Remote monitoring method and system suitable for tower crane

Abstract

The invention is suitable for the technical field of crane monitoring, and provides a remote monitoring method and system suitable for a tower crane, and the method comprises the steps: firstly obtaining the historical image set information of a to-be-monitored crane, then effectively determining the core recheck position information according to the historical image set information and a preset target detection algorithm, and obtaining the core recheck position information; the method comprises the following steps: acquiring core reinspection position information of a crane to be monitored, quickly generating unmanned aerial vehicle detection path information based on the core reinspection position information, then acquiring real-shot image set information of the crane to be monitored based on the unmanned aerial vehicle detection path information, and finally accurately generating monitoring result information based on the real-shot image set information. According to the invention, the detection efficiency can be improved, the safety risk caused by manual operation can be reduced, remote monitoring is carried out by using a modern technical means, data and images of a high-altitude position can be obtained in real time, more comprehensive and accurate information is provided for decision making, and the maintenance and management of the tower crane are more scientific and intelligent.

Description

Technical Field

[0001] This application relates to the technical field of crane monitoring. Specifically, it relates to a remote monitoring method and system applicable to tower cranes. Background Art

[0002] A tower crane is a type of lifting equipment commonly used in construction sites, mainly used for lifting and moving heavy objects. Its structure usually consists of a tower body, a rotating arm, a hook, a counterweight, and a cab, etc. Tower cranes are favored because of their adjustable height and strong load capacity.

[0003] Currently, in order to ensure the safe operation of tower cranes, maintenance personnel usually need to regularly detect the working status of tower cranes. Traditional detection methods usually require maintenance personnel to first climb to the high place of the tower crane and then use detection tools to conduct various inspections. The whole process takes a long time and there is a problem of low detection efficiency, which needs to be further improved. Summary of the Invention

[0004] Based on this, the embodiments of this application provide a remote monitoring method and system applicable to tower cranes to solve the problem of low detection efficiency in the prior art.

[0005] In the first aspect, the embodiments of this application provide a remote monitoring method applicable to tower cranes. The method includes:

[0006] Obtain the historical image set information of the crane to be monitored, where the historical image set information includes multiple historical image information;

[0007] Determine the core re-inspection position information according to the historical image set information and a preset target detection algorithm;

[0008] Generate the UAV detection path information based on the core re-inspection position information;

[0009] Obtain the actual captured image set information of the crane to be monitored based on the UAV detection path information;

[0010] Generate the monitoring result information based on the actual captured image set information.

[0011] The beneficial effects compared with the prior art are as follows: For the remote monitoring method applicable to tower cranes provided in the embodiments of the present application, the terminal device can first obtain the historical image set information of the crane to be monitored, then effectively determine the core re-inspection position information according to the historical image set information and the preset target detection algorithm, then quickly generate the UAV detection path information based on the core re-inspection position information, then obtain the actual captured image set information of the crane to be monitored based on the UAV detection path information, and finally accurately generate the monitoring result information based on the actual captured image set information, thus omitting the link of maintenance personnel climbing to the high position of the tower crane, shortening the entire monitoring process, effectively improving the detection efficiency, and solving the problem of relatively low current detection efficiency to a certain extent.

[0012] In a second aspect, the embodiments of the present application provide a remote monitoring system applicable to tower cranes, and the system includes:

[0013] Historical image set information acquisition module: used to acquire the historical image set information of the crane to be monitored, where the historical image set information includes a plurality of historical image information;

[0014] Core re-inspection position information determination module: used to determine the core re-inspection position information according to the historical image set information and the preset target detection algorithm;

[0015] UAV detection path information generation module: used to generate UAV detection path information based on the core re-inspection position information;

[0016] Actual captured image set information acquisition module: used to acquire the actual captured image set information of the crane to be monitored based on the UAV detection path information;

[0017] Monitoring result information generation module: used to generate monitoring result information based on the actual captured image set information.

