Safety monitoring method and device for hoisting under existing structure based on reverse modeling

Abstract

The invention provides a reverse modeling-based safety monitoring method and device for hoisting under an existing structure. The method comprises the following steps: acquiring a flight path of an unmanned aerial vehicle, controlling the unmanned aerial vehicle to acquire point cloud data of an existing structure according to a preset method according to the flight path, and processing the point cloud data through preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure; inputting the three-dimensional model of the existing structure and a preset hoisting machinery model into a preset safety monitoring platform, carrying out hoisting operation simulation, determining an optimal working condition according to a hoisting operation simulation result, and carrying out hoisting operation; according to the method, the hoisting working condition is simulated through three-dimensional scanning and reverse modeling, and the optimal working condition is determined according to the preset collision distance threshold value, so that safe monitoring of hoisting is accurately and efficiently carried out under the existing structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting equipment monitoring, in particular to a hoisting safety monitoring method and device for existing structures based on reverse modeling. BACKGROUND

[0002] When hoisting operations are carried out in or near existing buildings, traditional hoisting operations require drivers and command personnel to have high professional technical knowledge and rich operating experience. However, some construction personnel may not have received systematic training or lack practical experience, and at the same time, unreasonable crane station, unsatisfactory operation trajectory, non-standard hoisting operation, unclear command and other problems may endanger construction safety and the safety of surrounding buildings. Therefore, an innovative hoisting operation safety monitoring and warning method is urgently needed.

[0003] In view of the above problems, an effective technical solution is urgently needed. SUMMARY

[0004] The purpose of the present application is to provide a hoisting safety monitoring method and device for existing structures based on reverse modeling, which can simulate hoisting conditions through three-dimensional scanning and reverse modeling, and determine the optimal condition according to a preset collision distance threshold, thereby realizing accurate and efficient safety monitoring of hoisting under existing structures.

[0005] The present application also provides a hoisting safety monitoring method for existing structures based on reverse modeling, comprising the following steps:

[0006] Obtaining the flight path of the unmanned aerial vehicle;

[0007] According to the flight path, the unmanned aerial vehicle collects point cloud data of the existing structure according to a preset method, and processes it through a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure;

[0008] Inputting the three-dimensional model of the existing structure and a preset hoisting machinery model into a preset safety monitoring platform and simulating hoisting operations;

[0009] Determining the optimal condition according to the simulation results of hoisting operations and performing hoisting operations.

[0010] Optionally, in the hoisting safety monitoring method for existing structures based on reverse modeling described in the present application, the flight path of the unmanned aerial vehicle is obtained, comprising:

[0011] Obtaining the first position data and flight speed of the unmanned aerial vehicle;

[0012] Processing the first position data and flight speed in combination with the second position data and safety radius of a preset obstacle to obtain the fastest collision time between the unmanned aerial vehicle and the obstacle;

[0013] An angle between a flight speed of the unmanned aerial vehicle and a horizontal plane is obtained.

[0014] The collision cone angle range of the unmanned aerial vehicle is obtained by processing the fastest collision time and the flight angle in combination with a preset gravity acceleration, and includes a horizontal collision cone angle range and a vertical collision cone angle range.

[0015] An initial position and a target position of the unmanned aerial vehicle are obtained.

[0016] The flight path of the unmanned aerial vehicle is obtained by processing the horizontal collision cone angle range and the vertical collision cone angle range in combination with the initial position and the target position by a preset path planning method.

[0017] Optionally, in the method for monitoring the safety of hoisting under the existing structure based on reverse modeling, the unmanned aerial vehicle collects point cloud data of the existing structure according to a preset method according to the flight path, and processes the point cloud data by a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure, including:

[0018] The unmanned aerial vehicle collects point cloud data of the existing structure according to a preset resolution according to the flight path.

[0019] The point cloud data includes three-dimensional coordinates, reflection intensity data and color attribute feature data of the existing structure.

[0020] The three-dimensional coordinates, the reflection intensity data and the color attribute feature data are processed by a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure.

[0021] Optionally, in the method for monitoring the safety of hoisting under the existing structure based on reverse modeling, the three-dimensional model of the existing structure and a preset hoisting machinery model are input into a preset safety monitoring platform, and hoisting operation simulation is performed, including:

[0022] The three-dimensional model of the existing structure and the preset hoisting machinery model are input into a preset safety monitoring platform, and block division is performed to obtain a hoisting model block and an existing building model block.

