Unmanned aerial vehicle self-adaptive inspection system and method for structural damage of tower crane

Abstract

The invention discloses an unmanned aerial vehicle self-adaptive inspection system and method for tower crane structure damage, and relates to the technical field of tower crane structure damage inspection. According to the unmanned aerial vehicle self-adaptive inspection method for tower crane structure damage, the tower crane structure is divided into a plurality of inspection areas, state data of all the areas are obtained and analyzed, the damage index of all the areas is calculated, an inspection path is generated in combination with a path planning algorithm, high-damage areas are inspected preferentially, and finally efficient and accurate inspection tasks are executed through an unmanned aerial vehicle. According to the method, all the to-be-inspected areas of the tower crane structure are comprehensively analyzed, then the comprehensive damage index of each area is calculated, and the area damage is divided according to the preset damage evaluation interval, so that the damage degree of each area can be accurately evaluated, damage grade division is performed, and the inspection accuracy is improved. Therefore, inspection personnel can preferentially pay attention to a seriously damaged area, so that resource waste is avoided, and a high-risk area is ensured to be processed in time.

Description

Technical Field

[0001] The invention relates to the technical field of tower crane structure damage inspection, and in particular to a tower crane structure damage unmanned aerial vehicle adaptive inspection system and method. Background Art

[0002] With the widespread application of tower cranes in construction, installation and other large-scale engineering projects, the safety and reliability of tower crane structures have become a focus of attention. During the long-term use of tower cranes, due to environmental factors, workload and physical wear, structural damage such as cracks, deformation, vibration, etc. may occur. These damages directly affect the service life and construction safety of the tower crane. Therefore, timely and accurate detection and evaluation of tower crane structure damage is the key to ensuring the safe operation of the tower crane and avoiding accidents.

[0003] At present, damage detection of tower crane structures mostly relies on traditional manual inspection methods. This inspection method not only relies on manual experience, but also has problems such as long inspection cycle, narrow coverage, and low efficiency. Especially at high altitudes or in complex environments, manual inspections are very risky and difficult. In addition, manual inspections are often unable to conduct comprehensive real-time detection of all potential damage to tower cranes, which can easily lead to certain damaged areas being neglected, thus posing a threat to the safety of the tower crane.

[0004] In recent years, the rapid development of drone technology has provided new solutions for the inspection of tower crane structures. Drones can be equipped with sensors, cameras and other equipment for remote monitoring and provide efficient and comprehensive inspection services. Compared with traditional manual inspections, drone inspections have the advantages of high efficiency, accuracy and flexibility. They can perform efficient and comprehensive inspections of tower crane structures without contacting the tower crane.

[0005] Therefore, the development of an adaptive inspection system for tower crane structure damage based on drones can not only improve the inspection efficiency, but also ensure priority inspections in high-risk areas, reduce inspection costs, and improve the safety and service life of tower cranes. It has important technical and application value.

[0006] In addition, the current tower crane structure damage inspection method rarely dynamically adjusts the inspection path in a targeted manner in combination with the damage level, and lacks the ability to dynamically optimize the inspection path, which easily leads to difficulty in timely and effective priority inspection of severely damaged areas. The lack of such dynamic path planning easily leads to high-damage areas not being inspected in a timely manner, resulting in a waste of inspection resources, and it is difficult to ensure that the key parts of the tower crane are fully inspected, limiting the efficiency and accuracy of the inspection process. At the same time, traditional inspection methods fail to effectively use damage data to guide path planning, and fail to fully consider the changes in the degree of damage in different areas, which easily leads to the possibility that some important areas may be missed, increasing the potential risks in tower crane operation. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a tower crane structure damage drone adaptive inspection system and method, which solves the problems in the prior art of lack of dynamic adjustment of inspection paths and difficulty in prioritizing inspection of severely damaged areas.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: a tower crane structure damage drone adaptive inspection method, comprising the following steps: dividing the tower crane structure into a number of inspection areas, and obtaining the tower crane structure status data of each inspection area, wherein the tower crane structure status data includes crack wave pulse status data, vibration impact status data, temperature-pull coupling status data, wind pressure impact status data, and ground-change flexibility status data; performing comprehensive analysis on the tower crane structure status data of each inspection area of ​​the tower crane structure, and obtaining the crack wave pulse damage index, The vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index are comprehensively analyzed to obtain the regional comprehensive damage index of each area to be inspected of the tower crane structure; based on the preset damage assessment interval, the regional comprehensive damage index of each area to be inspected of the tower crane structure is judged and divided to obtain the regional damage level of each area to be inspected of the tower crane structure; the regional damage level of each area to be inspected of the tower crane structure is combined with the preset path planning algorithm to generate the regional inspection path of the tower crane structure, and transmit it to the inspection drone to conduct damage inspection on the tower crane structure.

[0009] Furthermore, the specific formula for calculating the regional comprehensive damage index of each area to be inspected of the tower crane structure is as follows: ;in, The tower crane structure The comprehensive damage index of the area to be inspected, The tower crane structure The crack wave pulse damage index of the area to be inspected, is the crack wave pulse damage adjustment coefficient stored in the database, The tower crane structure The vibration impact damage index of the area to be inspected, is the vibration impact damage adjustment coefficient stored in the database, The tower crane structure The temperature-pulse coupling damage index of the area to be inspected, is the temperature-tension coupling damage adjustment coefficient stored in the database, The tower crane structure The wind pressure impact damage index of the area to be inspected, is the wind pressure impact damage adjustment coefficient stored in the database, The tower crane structure The ground change flexibility damage index of the area to be inspected, is the ground-change flexible damage adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0010] Furthermore, the crack wave pulse state data includes the crack width value, crack depth value, and crack length value of each crack, and the specific steps for obtaining the crack wave pulse damage index of each area to be inspected of the tower crane structure are as follows: read the crack width value and crack depth value of each crack in each area to be inspected of the tower crane structure, and perform comparative analysis to obtain the maximum crack width value and maximum crack depth value of each area to be inspected of the tower crane structure; obtain the crack morphology index and the maximum allowable crack length parameter value of each area to be inspected of the tower crane structure, and respectively combine the maximum crack width value and the maximum crack depth value of the corresponding area to be inspected, as well as the crack width value, crack depth value, and crack length value of each crack for comprehensive analysis to obtain the crack wave pulse damage index of each area to be inspected of the tower crane structure, and the calculation formula is as follows: ;in, The tower crane structure The crack wave pulse damage index of the area to be inspected, The tower crane structure The first area to be inspected The crack width value of the crack, The tower crane structure The first area to be inspected The crack depth value of the crack, The tower crane structure The maximum crack width value of the area to be inspected, The tower crane structure The maximum crack depth value of the area to be inspected, The tower crane structure The first area to be inspected The crack length value of the crack, The tower crane structure The maximum permissible crack length parameter value of the area to be inspected, The tower crane structure The crack morphology index of the area to be inspected, =1, 2, 3, ..., , is the number of areas to be inspected in the tower crane structure, =1, 2, 3, ..., , is the number of cracks in the area to be inspected.