[0018] In a third aspect, the embodiments of the present application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method in the first aspect as described above are implemented.

[0019] In a fourth aspect, the embodiments of the present application provide a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the method in the first aspect as described above are implemented.

[0020] It can be understood that the beneficial effects of the second to fourth aspects as described above can refer to the relevant descriptions in the first aspect, and will not be repeated here. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art.

[0022] Figure 1 It is a schematic flowchart of a remote monitoring method provided by an embodiment of the present application;

[0023] Figure 2 It is a schematic flowchart of step S200 in the remote monitoring method provided by an embodiment of the present application;

[0024] Figure 3 It is a schematic flowchart of step S300 in the remote monitoring method provided by an embodiment of the present application;

[0025] Figure 4 It is a schematic flowchart of step S500 in the remote monitoring method provided by an embodiment of the present application;

[0026] Figure 5 It is a schematic flowchart after step S500 in the remote monitoring method provided by an embodiment of the present application;

[0027] Figure 6 It is a block diagram of a remote monitoring system provided by an embodiment of the present application;

[0028] Figure 7 It is a schematic diagram of a terminal device provided by an embodiment of the present application. Detailed implementation manners

[0029] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system architectures and technologies are proposed to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0030] In the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all of the embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0032] To illustrate the technical solutions described in this application, the following will be described through specific embodiments.

[0033] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a remote monitoring method applicable to a tower crane provided by an embodiment of this application. In this embodiment, the execution subject of the remote monitoring method is a terminal device. It can be understood that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc., and the specific types of terminal devices are not limited in any way in the embodiments of this application.

[0034] Please refer to Figure 1 , the remote monitoring method provided by the embodiments of this application includes but is not limited to the following steps:

[0035] In S100, obtain the historical image set information of the crane to be monitored.

[0036] Specifically, the terminal device can first obtain the historical image set information of the crane to be monitored based on a drone. Among them, a high-precision industrial camera can be pre-installed on the fuselage of the drone; the terminal device can accurately control the drone to fly orderly along a preset flight path to monitor the crane to be monitored. During the flight of the drone, the equipped industrial camera can continuously capture multiple positions of the crane to be monitored and collect image data in real time.

[0037] Without loss of generality, the historical image set information includes multiple historical image information, and the historical image information is used to describe the images obtained by the industrial camera equipped on the drone when it photographed the crane to be monitored historically.

[0038] In S200, determine the core re-inspection position information according to the historical image set information and a preset target detection algorithm.

[0039] Specifically, after the terminal device obtains the historical image set information, the terminal device can perform object detection processing on each piece of historical image information in the historical image set information based on a preset object detection algorithm, and detect the physical damage positions of the crane to be monitored, such as the positions where physical damages such as cracks, deformations, or corrosions occur in parts such as the boom, legs, or connectors of the crane to be monitored, effectively determining the core re-inspection position information. Among them, the object detection algorithm can be an object detection algorithm based on R-CNN (Region-based Convolutional Neural Networks), an object detection algorithm based on Fast R-CNN, or an object detection algorithm based on SSD (Single Shot MultiBox Detector); the core re-inspection position information is used to describe the parts of the crane to be monitored that most need to be re-inspected.

[0040] In some possible implementation manners, in order to implement the determination of the core re-inspection position information, please refer to Figure 2 , step S200 includes but is not limited to the following steps:

[0041] In S210, for each piece of historical image information in the historical image set information: based on a preset object detection algorithm, perform object detection processing on the historical image information to determine the structural damage area information.

[0042] Specifically, the terminal device can first perform this processing on each piece of historical image information in the historical image set information: based on a preset object detection algorithm, perform object detection processing on the historical image information, extract the areas where physical damages such as cracks, deformations, or corrosions occur in parts such as the boom, legs, or connectors of the crane to be monitored through the object detection results, and record the positions, sizes, and other relevant attributes of these areas, quickly determining the structural damage area information.