[0023] Coordinates are extracted according to the hoisting model block and the existing building model block to obtain hoisting model block coordinates and existing building model block coordinates.

[0024] Feature point coordinates corresponding to preset feature points are extracted according to the existing building model block coordinates.

[0025] Initial station coordinates, hoist arm extension sizes, hoisting angles and rotation angles of different hoisting conditions are obtained and input into a preset hoist arm endpoint calculation model for processing to obtain hoist arm endpoint coordinates.

[0026] The crane end point coordinates and the feature point coordinates are input into a preset safety distance prediction model for processing to obtain real-time safety distances corresponding to preset feature points;

[0027] The real-time safety distances are compared with a preset collision distance threshold to obtain a hoisting safety level, including a safety level or a danger level.

[0028] Optionally, in the hoisting safety monitoring method for existing structures based on reverse modeling, the optimal working condition is determined according to the hoisting operation simulation result, and the hoisting operation is performed, including:

[0029] The real-time safety distances are processed by weighted mean value processing to obtain a hoisting safety distance corresponding to the hoisting working condition;

[0030] The hoisting safety distances are arranged in ascending order to obtain a hoisting safety distance list corresponding to the hoisting working condition;

[0031] The hoisting working condition with the largest hoisting safety distance is determined as the optimal working condition, and the hoisting operation is performed.

[0032] Optionally, in the hoisting safety monitoring method for existing structures based on reverse modeling, the method further includes:

[0033] The hoisting model block coordinates corresponding to different time points are compared to obtain a hoisting model block coordinate deviation rate;

[0034] The hoisting model block coordinate deviation rate is compared with a preset coordinate offset threshold;

[0035] If the hoisting model block coordinate deviation rate is less than or equal to the preset coordinate offset threshold, it is determined that the hoisting equipment is operating normally;

[0036] If the hoisting model block coordinate deviation rate is greater than the preset coordinate offset threshold, it is determined that the hoisting equipment has a rollover risk, and a warning response is output.

[0037] Optionally, in the hoisting safety monitoring method for existing structures based on reverse modeling, the method further includes:

[0038] The hoisting safety distances are compared with a preset upper limit safety distance threshold and a preset lower limit safety distance threshold, respectively;

[0039] If the hoisting safety distance is greater than or equal to the preset upper limit safety distance threshold, the hoisting is normal;

[0040] If the hoisting safety distance is less than the preset upper limit safety distance threshold and greater than or equal to the preset lower limit safety distance threshold, an audible and visual warning is output;

[0041] If the hoisting safety distance is less than the preset lower limit safety distance threshold, the hoisting is stopped.

[0042] In a second aspect, the application provides a hoisting safety monitoring device for existing structures based on reverse modeling, characterized in that it comprises:

[0043] a hoisting monitoring device for monitoring hoisting operation in a hoisting simulation process and a hoisting process;

[0044] a hoisting operation safety warning device for outputting a warning and controlling hoisting operation after a hoisting collision warning is monitored in the hoisting simulation process and the hoisting process.

[0045] Optionally, in the hoisting safety monitoring device for existing structures based on reverse modeling, the hoisting monitoring device comprises:

[0046] a sensing module comprising a radar sensor for monitoring the real-time distance between the hoisting arm and the existing structure;

[0047] a wireless signal transmitting module for transmitting monitoring information and data;

[0048] a solar cell module for providing power for the hoisting monitoring device.

[0049] Optionally, in the hoisting safety monitoring device for existing structures based on reverse modeling, the hoisting operation safety warning device comprises:

[0050] a control module connected with other modules, responsible for executing program instructions, processing data and controlling the safety warning interlocking device to work in a specified order and steps through an internal central processing unit;

[0051] an audible and visual warning module connected with the control module, comprising a light module and a loudspeaker, wherein the light module comprises a safety prompt warning light, a maintenance work status indicator light and an identification indicator light, etc., and the loudspeaker comprises a horn and a buzzer for emitting sound and light;

[0052] an interlocking module connected with the control module, stopping the current action of the hoisting equipment according to the instructions of the control module;

[0053] a wireless communication module for data transmission;

[0054] a display module for displaying hoisting operation data and providing a basic user operation interface for operators.