[0011] Furthermore, the vibration impact state data includes vibration amplitude value, vibration frequency value, and vibration phase difference value. The specific steps for obtaining the vibration impact damage index of each area to be inspected of the tower crane structure are as follows: obtain the vibration parameter data of each area to be inspected of the tower crane structure, and the vibration parameter data include vibration amplitude parameter value and vibration frequency parameter value; conduct a comprehensive analysis on the vibration amplitude value, vibration frequency value, and vibration phase difference value of each area to be inspected of the tower crane structure in combination with the vibration parameter data of the corresponding area, so as to obtain the vibration impact damage index of each area to be inspected of the tower crane structure.

[0012] Furthermore, the specific formula for calculating the vibration impact damage index of each area to be inspected of the tower crane structure is as follows: ;in, The tower crane structure The vibration impact damage index of the area to be inspected, The tower crane structure The vibration amplitude value of the area to be inspected, The tower crane structure The vibration amplitude parameter value of the area to be inspected, is the vibration amplitude adjustment factor stored in the database, The tower crane structure The vibration frequency value of the area to be inspected, The tower crane structure The vibration frequency parameter value of the area to be inspected, is the vibration frequency adjustment coefficient stored in the database, The tower crane structure The vibration phase difference of the area to be inspected, is the vibration phase difference adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0013] Furthermore, the temperature-tension coupling state data includes temperature change values ​​and stress values, and the specific steps for obtaining the temperature-tension coupling damage index of each area to be inspected of the tower crane structure are as follows: obtaining the temperature-tension coupling parameter data of each area to be inspected of the tower crane structure, the temperature-tension coupling parameter data including temperature change parameter values ​​and stress parameter values; comprehensively analyzing the temperature change values ​​and stress values ​​of each area to be inspected of the tower crane structure in combination with the temperature-tension coupling parameter data of the corresponding area to be inspected, to obtain the temperature-tension coupling damage index of each area to be inspected of the tower crane structure.

[0014] Furthermore, the wind pressure impact status data includes the current wind speed value and the historical wind speed values ​​at several historical time points. The specific steps for obtaining the wind pressure impact damage index of each area to be inspected of the tower crane structure are as follows: read the historical wind speed values ​​of each area to be inspected of the tower crane structure at several historical time points, and perform mean analysis to obtain the mean wind speed of each area to be inspected of the tower crane structure; perform difference analysis on the current wind speed value and the mean wind speed of each area to be inspected of the tower crane structure to obtain the wind speed difference of each area to be inspected of the tower crane structure; obtain the wind speed parameter value of each area to be inspected of the tower crane structure, and perform comprehensive analysis in combination with the current wind speed value and the wind speed difference of the corresponding area to be inspected to obtain the wind pressure impact damage index of each area to be inspected of the tower crane structure.

[0015] Furthermore, the geo-variable flexibility state data includes foundation settlement value and inclination angle value, and the specific steps for obtaining the geo-variable flexibility damage index of each area to be inspected of the tower crane structure are as follows: obtaining the settlement parameter data of each area to be inspected of the tower crane structure, the settlement parameter data including the foundation settlement parameter value and the inclination angle parameter value; comprehensively analyzing the foundation settlement value and the inclination angle value of each area to be inspected of the tower crane structure, respectively, in combination with the settlement parameter data of the corresponding area to be inspected, to obtain the geo-variable flexibility damage index of each area to be inspected of the tower crane structure.

[0016] Furthermore, the specific steps for generating the regional inspection path of the tower crane structure are as follows: read the regional damage level of each area to be inspected of the tower crane structure, and arrange them in descending order to obtain the damage level sequence of the area to be inspected of the tower crane structure; perform path planning on the damage level sequence of the area to be inspected of the tower crane structure based on a preset path planning algorithm to generate the regional inspection path of the tower crane structure, including adjusting weight planning, dynamic path optimization, shortest path selection planning, and avoiding path overlap planning.

[0017] A tower crane structure damage UAV adaptive inspection system includes: a division acquisition unit, which is used to divide the tower crane structure into a plurality of inspection areas, and obtain the tower crane structure state data of each inspection area, wherein the tower crane structure state data includes crack wave pulse state data, vibration impact state data, temperature-pull coupling state data, wind pressure impact state data, and ground-change flexibility state data; a damage analysis unit, which is used to perform comprehensive analysis on the tower crane structure state data of each inspection area of ​​the tower crane structure, and obtain the crack wave pulse damage index, vibration impact damage index, temperature-pull coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each inspection area of ​​the tower crane structure; and a comprehensive analysis unit, which is used to analyze the tower crane structure state data of each inspection area of ​​the tower crane structure. A comprehensive analysis is performed on the crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each area to be inspected of the tower crane structure to obtain a regional comprehensive damage index of each area to be inspected of the tower crane structure; a grade division unit is used to judge and divide the regional comprehensive damage index of each area to be inspected of the tower crane structure based on a preset damage assessment interval to obtain a regional damage grade of each area to be inspected of the tower crane structure; an inspection unit is used to combine the regional damage grade of each area to be inspected of the tower crane structure with a preset path planning algorithm to generate a regional inspection path for the tower crane structure, and transmit it to the inspection drone to perform damage inspection on the tower crane structure.

[0018] The present invention has the following beneficial effects: (1) The tower crane structure damage drone adaptive inspection method obtains the wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index and ground-change flexibility damage index by comprehensively analyzing the various inspection areas of the tower crane structure, and then calculates the comprehensive damage index of each area. The regional damage is divided according to the preset damage assessment interval, so that the damage degree of each area can be accurately assessed and the damage level can be divided. Through such damage level division, the inspection personnel can give priority to the areas with serious damage, thereby avoiding waste of resources and ensuring that high-risk areas are dealt with in a timely manner. This detailed regional damage assessment and classification method effectively improves the accuracy of tower crane inspection, ensures the safe operation of tower cranes, and avoids potential safety hazards.

[0019] (2) The tower crane structure damage drone adaptive inspection method combines the regional damage level with the preset path planning algorithm to dynamically adjust the path planning when generating the inspection path. By setting weights for the damage level of each area, the high damage level area is inspected first, and the path is optimized in real time during the inspection process to avoid redundant inspections or path overlaps. This dynamic path optimization can continuously adjust the path planning during the inspection process, improve the inspection efficiency, and reduce unnecessary repetitive work. In addition, path smoothing further reduces unnecessary curved paths during the inspection process, improves the flight stability of the drone and the inspection quality. Through dynamic path planning, the inspection time can be significantly shortened and the inspection cost can be reduced. At the same time, it ensures that all areas of the tower crane are fully inspected, enhancing the comprehensiveness and accuracy of the inspection.