[0043] In S220, obtain the associated position information of the target image information.

[0044] Specifically, after the terminal device determines the structural damage area information, the terminal device can obtain the associated position information of the target image information, where the target image information is used to describe the historical image information containing the structural damage area information, and the associated position information is used to describe the area position associated with the target image information.

[0045] In S230, determine the associated position information as the core re-inspection position information.

[0046] Specifically, after the terminal device obtains the associated position information, the terminal device can effectively determine the associated position information as the core re-inspection position information.

[0047] In S300, based on the core re-inspection position information, the drone detection path information is generated.

[0048] Specifically, after the terminal device determines the core re-inspection position information, the terminal device can generate the drone detection path information based on the core re-inspection position information, so that the drone can perform targeted re-detection on the area that most needs attention, facilitating the effective evaluation of the severity of the structural damage and its evolution trend. This not only improves the accuracy of monitoring but also provides important data basis for subsequent timely maintenance measures to ensure the structural safety of the crane to be monitored.

[0049] In some possible implementation manners, to improve the effectiveness of the drone detection path information, please refer to Figure 3 , step S300 includes but is not limited to the following steps:

[0050] In S310, the preset path start point information and path end point information are obtained.

[0051] Specifically, the terminal device can first obtain the preset path start point information and path end point information. Among them, the path start point information is used to describe the preset start point of the drone flight path, and the path end point information is used to describe the preset end point of the drone flight path.

[0052] In S320, based on the preset three-dimensional crane model information and the core re-inspection position information, the core position coordinate information is determined.

[0053] Specifically, after the terminal device obtains the path start point information and path end point information, the terminal device can accurately locate the specific coordinates of the core re-inspection position information in the model based on the preset three-dimensional crane model information, and then determine the core position coordinate information. Among them, the three-dimensional crane model information is used to describe the three-dimensional model of the crane to be monitored, and the core position coordinate information is used to describe the position coordinates of the core re-inspection position information in the three-dimensional crane model information.

[0054] In S330, based on the core position coordinate information and the preset shooting distance information, the shooting position coordinate information is generated.

[0055] Specifically, after the terminal device determines the core position coordinate information, the terminal device can use the core position coordinate information as the base point and use the preset shooting distance information as the interval between the drone and the crane to be monitored to quickly generate the shooting position coordinate information. Among them, the distance between the shooting position coordinate information and the core position coordinate information is the shooting distance information, and the line connecting the shooting position coordinate information and the core position coordinate information is perpendicular to the three-dimensional crane model information.

[0056] In S340, drone detection path information is generated successively based on the path start point information, the shooting position coordinate information, and the path end point information.

[0057] Specifically, after the terminal device generates the shooting position coordinate information, the terminal device can successively generate drone detection path information based on the path start point information, the shooting position coordinate information, and the path end point information. Among them, the start point of the drone detection path information is the path start point information; the route node of the drone detection path information is the shooting position coordinate information; the end point of the drone detection path information is the path end point information.

[0058] In S400, based on the drone detection path information, the actual image set information of the crane to be monitored is obtained.

[0059] Specifically, after the terminal device generates the drone detection path information, the terminal device can, based on the drone detection path information, control the drone to reach the shooting position coordinate information and then shoot the area with physical damage again, enabling the drone to monitor the crane to be monitored at a closer distance and obtain the actual image set information of the crane to be monitored.

[0060] In S500, based on the actual image set information, the monitoring result information is generated.

[0061] Specifically, after the terminal device obtains the actual image set information, the terminal device can accurately generate the monitoring result information based on the actual image set information. Among them, the monitoring result information is damage confirmation information or no damage confirmation information. The damage confirmation information is used to describe that there is indeed physical damage to a part of the crane to be monitored, and the no damage confirmation information is used to describe that it is confirmed that there is no physical damage to a part of the crane to be monitored.

[0062] In some possible implementation manners, in order to generate effective monitoring result information, step S400 includes but is not limited to the following steps:

[0063] In S410, based on the drone detection path information, the actual image set information of the crane to be monitored is obtained.