[0055] As can be seen from the above, the hoisting safety monitoring method and device for existing structures based on reverse modeling provided by the application simulate hoisting conditions through three-dimensional scanning and reverse modeling, and determine the optimal condition according to a preset collision distance threshold, thereby realizing accurate and efficient safety monitoring of hoisting under existing structures.

[0056] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or can be learned by practice of the application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0058] Figure 1 The flowchart of the existing structure under-hoisting safety monitoring method based on reverse modeling provided by the embodiments of the present application;

[0059] Figure 2 The flowchart of obtaining the flight path of the unmanned aerial vehicle of the existing structure under-hoisting safety monitoring method based on reverse modeling provided by the embodiments of the present application;

[0060] Figure 3 The flowchart of obtaining the three-dimensional model of the existing structure of the existing structure under-hoisting safety monitoring method based on reverse modeling provided by the embodiments of the present application;

[0061] Figure 4 The structural diagram of the existing structure under-hoisting safety monitoring device based on reverse modeling of the embodiments of the present application;

[0062] Figure 5 The display device schematic diagram of the display module of the existing structure under-hoisting safety monitoring method based on reverse modeling of the embodiments of the present application. DETAILED DESCRIPTION

[0063] The technical solutions of the embodiments of the present application will be described clearly and completely in the embodiments of the present application combined with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of the present application.

[0064] It should be noted that like reference numerals and characters refer to like items throughout the attached drawings and alternative embodiments thereof, noting that, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

[0065] Please refer to Figure 1 , Figure 1 is a flowchart of a safety monitoring method for hoisting under an existing structure based on reverse modeling in some embodiments of the present application. The safety monitoring method for hoisting under an existing structure based on reverse modeling is used in a terminal device, such as a computer, a mobile phone terminal, etc. The safety monitoring method for hoisting under an existing structure based on reverse modeling includes the following steps:

[0066] S11, obtaining a flight path of a UAV;

[0067] S12, controlling the UAV to collect point cloud data of the existing structure according to a preset method according to the flight path, and processing through a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure;

[0068] S13, inputting the three-dimensional model of the existing structure and a preset hoisting machinery model into a preset safety monitoring platform, and simulating hoisting operation;

[0069] S14, determining an optimal working condition according to the simulation result of hoisting operation, and performing hoisting operation.

[0070] It should be noted that, in order to realize intelligent safety monitoring in the hoisting process, first, the UAV is used to scan the existing structure through three-dimensional scanning technology to obtain point cloud data and construct a three-dimensional model of the existing structure, then the three-dimensional model of the existing structure and a preset hoisting machinery model are input into a preset safety monitoring platform, and hoisting operation simulation is performed, the real-time safety distance between the end point of the hoisting arm and the preset feature point is monitored, the optimal working condition is obtained, and hoisting operation is performed.

[0071] Please refer to Figure 2 , Figure 2 is a flowchart of obtaining a flight path of a UAV in a safety monitoring method for hoisting under an existing structure based on reverse modeling in some embodiments of the present application. According to the embodiment of the present application, the flight path of the UAV is obtained, including:

[0072] S21, obtaining first position data and flight speed of a UAV;

[0073] S22, processing according to the first position data and flight speed in combination with second position data and safety radius of a preset obstacle to obtain the fastest collision time of the UAV and the obstacle;

[0074] S23, obtain a flight speed of the unmanned aerial vehicle and a flight angle with a horizontal plane;

[0075] S24, process the fastest collision time and the flight angle in combination with a preset gravitational acceleration to obtain a collision cone angle range of the unmanned aerial vehicle, including a horizontal collision cone angle range and a vertical collision cone angle range;

[0076] S25, obtain an initial position and a target position of the unmanned aerial vehicle;

[0077] S26, process the horizontal collision cone angle range and the vertical collision cone angle range in combination with the initial position and the target position by a preset path planning method to obtain a flight path of the unmanned aerial vehicle.

[0078] It should be noted that, in order to utilize the unmanned aerial vehicle to scan the existing structure by the three-dimensional scanning technology to obtain the point cloud data, firstly, the first position data and the flight speed of the unmanned aerial vehicle and the second position data and the safety radius of the preset obstacle are input into a preset collision time prediction model for processing to obtain the fastest collision time of the unmanned aerial vehicle and the obstacle, wherein the preset collision time prediction model is obtained by training a large number of historical samples of the first position data and the flight speed and the second position data and the safety radius of the preset obstacle and the corresponding fastest collision time, further processing the fastest collision time and the flight angle in combination with the preset gravitational acceleration to obtain the collision cone angle range including the horizontal collision cone angle range and the vertical collision cone angle range, and finally processing the initial position and the target position of the unmanned aerial vehicle by the preset path planning method to obtain the flight path of the unmanned aerial vehicle, so as to control the unmanned aerial vehicle to fly and scan the existing structure.