[0020] (3) The tower crane structure damage drone adaptive inspection method uses a variety of damage state data such as crack wave pulse, vibration impact, temperature-pull coupling, wind pressure impact and ground-change flexibility to set specific damage index calculation methods for different types of damage. The integration of multiple data sources makes damage identification more comprehensive and can accurately reflect the status of the tower crane from multiple angles. Especially when the tower crane structure is complex and the damage may manifest in various ways, a single monitoring indicator is difficult to provide comprehensive information. The multi-dimensional damage assessment method of the present invention can effectively make up for this deficiency and ensure that all kinds of potential problems of the tower crane are fully identified. This method effectively improves the monitoring accuracy of the tower crane structure, helps to timely detect early damage, prevent potential structural failure, and ensure the safety and reliability of the tower crane in a complex working environment.

[0021] (4) The tower crane structure damage drone adaptive inspection system integrates various damage status data of the tower crane structure, including crack wave pulse, vibration impact, temperature-tension coupling, wind pressure impact, and ground-change flexibility, and uses a special damage analysis unit and a comprehensive analysis unit to conduct data comprehensive analysis and damage index calculation for each area to be inspected. This integrated and systematic data processing method can efficiently monitor and evaluate the multi-dimensional damage of the tower crane structure in real time, thereby effectively reducing the subjective errors in manual inspections and improving the response speed during the inspection process. The system automatically plans and adjusts the path according to the changes in real-time data, ensuring that high-damage areas are inspected first and avoiding redundant inspections, further improving the accuracy and timeliness of the inspection. This data integration and automated analysis not only improves the inspection accuracy of the tower crane structure, but also enhances the system's adaptability to dynamic changes, making the inspection process more intelligent and efficient, reducing manual intervention, and improving the safety level of the tower crane.

[0022] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a flow chart of a tower crane structure damage drone adaptive inspection method.

[0024] Figure 2 The present invention is a flowchart of the specific steps of obtaining the vibration impact damage index of each area to be inspected of the tower crane structure in a tower crane structure damage adaptive inspection method by a drone of the present invention.

[0025] Figure 3 The present invention is a block diagram of a tower crane structure damage drone adaptive inspection system. DETAILED DESCRIPTION

[0026] See also Figure 1 The embodiment of the present invention provides a technical solution: a tower crane structure damage drone adaptive inspection method, comprising the following steps: dividing the tower crane structure into a number of inspection areas, and obtaining the tower crane structure status data of each inspection area, the tower crane structure status data including crack wave pulse status data, vibration impact status data, temperature-pull coupling status data, wind pressure impact status data, and ground-change flexibility status data; performing comprehensive analysis on the tower crane structure status data of each inspection area of ​​the tower crane structure to obtain the crack wave pulse damage index, vibration impact damage index, temperature-pull coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each inspection area of ​​the tower crane structure, and performing comprehensive analysis to obtain the regional comprehensive damage index of each inspection area of ​​the tower crane structure; judging and dividing the regional comprehensive damage index of each inspection area of ​​the tower crane structure based on a preset damage assessment interval to obtain the regional damage level of each inspection area of ​​the tower crane structure; combining the regional damage level of each inspection area of ​​the tower crane structure with a preset path planning algorithm to generate a regional inspection path for the tower crane structure, and transmitting it to the inspection drone to perform damage inspection on the tower crane structure.

[0027] The regional damage levels include but are not limited to the following examples: High damage level (severe damage): Areas with severe damage require priority inspection.

[0028] Moderate Damage Level: Damage is evident but not as severe as in the High Damage area.

[0029] Low damage level (minor damage): The damage is minor and the inspection priority is the lowest.

[0030] The specific formula for calculating the regional comprehensive damage index of each area to be inspected of the tower crane structure is as follows: ;in, The tower crane structure The comprehensive damage index of the area to be inspected, The tower crane structure The crack wave pulse damage index of the area to be inspected, is the crack wave pulse damage adjustment coefficient stored in the database, The tower crane structure The vibration impact damage index of the area to be inspected, is the vibration impact damage adjustment coefficient stored in the database, The tower crane structure The temperature-pulse coupling damage index of the area to be inspected, is the temperature-tension coupling damage adjustment coefficient stored in the database, The tower crane structure The wind pressure impact damage index of the area to be inspected, is the wind pressure impact damage adjustment coefficient stored in the database, The tower crane structure The ground change flexibility damage index of the area to be inspected, is the ground-change flexible damage adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0031] It should be explained that the split wave pulse damage adjustment coefficient stored in the database , Vibration shock damage adjustment coefficient , Temperature-tension coupling damage adjustment coefficient , Wind pressure impact damage adjustment coefficient , Earth-change flexible damage adjustment coefficient The specific acquisition steps are as follows: the adjustment coefficient of the crack wave impact damage is determined by combining the damage characteristics caused by the crack wave pulse in the tower crane structure with historical experimental data or engineering design standards. It can be obtained by experimentally measuring the crack wave damage of the structure under different working conditions, or by fitting using the finite element analysis method; the adjustment coefficient of the vibration impact damage is calculated based on the vibration response data of the tower crane structure, combined with the damage caused by different vibration frequencies, amplitudes and phase differences, using experimental or simulation data. It is usually necessary to analyze the damage under different vibration conditions and extract the vibration impact sensitivity of the structure; the temperature-tension coupling damage adjustment coefficient is obtained by experimentally measuring the thermal stress of the tower crane structure under temperature changes. The wind pressure impact damage adjustment coefficient is obtained by combining the influence of wind speed change on the tower crane structure with the relationship between wind speed and tower crane force, and the wind pressure impact damage adjustment coefficient can be obtained by simulating the wind pressure response of the tower crane under different wind speed conditions; the geomorphic flexible damage adjustment coefficient is obtained according to the settlement change and inclination of the tower crane foundation, combined with soil type, geological conditions and load changes, through geological experiments or monitoring data. The adaptive adjustment coefficient is obtained by analyzing the correlation between foundation settlement and structural deformation.