[0064] Specifically, the terminal device can obtain the actual image set information of the crane to be monitored based on the drone detection path information. Among them, the actual image set information includes multiple actual image information, and the shooting coordinate of the actual image information is the shooting position coordinate information, that is, the actual image information is obtained by shooting the crane to be monitored when the drone reaches the shooting coordinate of the actual image information.

[0065] Correspondingly, please refer to Figure 4 , the above step S500 includes but is not limited to the following steps: including:

[0066] In S510, based on the object detection algorithm, it is determined whether there is structural damage area information in any real-shot image information.

[0067] Specifically, the terminal device can determine whether there is structural damage area information in any real-shot image information based on the object detection algorithm. Among them, the specific process of determining whether there is structural damage area information can refer to the relevant description in step S210 above.

[0068] In S520, if there is structural damage area information in any real-shot image information, damage confirmation information is generated; otherwise, no-damage confirmation information is generated.

[0069] Specifically, if there is structural damage area information in any real-shot image information, the terminal device can generate damage confirmation information; if there is no structural damage area information in any real-shot image information, the terminal device can generate no-damage confirmation information.

[0070] In some possible implementation manners, in order to facilitate maintenance personnel to efficiently and simply know the specific situation of the crane to be monitored, please refer to Figure 5 ., if the monitoring result information is damage confirmation information, after step S500, the method further includes but is not limited to the following steps:

[0071] In S600, based on the core position coordinate information, the three-dimensional crane model information is marked to generate a highlighted model information.

[0072] Specifically, the terminal device can mark the three-dimensional crane model information based on the core position coordinate information, highlight and mark the core position coordinate information in the three-dimensional crane model information to generate the highlighted model information, where the highlighted model information is used to describe the three-dimensional crane model information after highlighting.

[0073] In S610, the highlighted model information is sent to a specified display terminal.

[0074] Specifically, after the terminal device generates the highlighted model information, the terminal device can send the highlighted model information to a specified display terminal, which is beneficial for maintenance personnel to efficiently and simply know the specific situation of the crane to be monitored and greatly improves the detection efficiency. Among them, the display terminal can be the display device corresponding to the terminal of the maintenance personnel, and the display terminal can be a visualization large screen.

[0075] The implementation principle of the remote monitoring method applicable to tower cranes in the embodiments of the present application is as follows: The terminal device can first obtain the historical image set information of the crane to be monitored, then effectively determine the core re-inspection position information according to the historical image set information and a preset target detection algorithm, and then quickly generate the drone detection path information based on the core re-inspection position information. Then, based on the drone detection path information, obtain the real-shot image set information of the crane to be monitored, and finally accurately generate the monitoring result information based on the real-shot image set information, thus omitting the link of maintenance personnel climbing to the high place of the tower crane, shortening the entire monitoring process, and effectively improving the detection efficiency.

[0076] It should be noted that the magnitudes of the sequence numbers of the steps in the above embodiments do not indicate the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0077] The embodiments of the present application also provide a remote monitoring system applicable to tower cranes. For the convenience of description, only the parts related to the present application are shown, as Figure 6 shown. The system 60 includes:

[0078] Historical image set information acquisition module 61: used to acquire the historical image set information of the crane to be monitored, where the historical image set information includes a plurality of historical image information;

[0079] Core re-inspection position information determination module 62: used to determine the core re-inspection position information according to the historical image set information and a preset target detection algorithm;

[0080] Drone detection path information generation module 63: used to generate the drone detection path information based on the core re-inspection position information;

[0081] Real-shot image set information acquisition module 64: used to acquire the real-shot image set information of the crane to be monitored based on the drone detection path information;

[0082] Monitoring result information generation module 65: used to generate the monitoring result information based on the real-shot image set information.