[0079] Please refer to Figure 3 , Figure 3 is a flowchart of obtaining a three-dimensional model of the existing structure in the existing structure under-hoisting safety monitoring method based on reverse modeling in some embodiments of the present application. According to the embodiment of the present application, the unmanned aerial vehicle is controlled according to the flight path to collect the point cloud data of the existing structure according to a preset resolution, and the point cloud data is processed by a preset three-dimensional modeling software to obtain the three-dimensional model of the existing structure, including:

[0080] S31, the unmanned aerial vehicle is controlled according to the flight path to collect the point cloud data of the existing structure according to a preset resolution;

[0081] S32, the point cloud data includes three-dimensional coordinates, reflection intensity data and color attribute feature data of the existing structure;

[0082] S33, the three-dimensional coordinates, the reflection intensity data and the color attribute feature data are processed by a preset three-dimensional modeling software to obtain the three-dimensional model of the existing structure.

[0083] It should be noted that, in order to construct the three-dimensional model of the existing structure, the point cloud data including three-dimensional coordinates, reflection intensity data and color attribute feature data of the existing structure are collected, the size and shape of the measured object are expressed and recorded, and various three-dimensional models and mapping data of the measured object such as lines, surfaces, bodies and spaces can be quickly reconstructed.

[0084] According to the embodiment of the present application, the three-dimensional model of the existing structure and the preset hoisting machinery model are input into the preset safety monitoring platform, and the lifting operation simulation is carried out, which comprises:

[0085] The three-dimensional model of the existing structure and the preset hoisting machinery model are input into the preset safety monitoring platform, and the block division is carried out, so as to obtain the lifting model block and the existing building model block.

[0086] According to the lifting model block and the existing building model block, the coordinate extraction is carried out, so as to obtain the lifting model block coordinate and the existing building model block coordinate.

[0087] According to the existing building model block coordinate, the feature point coordinate corresponding to the preset feature point is extracted.

[0088] The initial station coordinate, the lifting arm extension size, the lifting angle and the rotation angle of different lifting conditions are obtained, and are input into the preset lifting arm endpoint calculation model for processing, so as to obtain the lifting arm endpoint coordinate.

[0089] The lifting arm endpoint coordinate and the feature point coordinate are input into the preset safety distance prediction model for processing, so as to obtain the real-time safety distance corresponding to the preset feature point.

[0090] The real-time safety distance and the preset collision distance threshold value are compared, so as to obtain the lifting safety level, including the safety level or the danger level.

[0091] It should be noted that the lifting process is simulated and the lifting working condition is evaluated. First, the existing structure three-dimensional model and the preset hoisting machinery model are input into the preset safety monitoring platform, and the block division is performed to obtain the lifting model block and the existing building model block. The lifting model block is divided into a base, a lifting arm and a lifting hook, and the existing building model block is divided into floors, walls and beam columns. The coordinates of the preset feature points corresponding to the feature points are determined, such as the end point of the lifting arm, the corner of the building, the initial station coordinates, the lifting arm extension size, the lifting angle and the rotation angle of different lifting working conditions are obtained, and the lifting arm end point calculation model is input into the preset lifting arm end point calculation model for processing to obtain the lifting arm end point coordinates. The preset lifting arm end point calculation model is trained by obtaining the initial station coordinates, the lifting arm extension size, the lifting angle and the rotation angle of a large number of historical samples and the corresponding lifting arm end point coordinates. The obtained lifting arm end point coordinates and the feature point coordinates are input into the preset safety distance prediction model for processing to obtain the real-time safety distance corresponding to the preset feature points. The preset safety distance prediction model is trained by obtaining the lifting arm end point coordinates and the feature point coordinates of a large number of historical samples and the corresponding real-time safety distance. Finally, the real-time safety distance is compared with the preset collision distance threshold value. If it is greater than the preset collision distance threshold value, it is determined as a safety level. If it is less than or equal to the preset collision distance threshold value, it is determined as a dangerous level.