[0032] Among them, the specific implementation example of calculating the regional comprehensive damage index of each area to be inspected of the tower crane structure is as follows, and the following data are available: There are five areas to be inspected in the existing tower crane structure, and the sample data of the loss index of the five areas to be inspected are shown in Table 1: Table 1 Example of loss index data for five inspection areas of tower crane structure The damage adjustment coefficient of the split wave pulse stored in the database Approximately: 1.176; Vibration shock damage adjustment factors stored in the database Approximately: 1.158; Temperature-tension coupling damage adjustment coefficient stored in the database Approximately: 1.123; Wind pressure impact damage adjustment coefficient stored in the database Approximately: 1.287; The flexible damage adjustment coefficient of the ground change stored in the database Approximately: 1.234; Substituting the above data into the specific formula for calculating the regional comprehensive damage index of each area to be inspected of the tower crane structure, we obtain: The regional comprehensive damage index of the first area to be inspected of the tower crane structure = ((1 / (1.176+(1 / 0.742)))+(1 / (1.158+(1 / 0.819))))*(1+(0.641 / 1.123))+(0.885 / 1.287)+(0.729 / (1+1.234))≈2.297.

[0033] The regional comprehensive damage index of the second area to be inspected of the tower crane structure = ((1 / (1.176+(1 / 0.592)))+(1 / (1.158+(1 / 0.557))))*(1+(0.484 / 1.123))+(0.438 / 1.287)+(0.684 / (1+1.234))≈1.630.

[0034] The regional comprehensive damage index of the third area to be inspected of the tower crane structure = ((1 / (1.176+(1 / 0.843)))+(1 / (1.158+(1 / 0.761))))*(1+(0.853 / 1.123))+(0.920 / 1.287)+(0.782 / (1+1.234))≈2.522.

[0035] The regional comprehensive damage index of the fourth area to be inspected of the tower crane structure = ((1 / (1.176+(1 / 0.782)))+(1 / (1.158+(1 / 0.695))))*(1+(0.743 / 1.123))+(0.657 / 1.287)+(0.594 / (1+1.234))≈2.093.

[0036] The regional comprehensive damage index of the fifth area to be inspected of the tower crane structure = ((1 / (1.176+(1 / 0.858)))+(1 / (1.158+(1 / 0.924))))*(1+(0.953 / 1.123))+(0.802 / 1.287)+(0.877 / (1+1.234))≈2.630.

[0037] Specifically, the crack wave pulse state data includes the crack width value, crack depth value, and crack length value of each crack. These parameters can be obtained by photographing the tower crane with high-resolution photographic equipment (such as a high-definition camera or an infrared imaging device), and combined with image processing algorithms (such as edge detection, morphological analysis, etc.), to extract the crack wave pulse damage index of each area to be inspected of the tower crane structure. The specific steps for obtaining the crack wave pulse damage index of each area to be inspected of the tower crane structure are as follows: read the crack width value and crack depth value of each crack in each area to be inspected of the tower crane structure, and perform comparative analysis to obtain the maximum crack width value and maximum crack depth value of each area to be inspected of the tower crane structure; obtain the crack morphological index and the maximum allowable crack length parameter value of each area to be inspected of the tower crane structure, and respectively combine the maximum crack width value and the maximum crack depth value of the corresponding area to be inspected, as well as the crack width value, crack depth value, and crack length value of each crack for comprehensive analysis to obtain the crack wave pulse damage index of each area to be inspected of the tower crane structure, and the calculation formula is as follows: ;in, The tower crane structure The crack wave pulse damage index of the area to be inspected, The tower crane structure The first area to be inspected The crack width value of the crack, The tower crane structure The first area to be inspected The crack depth value of the crack, The tower crane structure The maximum crack width value of the area to be inspected, The tower crane structure The maximum crack depth value of the area to be inspected, The tower crane structure The first area to be inspected The crack length value of the crack, The tower crane structure The maximum permissible crack length parameter value of the area to be inspected, The tower crane structure The crack morphology index of the area to be inspected, =1, 2, 3, ..., , is the number of areas to be inspected in the tower crane structure, =1, 2, 3, ..., , is the number of cracks in the area to be inspected.

[0038] Among them, the specific steps of obtaining the crack morphology index of each area to be inspected of the tower crane structure are as follows: obtain the curvature value of each crack in each area to be inspected of the tower crane structure; compare and analyze the curvature value and crack length value of each crack in each area to be inspected of the tower crane structure, and obtain the maximum curvature value and maximum crack length value of each area to be inspected of the tower crane structure; read the curvature value, crack width value and crack length value of each crack in each area to be inspected of the tower crane structure, and perform comprehensive analysis in combination with the maximum curvature value, maximum crack width value and maximum crack length value of the corresponding area to be inspected, and obtain the crack morphology index of each area to be inspected of the tower crane structure, and the calculation formula is as follows: ;in, The tower crane structure The crack morphology index of the area to be inspected, The tower crane structure The first area to be inspected The crack width value of the crack, The tower crane structure The first area to be inspected The crack length value of the crack, The tower crane structure The maximum crack length value of the area to be inspected, The tower crane structure The first area to be inspected The curvature value of the crack, The tower crane structure The maximum curvature value of the area to be inspected, The tower crane structure The maximum crack width value of the area to be inspected, =1, 2, 3, ..., , is the number of areas to be inspected in the tower crane structure, =1, 2, 3, ..., , is the number of cracks in the area to be inspected.

[0039] In this implementation scheme, crack wave pulse state data is obtained through high-resolution photography equipment (such as high-definition cameras or infrared imaging equipment), and crack features are extracted by combining image processing algorithms (such as edge detection and morphological analysis). The advantage of this process is that it provides a non-contact, real-time and accurate way to obtain key parameters of cracks in tower crane structures, such as crack width, depth, length and morphological index. These parameters are important bases for evaluating the health of tower crane structures and can effectively identify the severity of cracks, thereby calculating the crack wave pulse damage index and providing data support for subsequent inspection path planning and damage assessment. By combining the geometric characteristics of cracks A comprehensive analysis of crack characteristics (such as crack width, depth, length) and crack morphology index can more comprehensively evaluate the crack growth trend and its impact on the structure, while the analysis of indicators such as crack curvature value and maximum crack length further enhances the understanding of crack morphology and helps identify potential structural weaknesses. This detailed crack assessment not only improves the inspection accuracy, but also can detect minor structural damage at an early stage and reduce the risk of major failures of tower cranes. Ultimately, combining all these data, the damage condition of the tower crane can be more accurately evaluated, and provide a scientific basis for the maintenance and repair of the tower crane, thereby improving the operational safety and reliability of the tower crane.

[0040] Specifically, Figure 2 As shown, the vibration impact state data includes vibration amplitude value, vibration frequency value, and vibration phase difference value. The vibration amplitude value and vibration frequency value can be measured and obtained by the acceleration sensor and vibration sensor installed on the tower crane, and the vibration phase difference value can be calculated by time domain analysis or frequency domain analysis of the vibration signal. The specific steps for obtaining the vibration impact damage index of each area to be inspected of the tower crane structure are as follows: obtain the vibration parameter data of each area to be inspected of the tower crane structure, the vibration parameter data including the vibration amplitude parameter value and the vibration frequency parameter value; conduct a comprehensive analysis on the vibration amplitude value, vibration frequency value, and vibration phase difference value of each area to be inspected of the tower crane structure in combination with the vibration parameter data of the corresponding area, so as to obtain the vibration impact damage index of each area to be inspected of the tower crane structure.

