the contour edge area of ​​the tower body of the tower crane by the contour position of the tower body of the tower crane in the real-scene three-dimensional model; Acquire point clouds at preset intervals within the contour edge area to obtain a target point cloud set; The height value of the tower crane tower body is calculated according to the target point cloud set.

5. The method for identifying the state of a tower crane according to claim 4, characterized in that: The step of calculating the height value of the tower crane tower body according to the target point cloud set includes: Obtain the height value of each point cloud in the target point cloud set; Sort the height values ​​of the point cloud and calculate the median of the height values ​​from the sorted results; The median of the height values ​​is used as the height value of the tower body of the tower crane.

6. The method for identifying the state of a tower crane according to claim 1, characterized in that: The step of identifying the state of the tower crane according to the height value of the tower crane body comprises: Determine whether the height of the tower crane is less than a preset reference value, wherein the preset reference value includes the absolute height corresponding to positive and negative zero of the building associated with the tower crane plus a preset value; If so, identifying the state of the tower crane as being dismantled; If not, it is identified that the state of the tower crane is not dismantled.

7. The method for identifying the state of a tower crane according to claim 1, characterized in that: After identifying the state of the tower crane, the method further comprises: Determining whether the state of the tower crane is the same as the expected state at the current time point; If different, an early warning message is generated and fed back to the preset terminal.

8. A state recognition device for a tower crane, characterized in that: The device comprises: Acquisition module: used to acquire multiple sets of images of the construction site where the tower crane to be identified is located; A construction module: used to construct a real-scene three-dimensional model of the construction site according to the multiple groups of images; Marking module: used for marking the outline position of the tower crane tower body from the real-scene three-dimensional model; A calculation module: used for calculating the height value of the tower body of the tower crane based on the contour position of the tower body of the tower crane; Identification module: used to identify the state of the tower crane according to the height value of the tower crane body.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the state recognition method of the tower crane according to any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the state identification method of the tower crane according to any one of claims 1 to 7 is implemented.

Images