[0083] Optionally, the above core re-inspection position information determination module 62 includes:

[0084] Structural damage area information determination sub-module: for each historical image information in the historical image set information: based on a preset target detection algorithm, perform target detection processing on the historical image information to determine the structural damage area information;

[0085] Associated position information acquisition sub-module: used to acquire the associated position information of the target image information, where the target image information is used to describe the historical image information including the structural damage area information;

[0086] Core re-inspection position information determination sub-module: used to determine that the associated position information is the core re-inspection position information.

[0087] Optionally, the above-mentioned UAV detection path information generation module 63 includes:

[0088] Path starting point information acquisition sub-module: used to acquire the preset path starting point information and path ending point information;

[0089] Core position coordinate information determination sub-module: used to determine the core position coordinate information based on the preset three-dimensional crane model information and the core re-inspection position information;

[0090] Shooting position coordinate information generation sub-module: used to generate the shooting position coordinate information according to the core position coordinate information and the preset shooting distance information, where the distance between the shooting position coordinate information and the core position coordinate information is the shooting distance information, and the connection line between the shooting position coordinate information and the core position coordinate information is perpendicular to the three-dimensional crane model information;

[0091] UAV detection path information generation sub-module: used to sequentially generate the UAV detection path information according to the path starting point information, the shooting position coordinate information and the path ending point information.

[0092] Optionally, the monitoring result information is damage confirmation information or no damage confirmation information; the above-mentioned actual shooting image set information acquisition module 64 includes:

[0093] Actual shooting image set information acquisition sub-module: used to acquire the actual shooting image set information of the crane to be monitored based on the UAV detection path information, where the actual shooting image set information includes multiple actual shooting image information, and the shooting coordinates of the actual shooting image information are the shooting position coordinate information;

[0094] Correspondingly, the above-mentioned monitoring result information generation module 65 includes:

[0095] Actual shooting image information judgment sub-module: used to judge whether there is structural damage area information in any actual shooting image information based on the target detection algorithm;

[0096] Damage confirmation information generation sub-module: used to generate damage confirmation information if there is structural damage area information in any actual shooting image information, otherwise generate no damage confirmation information.

[0097] Optionally, if the monitoring result information is damage confirmation information, the system 60 further includes:

[0098] Highlight model information generation module: used to perform marking processing on the three-dimensional crane model information based on the core position coordinate information to generate highlight model information;

[0099] Highlight model information sending module: used to send the highlight model information to a specified display terminal.

[0100] It should be noted that for the information interaction, execution process, etc. between the above modules, since they are based on the same concept as the method embodiment of this application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, which will not be elaborated here.

[0101] The embodiment of this application also provides a terminal device, such as Figure 7 shown. The terminal device 70 in this embodiment includes: a processor 71, a memory 72, and a computer program 73 stored in the memory 72 and operable on the processor 71. When the processor 71 executes the computer program 73, the steps in the above remote monitoring method embodiment are implemented, such as Figure 1 the steps S100 to S500 shown; or, when the processor 71 executes the computer program 73, the functions of each module in the above device are implemented, such as Figure 6 the functions of the modules 61 to 65 shown.

[0102] The terminal device 70 can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server, and the terminal device 70 includes but is not limited to a processor 71 and a memory 72. Those skilled in the art can understand that Figure 7 this is only an example of the terminal device 70, and does not constitute a limitation on the terminal device 70. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the terminal device 70 may also include input and output devices, network access devices, buses, etc.

[0103] Among them, the processor 71 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0104] The memory 72 can be an internal storage unit of the terminal device 70, such as the hard disk or memory of the terminal device 70. The memory 72 can also be an external storage device of the terminal device 70, such as a plug-in hard disk equipped on the terminal device 70, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 72 can also include both the internal storage unit of the terminal device 70 and the external storage device. The memory 72 can also store the computer program 73 and other programs and data required by the terminal device 70. The memory 72 can also be used to temporarily store the data that has been output or will be output.