[0041] The specific formula for calculating the vibration impact damage index of each area to be inspected of the tower crane structure is as follows: ;in, The tower crane structure The vibration impact damage index of the area to be inspected, The tower crane structure The vibration amplitude value of the area to be inspected, The tower crane structure The vibration amplitude parameter value of the area to be inspected, It is the vibration amplitude adjustment factor stored in the database, which is used to avoid the situation where the denominator is 0. The tower crane structure The vibration frequency value of the area to be inspected, The tower crane structure The vibration frequency parameter value of the area to be inspected, is the vibration frequency adjustment coefficient stored in the database, The tower crane structure The vibration phase difference of the area to be inspected, is the vibration phase difference adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0042] It needs to be explained that the vibration frequency adjustment coefficient stored in the database The specific steps of obtaining are: according to the relationship between the vibration frequency and the damage degree of the tower crane structure under different working conditions, it is obtained through experimental or simulation data. First, through field tests or simulations, the vibration frequency data of the tower crane under different loads, environments and working conditions are recorded. Then, these data are used to analyze the performance and damage of the tower crane under different vibration frequencies, and the functional relationship between frequency and damage is extracted. Finally, the coefficient is obtained through regression analysis or curve fitting. These data and coefficients are stored in the database for real-time call by the inspection system.

[0043] Vibration phase difference adjustment coefficient stored in the database The specific steps of obtaining are: first, obtain the vibration signals of different parts of the tower crane structure through vibration sensors, measure the phase difference of the signals, and then, combine the phase difference between different positions and the actual situation of damage, through multiple experiments or numerical simulations, analyze the influence of phase difference on structural stability and damage, finally, establish the relationship between phase difference and damage through these data, obtain the coefficient, and store it in the database for subsequent analysis and path planning.

[0044] In this implementation scheme, by using high-precision sensors (such as acceleration sensors and vibration sensors) to monitor the vibration amplitude, frequency and phase difference of the tower crane in real time, the vibration impact of the tower crane structure can be accurately captured, thereby providing a scientific basis for damage assessment. The calculation of the vibration impact damage index combines the vibration amplitude, frequency and phase difference, which can comprehensively consider the damage that different vibration parameters may cause to the tower crane structure and provide a more comprehensive damage analysis. By combining these data with the vibration amplitude, frequency and phase difference adjustment coefficients stored in the database, the assessment results can be adjusted in real time to improve the accuracy and flexibility of the damage analysis. The vibration frequency adjustment coefficient and vibration phase difference adjustment coefficient stored in the database are obtained through experiments or simulations, reflecting the relationship between the response and damage of the tower crane under different vibration conditions. The acquisition steps of these adjustment coefficients ensure that the structural health status of the tower crane can be accurately assessed under different working conditions, avoiding deviations or inconsistencies that may occur in traditional methods. Through these coefficients, the inspection system can adjust the damage assessment strategy in real time, give priority to detecting high-risk areas, reduce redundant inspections, thereby improving inspection efficiency and ensuring the long-term stable operation of the tower crane. This method makes tower crane inspection more intelligent and precise, improves safety, and reduces maintenance costs.

[0045] Specifically, the temperature-pull coupling state data includes a temperature change value (i.e., the absolute value of the temperature difference between the current temperature value and the reference temperature, which can be measured and obtained by a temperature sensor, such as a thermocouple or an infrared thermometer), and a stress value (which can be measured and obtained by a strain gauge installed on the tower crane). The specific steps for obtaining the temperature-pull coupling damage index of each area to be inspected of the tower crane structure are as follows: obtaining the temperature-pull coupling reference data of each area to be inspected of the tower crane structure, the temperature-pull coupling reference data including the temperature change reference value and the stress reference value; comprehensively analyzing the temperature change value and the stress value of each area to be inspected of the tower crane structure in combination with the temperature-pull coupling reference data of the corresponding area to be inspected, and obtaining the temperature-pull coupling damage index of each area to be inspected of the tower crane structure, and the calculation formula is as follows: ;in, The tower crane structure The temperature-pulse coupling damage index of the area to be inspected, The tower crane structure The temperature change value of the area to be inspected, The tower crane structure The temperature change parameter value of the area to be inspected, The tower crane structure The stress value of the area to be inspected, The tower crane structure The stress parameter value of the area to be inspected, is a natural constant, and in this embodiment, its value is 2.718. is the temperature change adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0046] It should be explained that the temperature change adjustment coefficient stored in the database The specific steps of obtaining are as follows: through a combination of experiments and data analysis, first, multiple working points of the tower crane structure under different environmental conditions are selected, and the temperature changes, stress responses, and corresponding structural performances under these conditions are measured and recorded. Then, through regression analysis of these experimental data, a relationship model between temperature changes and tower crane structure responses is established. Using this model, the adjustment coefficient of the effect of temperature changes on damage is obtained. In practical applications, this coefficient is usually determined by fitting the structural response curve caused by temperature changes, so as to more accurately reflect the impact of temperature changes on tower crane structures. After storing the coefficient in the database, it can be called in real time during the inspection process to adjust the damage assessment according to the actual temperature changes.

[0047] In this implementation scheme, by accurately measuring the temperature change and stress value of the tower crane structure and combining the temperature-tension coupling parameter data, the possible damage effect of temperature change on the tower crane structure can be comprehensively evaluated. The temperature change value is obtained by a temperature sensor (such as a thermocouple or an infrared thermometer), and the stress value is obtained by a strain gauge. The temperature change and stress response of the tower crane in different working environments can be captured in real time. These data provide an important basis for calculating the temperature-tension coupling damage index, making the damage assessment more accurate. The temperature change adjustment coefficient is obtained by combining experiments and data analysis. The relationship model between temperature change and structural damage can be established through regression analysis, thereby obtaining the adjustment coefficient of temperature change on structural damage. The precise calculation and storage of these coefficients enable the inspection system to adjust the damage assessment in time according to the real-time measured temperature change value during actual operation, ensuring that the damage assessment under high or low temperature conditions is more accurate. This method can effectively reflect the impact of temperature changes on the health of the tower crane structure, improve the sensitivity and accuracy of the inspection system, ensure the stability and safety of the tower crane under different environmental conditions, and reduce the potential failure risk caused by temperature changes.

[0048] Specifically, the wind pressure impact state data includes the current wind speed value and the historical wind speed values ​​at several historical time points. These parameters can be measured and obtained by wind speed sensors (such as hot wire anemometers, ultrasonic anemometers, etc.). The specific steps to obtain the wind pressure impact damage index of each area to be inspected of the tower crane structure are as follows: read the historical wind speed values ​​of each area to be inspected of the tower crane structure at several historical time points, and perform mean analysis to obtain the mean wind speed of each area to be inspected of the tower crane structure; perform difference analysis on the current wind speed value and the mean wind speed of each area to be inspected of the tower crane structure to obtain the wind speed difference of each area to be inspected of the tower crane structure; obtain the wind speed parameter value of each area to be inspected of the tower crane structure, and perform comprehensive analysis in combination with the current wind speed value and the wind speed difference of the corresponding area to be inspected to obtain the wind pressure impact damage index of each area to be inspected of the tower crane structure. The calculation formula is as follows: ;in, The tower crane structure The wind pressure impact damage index of the area to be inspected, The tower crane structure The current wind speed value of the area to be inspected, The tower crane structure The wind speed parameter value of the area to be inspected, It is the wind speed adjustment factor stored in the database, which is used to avoid the situation where the denominator is 0. The tower crane structure The wind speed difference of the area to be inspected, is the wind speed difference adjustment coefficient stored in the database, is the wind speed adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0049] It should be explained that the wind speed difference adjustment coefficient stored in the database The specific acquisition steps are as follows: based on the wind pressure response data of the tower crane under different wind speed conditions, it is obtained through multiple experiments or simulation analysis. First, the wind speed data of the tower crane structure in multiple time periods is obtained through the wind speed sensor, and the wind speed difference between different areas is calculated. Then, combined with the relationship between wind speed and tower crane structure damage or deformation, the regression analysis method is used to obtain the influence coefficient of wind speed difference on structural damage. These coefficients are stored in the database and adjusted and applied according to the actual wind speed data during the inspection process.

[0050] Wind speed adjustment coefficient stored in the database The specific steps for obtaining are: according to the structural response of the tower crane under different wind speeds, first, under different wind speed conditions, the structural response of the tower crane, such as vibration, tilt, etc., is monitored, and the data between wind speed and tower crane damage are collected. Then, these data are used through regression analysis or other modeling methods to obtain the relationship between wind speed and structural damage, so as to calculate the wind speed adjustment coefficient, which reflects the impact of wind speed changes on the structural damage of the tower crane and is stored in the database for subsequent inspections.

[0051] In this implementation scheme, by accurately measuring the wind speed data of the tower crane structure under different wind speed conditions and combining the historical wind speed values ​​for mean analysis, the impact of wind pressure shock on the tower crane structure can be comprehensively evaluated. The real-time wind speed value is obtained by the wind speed sensor, and the wind speed difference in different areas is analyzed to reflect the structural deformation or damage caused by wind speed changes. This method not only captures the instantaneous changes in wind speed, but also combines the relationship between the wind speed difference and the tower crane structure damage to provide more detailed damage assessment data. The wind speed difference adjustment coefficient and the wind speed adjustment coefficient are obtained through multiple experiments and simulation analysis, reflecting the effect of wind speed on the tower crane structure. In order to understand the actual impact of wind speed, first of all, by collecting the tower crane response data under different wind speed conditions, the correlation between wind speed difference and structural damage is analyzed to obtain the adjustment coefficient. Then, these coefficients are stored in the database. The inspection system can make dynamic adjustments according to the actual wind speed data during real-time monitoring. These adjustment coefficients ensure the accuracy of the wind pressure impact damage index, can timely reflect the impact of wind speed on the tower crane structure, and enhance the accuracy and efficiency of inspection. In addition, through the real-time call of the adjustment coefficient, the inspection system can optimize the path planning, give priority to inspecting the areas that are more affected by wind speed, and improve the safety and operation stability of the tower crane.

[0052] Specifically, the geo-variable flexibility state data includes foundation settlement value (refers to the settlement of the tower crane foundation part caused by soil compression, geological changes or load changes, which can be measured and obtained by geological sensors, such as displacement sensors, GPS systems or laser scanners), tilt angle values ​​(can be measured and obtained by inclinometers or electronic levels). The specific steps for obtaining the geo-variable flexibility damage index of each area to be inspected of the tower crane structure are as follows: obtain the settlement parameter data of each area to be inspected of the tower crane structure, the settlement parameter data includes the foundation settlement parameter value and the tilt angle parameter value; conduct a comprehensive analysis of the foundation settlement value and the tilt angle value of each area to be inspected of the tower crane structure, and respectively combine them with the settlement parameter data of the corresponding area to be inspected to obtain the geo-variable flexibility damage index of each area to be inspected of the tower crane structure, and the calculation formula is as follows: ;in, The tower crane structure The ground change flexibility damage index of the area to be inspected, The tower crane structure The foundation settlement value of the area to be inspected, The tower crane structure The foundation settlement parameter value of the area to be inspected, It is the sedimentation adjustment factor stored in the database, which is used to avoid the situation where the denominator is 0. is a natural constant, and in this embodiment, its value is 2.718. The tower crane structure The inclination angle value of the area to be inspected, The tower crane structure The inclination angle parameter value of the area to be inspected, is the tilt angle adjustment coefficient stored in the database, =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

[0053] It should be explained that the tilt angle adjustment coefficient stored in the database The specific steps of obtaining are as follows: It is obtained by analyzing the relationship between the tilt response of the tower crane under different working conditions and the structural damage. First, under different wind speeds, loads and environmental conditions, the inclinometer or other measuring equipment is used to monitor the changes in the tilt angles of various areas of the tower crane. Then, by performing regression analysis or numerical simulation on the relationship between these tilt angles and structural damage (such as foundation settlement, tower deformation, etc.), the influence coefficient of the tilt angle change on the damage is obtained. This coefficient reflects the sensitivity between the tilt angle and the structural damage of the tower crane. Based on data collection and analysis, the adjustment coefficient is calculated using the experimental fitting method and stored in the database for dynamic adjustment of damage assessment during subsequent inspections.

[0054] In this implementation scheme, by accurately measuring the foundation settlement value and inclination angle value of the tower crane structure, combined with the corresponding parameter data and adjustment coefficient, the impact of ground flexibility on the health of the tower crane structure can be comprehensively evaluated. By using geological sensors (such as displacement sensors, GPS systems or laser scanners) and inclinometers, the settlement changes of the tower base and the inclination of the tower body can be monitored in real time, and the slight deformation of the structure can be captured. These data provide an accurate basis for calculating the ground flexibility damage index, making the damage assessment more accurate. Combined with the settlement adjustment factor and the inclination angle adjustment coefficient, it is possible to dynamically adjust the structural response under different working environments and conditions, thereby improving the flexibility and accuracy of damage assessment. Through regression analysis or numerical simulation, the inclination angle adjustment coefficient obtained reflects the relationship between the inclination and the damage of the tower crane structure, thereby providing real-time and reliable parameters for the inspection system. This method can not only effectively reflect the impact of foundation settlement and tower deformation on the stability of the tower crane, but also dynamically adjust the evaluation criteria according to different conditions to ensure that high-risk areas receive priority attention. Ultimately, this precise monitoring and dynamic adjustment method improves the inspection efficiency and safety of the tower crane, avoids the potential risks caused by foundation settlement and structural deformation, and ensures the reliability and stability of the tower crane in long-term use.