[0105] An embodiment of the present application further provides a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0106] The above are all the preferred embodiments of the present application. The protection scope of the present application is not limited accordingly. Therefore, all equivalent changes made according to the method, principle, and structure of the present application should be covered within the protection scope of the present application.

Claims

1. A remote monitoring method applicable to tower cranes, characterized in that, The method includes: Obtaining historical image set information of the crane to be monitored, where the historical image set information includes a plurality of historical image information; Determining core re-inspection position information according to the historical image set information and a preset target detection algorithm; Generating UAV detection path information based on the core re-inspection position information; Obtaining real-shot image set information of the crane to be monitored based on the UAV detection path information; Generating monitoring result information based on the real-shot image set information.

2. The method according to claim 1, wherein The determining core re-inspection position information according to the historical image set information and a preset target detection algorithm includes: For each of the historical image information in the historical image set information: Based on the preset target detection algorithm, performing target detection processing on the historical image information to determine structural damage area information; Obtaining associated position information of the target image information, where the target image information is used to describe the historical image information including the structural damage area information; Determining the associated position information as the core re-inspection position information.

3. The method according to claim 2, characterized in that, The generating UAV detection path information based on the core re-inspection position information includes: Obtaining preset path start point information and path end point information; Determining core position coordinate information based on the preset three-dimensional crane model information and the core re-inspection position information; Generating shooting position coordinate information according to the core position coordinate information and preset shooting distance information, where the distance between the shooting position coordinate information and the core position coordinate information is the shooting distance information, and the connection line between the shooting position coordinate information and the core position coordinate information is perpendicular to the three-dimensional crane model information; Generating UAV detection path information in sequence according to the path start point information, the shooting position coordinate information, and the path end point information.

4. The method according to claim 3, characterized in that The monitoring result information is damage confirmation information or no-damage confirmation information; the obtaining real-shot image set information of the crane to be monitored based on the UAV detection path information includes: Obtaining real-shot image set information of the crane to be monitored based on the UAV detection path information, where the real-shot image set information includes a plurality of real-shot image information, and the shooting coordinates of the real-shot image information are the shooting position coordinate information; Correspondingly, the generating monitoring result information based on the real-shot image set information includes: Based on the target detection algorithm, determining whether any of the real-shot image information has the structural damage area information; If any of the real-shot image information has the structural damage area information, generating the damage confirmation information, otherwise generating the no-damage confirmation information.

5. The method according to claim 4, characterized in that, If the monitoring result information is the damage confirmation information, after generating the monitoring result information based on the real-shot image set information, the method further includes: Performing a marking process on the three-dimensional crane model information based on the core position coordinate information to generate a highlighted model information; Sending the highlighted model information to a specified display terminal.

6. A remote monitoring system applicable to tower cranes, characterized in that, The system includes: Historical Image Set Information Acquisition Module: It is used to acquire the historical image set information of the crane to be monitored, where the historical image set information includes multiple historical image information; Core Re-inspection Position Information Determination Module: It is used to determine the core re-inspection position information according to the historical image set information and a preset target detection algorithm; UAV Detection Path Information Generation Module: It is used to generate UAV detection path information based on the core re-inspection position information; Actual Shooting Image Set Information Acquisition Module: It is used to acquire the actual shooting image set information of the crane to be monitored based on the UAV detection path information; Monitoring Result Information Generation Module: It is used to generate monitoring result information based on the actual shooting image set information.

7. The system according to claim 6, characterized in that, The core re-inspection position information determination module includes: Structural Damage Area Information Determination Sub-module: For each of the historical image information in the historical image set information: Based on a preset target detection algorithm, perform target detection processing on the historical image information to determine the structural damage area information; Associated Position Information Acquisition Sub-module: It is used to acquire the associated position information of the target image information, where the target image information is used to describe the historical image information containing the structural damage area information; Core Re-inspection Position Information Determination Sub-module: It is used to determine the associated position information as the core re-inspection position information.

8. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 5.

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