[0055] Specifically, the specific steps for generating a regional inspection path for a tower crane structure are as follows: read the regional damage level of each area to be inspected of the tower crane structure, and arrange them in descending order to obtain a damage level sequence of the area to be inspected of the tower crane structure, and set the starting point and the ending point of the inspection path. For example, one side of the tower crane structure or a convenient entrance for inspection can be selected as the starting point, and the end point can be an area where the inspection is completed; based on a preset path planning algorithm (in order to minimize path repetition and ensure priority inspection of high-damage areas, a path planning algorithm such as an A* algorithm, a Dijkstra algorithm, or a dynamic programming algorithm can be used), path planning is performed on the damage level sequence of the area to be inspected of the tower crane structure to generate a regional inspection path for the tower crane structure, including adjusting weight planning, dynamic path optimization, shortest path selection planning, and avoiding path overlap planning.

[0056] Among them, adjust the weight planning: for each area to be inspected, set a weight value according to its damage level. The weight of the area with high damage level is higher, and the weight of the area with low damage level is lower. The path selection in the algorithm will be prioritized according to these weight values.

[0057] Dynamic path optimization: As the inspection progresses, the system will adjust the inspection path in real time to avoid redundant inspections. For example, if an area has been inspected, the path planning will automatically skip the inspected area to reduce path duplication.

[0058] Shortest path selection planning: Select a suitable path based on the damage level of the current inspection area and the length of the inspection path. After each inspection, recalculate and update the shortest path to ensure the optimization of the inspection path.

[0059] Path smoothing: Based on the generated preliminary path, the path can be further optimized through smoothing algorithms (such as Bezier curves or spline interpolation) to reduce the curvature of the path and ensure the flight efficiency and stability of the inspection drone.

[0060] For example, if the inspection path contains multiple small turns, the smoothing algorithm can be used to reduce the number of return trips on the path and avoid unnecessary redundant flights.

[0061] Avoid path overlap: Ensure that the inspection paths in each area are not repeated and try to avoid repeated flights. The coverage area of ​​each inspection can be analyzed through algorithms to ensure that the new path does not intersect with the previous path.

[0062] When all areas on the inspection route have been inspected, the drone will mark the end of the inspection and return to the starting or end point, and generate an inspection report that lists the damage to each area, suggestions for whether further repairs are needed, and the inspection path data.

[0063] In this implementation scheme, through a systematic path planning algorithm, efficient, accurate and intelligent inspection of the tower crane structure area is achieved. By prioritizing the paths according to the regional damage level, it is ensured that the high-damage areas are inspected first, so as to timely discover potential risks and avoid missed inspections or delayed maintenance. At the same time, the combination of dynamic path optimization and shortest path selection planning enables the inspection path to be adjusted in real time as the inspection progresses, reducing repeated inspections and unnecessary flight time, greatly improving the inspection efficiency. Path smoothing further ensures the flight stability and smoothness of the inspection drone, avoids unnecessary path bending and return, and improves the overall stability and efficiency of the inspection process. In addition, the design of avoiding path overlap ensures that the inspection work in each area is not repeated and avoids waste of resources. Through accurate calculation of paths and real-time optimization, not only the accuracy of the inspection process is improved, but also the flight burden of the drone can be significantly reduced, thereby extending the service life of the equipment and reducing energy consumption. Finally, by generating a detailed inspection report, it can provide an accurate basis for subsequent maintenance decisions, effectively ensure the safety and stability of the tower crane, and improve the comprehensive benefits of the inspection work.

[0064] See also Figure 3The embodiment of the present invention provides a technical solution: a tower crane structure damage UAV adaptive inspection system, comprising: a division acquisition unit, used to divide the tower crane structure into a plurality of inspection areas, and obtain the tower crane structure state data of each inspection area, the tower crane structure state data including crack wave pulse state data, vibration impact state data, temperature-pull coupling state data, wind pressure impact state data, and ground-change flexibility state data; a damage analysis unit, used to perform comprehensive analysis on the tower crane structure state data of each inspection area of ​​the tower crane structure, and obtain the crack wave pulse damage index, vibration impact damage index, temperature-pull coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each inspection area of ​​the tower crane structure; comprehensive analysis An analysis unit is used to comprehensively analyze the crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each area to be inspected of the tower crane structure, so as to obtain the regional comprehensive damage index of each area to be inspected of the tower crane structure; a level division unit is used to judge and divide the regional comprehensive damage index of each area to be inspected of the tower crane structure based on a preset damage assessment interval, so as to obtain the regional damage level of each area to be inspected of the tower crane structure; an inspection unit is used to combine the regional damage level of each area to be inspected of the tower crane structure with a preset path planning algorithm, generate a regional inspection path for the tower crane structure, and transmit it to the inspection drone to perform damage inspection on the tower crane structure.

[0065] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0066] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A tower crane structure damage drone adaptive inspection method, characterized in that: The following steps are involved: Divide the tower crane structure into a number of inspection areas, and obtain the tower crane structure status data of each inspection area, wherein the tower crane structure status data includes crack wave pulse status data, vibration impact status data, temperature-tension coupling status data, wind pressure impact status data, and ground-change flexibility status data; Comprehensively analyze the tower crane structure status data of each area to be inspected in the tower crane structure, obtain the crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each area to be inspected in the tower crane structure, and conduct comprehensive analysis to obtain the regional comprehensive damage index of each area to be inspected in the tower crane structure; Based on the preset damage assessment interval, the regional comprehensive damage index of each area to be inspected of the tower crane structure is judged and divided to obtain the regional damage level of each area to be inspected of the tower crane structure; The regional damage level of each area to be inspected of the tower crane structure is combined with a preset path planning algorithm to generate a regional inspection path for the tower crane structure, and the path is transmitted to the inspection drone to perform damage inspection on the tower crane structure. The specific formula for calculating the regional comprehensive damage index of each area to be inspected of the tower crane structure is as follows: ； in, , , , , , The tower crane structure is The regional comprehensive damage index, crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of the area to be inspected are , , , , They are the crack wave pulse damage adjustment coefficient, vibration impact damage adjustment coefficient, temperature-tension coupling damage adjustment coefficient, wind pressure impact damage adjustment coefficient, and ground-change flexible damage adjustment coefficient stored in the database. =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

2. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The crack wave pulse state data includes the crack width value, crack depth value, and crack length value of each crack. The specific steps of obtaining the crack wave pulse damage index of each area to be inspected of the tower crane structure are as follows: Read the crack width value and crack depth value of each crack in each area to be inspected of the tower crane structure, and perform comparative analysis to obtain the maximum crack width value and maximum crack depth value of each area to be inspected of the tower crane structure; The crack morphology index and the maximum allowable crack length parameter value of each area to be inspected of the tower crane structure are obtained, and the maximum crack width value and the maximum crack depth value of the corresponding area to be inspected, as well as the crack width value, crack depth value and crack length value of each crack are comprehensively analyzed to obtain the crack wave pulse damage index of each area to be inspected of the tower crane structure. The calculation formula is as follows: ； in, The tower crane structure The crack wave pulse damage index of the area to be inspected, , The tower crane structure is The first area to be inspected The crack width and crack depth of the crack. , The tower crane structure is The maximum crack width and maximum crack depth of the area to be inspected. The tower crane structure The first area to be inspected The crack length value of the crack, , The tower crane structure is The maximum allowable crack length parameter value and crack morphology index of the area to be inspected, =1, 2, 3, ..., , is the number of areas to be inspected in the tower crane structure, =1, 2, 3, ..., , is the number of cracks in the area to be inspected.

3. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The vibration impact state data includes a vibration amplitude value, a vibration frequency value, and a vibration phase difference value. The specific steps for obtaining the vibration impact damage index of each area to be inspected of the tower crane structure are as follows: Acquire vibration parameter data of each area to be inspected of the tower crane structure, wherein the vibration parameter data includes a vibration amplitude parameter value and a vibration frequency parameter value; The vibration amplitude value, vibration frequency value and vibration phase difference value of each area to be inspected of the tower crane structure are comprehensively analyzed in combination with the vibration parameter data of the corresponding area to obtain the vibration impact damage index of each area to be inspected of the tower crane structure.

4. The tower crane structure damage drone adaptive inspection method according to claim 3 is characterized in that: The specific formula for calculating the vibration impact damage index of each area to be inspected of the tower crane structure is as follows: ； in, , , , , , The tower crane structure is The vibration impact damage index, vibration amplitude value, vibration amplitude parameter value, vibration frequency value, vibration frequency parameter value, and vibration phase difference value of each area to be inspected. , , They are the vibration amplitude adjustment factor, vibration frequency adjustment coefficient, and vibration phase difference adjustment coefficient stored in the database, respectively. =1, 2, 3, ..., , It is the number of areas to be inspected of the tower crane structure.

5. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The temperature-tension coupling state data includes temperature change value and stress value. The specific steps of obtaining the temperature-tension coupling damage index of each area to be inspected of the tower crane structure are as follows: Acquire temperature-tension coupling parameter data of each area to be inspected of the tower crane structure, wherein the temperature-tension coupling parameter data includes temperature change parameter values ​​and stress parameter values; The temperature change value and stress value of each area to be inspected of the tower crane structure are comprehensively analyzed in combination with the temperature-tension coupling parameter data of the corresponding area to be inspected, so as to obtain the temperature-tension coupling damage index of each area to be inspected of the tower crane structure.

6. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The wind pressure impact state data includes the current wind speed value and the historical wind speed values ​​at several historical time points. The specific steps for obtaining the wind pressure impact damage index of each area to be inspected of the tower crane structure are as follows: Read the historical wind speed values ​​of each area to be inspected of the tower crane structure at several historical time points, and perform mean analysis to obtain the mean wind speed value of each area to be inspected of the tower crane structure; Perform difference analysis on the current wind speed value and the wind speed mean value of each area to be inspected of the tower crane structure to obtain the wind speed difference of each area to be inspected of the tower crane structure; The wind speed parameter value of each area to be inspected of the tower crane structure is obtained, and a comprehensive analysis is performed in combination with the current wind speed value and the wind speed difference of the corresponding area to be inspected to obtain the wind pressure impact damage index of each area to be inspected of the tower crane structure.

7. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The ground-change flexibility state data includes foundation settlement value and inclination angle value. The specific steps of obtaining the ground-change flexibility damage index of each area to be inspected of the tower crane structure are as follows: Acquire settlement parameter data of each area to be inspected of the tower crane structure, wherein the settlement parameter data includes a foundation settlement parameter value and an inclination angle parameter value; The foundation settlement value and inclination angle value of each area to be inspected of the tower crane structure are comprehensively analyzed in combination with the settlement parameter data of the corresponding area to be inspected, so as to obtain the ground-change flexibility damage index of each area to be inspected of the tower crane structure.

8. The tower crane structure damage drone adaptive inspection method according to claim 1 is characterized in that: The specific steps for generating the regional inspection path of the tower crane structure are as follows: Read the regional damage level of each area to be inspected of the tower crane structure, and arrange them in descending order to obtain a damage level sequence of the area to be inspected of the tower crane structure; Based on the preset path planning algorithm, the damage level sequence of the inspection area of ​​the tower crane structure is planned to generate the regional inspection path of the tower crane structure, including weight adjustment planning, dynamic path optimization, shortest path selection planning, and path overlap avoidance planning.

9. A tower crane structure damage drone adaptive inspection system, using the tower crane structure damage drone adaptive inspection method according to any one of claims 1 to 8, characterized in that: include: A division acquisition unit is used to divide the tower crane structure into a plurality of areas to be inspected, and acquire the tower crane structure state data of each area to be inspected, wherein the tower crane structure state data includes crack wave pulse state data, vibration impact state data, temperature-tension coupling state data, wind pressure impact state data, and ground-change flexibility state data; The damage analysis unit is used to comprehensively analyze the tower crane structure status data of each area to be inspected for the tower crane structure, and obtain the crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each area to be inspected for the tower crane structure; A comprehensive analysis unit is used to comprehensively analyze the crack wave pulse damage index, vibration impact damage index, temperature-tension coupling damage index, wind pressure impact damage index, and ground-change flexibility damage index of each area to be inspected of the tower crane structure, and obtain a regional comprehensive damage index of each area to be inspected of the tower crane structure; A level division unit is used to judge and divide the regional comprehensive damage index of each area to be inspected of the tower crane structure based on a preset damage assessment interval, so as to obtain the regional damage level of each area to be inspected of the tower crane structure; The inspection unit is used to combine the regional damage level of each area to be inspected of the tower crane structure with a preset path planning algorithm, generate a regional inspection path for the tower crane structure, and transmit it to the inspection drone to perform damage inspection on the tower crane structure.

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