[0092] According to the embodiment of the present application, the optimal working condition is determined according to the lifting operation simulation result, and the lifting operation is performed, which comprises:

[0093] The real-time safety distance is weighted and averaged to obtain the lifting safety distance corresponding to the lifting working condition;

[0094] The lifting safety distance is arranged in ascending order to obtain a lifting safety distance list corresponding to the lifting working condition;

[0095] The lifting working condition with the largest lifting safety distance is determined as the optimal working condition, and the lifting operation is performed.

[0096] It should be noted that after obtaining the real-time safety distance corresponding to the preset feature point, the weighted mean value processing is performed to obtain the lifting safety distance corresponding to the lifting working condition. The corresponding weight value is dynamically adjusted by the person skilled in the art according to different lifting working conditions. The obtained lifting safety distance is arranged in ascending order. The lifting working condition with the smallest lifting safety distance is the optimal working condition, and the lifting operation is performed.

[0097] According to the embodiment of the present application, it further comprises:

[0098] Obtaining the lifting model block coordinates of the preset time point;

[0099] The lifting model block coordinates corresponding to different time points are compared to obtain the lifting model block coordinate deviation rate.

[0100] The hoisting model block coordinate deviation rate is compared with a preset coordinate offset threshold value in threshold comparison;

[0101] If the hoisting model block coordinate deviation rate is less than or equal to the preset coordinate offset threshold value, it is determined that the hoisting equipment is operating normally.

[0102] If the hoisting model block coordinate deviation rate is greater than the preset coordinate offset threshold value, it is determined that the hoisting equipment has a rollover risk, and a warning response is output.

[0103] It should be noted that, in addition to real-time monitoring of collision risks during hoisting, the safety of the hoisting equipment also needs to be monitored. First, the hoisting model block coordinates corresponding to different time points are compared to obtain a hoisting model block coordinate deviation rate. The hoisting model block coordinate deviation rate is the ratio of the difference between the hoisting model block coordinates at a later time point and the hoisting model block coordinates at a previous time point to the hoisting model block coordinates at the previous time point. Then, the obtained hoisting model block coordinate deviation rate is compared with a preset coordinate offset threshold value in threshold comparison. If the hoisting model block coordinate deviation rate is greater than the preset coordinate offset threshold value, it is determined that the hoisting equipment has deviated, and a warning response is output in a timely manner.

[0104] According to the embodiment of the present application, the method further comprises:

[0105] The hoisting safety distances are compared with preset upper and lower safety distance threshold values in threshold comparison;

[0106] If the hoisting safety distance is greater than or equal to the preset upper safety distance threshold value, the hoisting is normal.

[0107] If the hoisting safety distance is less than the preset upper safety distance threshold value and greater than or equal to the preset lower safety distance threshold value, an audible and visual warning is output.

[0108] If the hoisting safety distance is less than the preset lower safety distance threshold value, the hoisting is stopped.

[0109] It should be noted that, in the hoisting process, in order to dynamically monitor the safety distance, the obtained hoisting safety distance is compared with the preset upper limit safety distance threshold and the preset lower limit safety distance threshold in real time, when it is less than the preset upper limit safety distance threshold and greater than or equal to the preset lower limit safety distance threshold, the wireless communication module transmits the data monitored by each distance sensing radar to the control module through the wireless communication module, and sends an instruction to the sound and light warning module after processing by the central processor in the control module, at this time, the safety prompt warning light is on, and the buzzer is low-pitched, indicating that the hoist arm of the hoisting equipment has entered the safety distance range, the display screen displays the values fed back by each distance sensing radar in real time, and the most dangerous value is enlarged and marked red, wherein, according to different hoisting safety distances, the sound and light warning module is displayed as recommended (green), attention (orange) and warning (red) in turn from near to far; When it is less than the preset lower limit safety distance threshold, the control module in the hoisting operation safety warning device sends an instruction to the interlocking module, and the hoisting equipment stops the current action, at this time, the hoisting equipment only allows reverse operation.

[0110] It is worth mentioning that, according to the embodiment of the application, further comprising:

[0111] Obtaining hoisting characteristic data and size of the hoisted object;

[0112] According to the hoisting characteristic data and the size of the hoisted object, the hoisting safety distance is corrected in combination with the hoist arm endpoint coordinates to obtain a hoisting safety correction distance.

[0113] It should be noted that, in the hoisting process, when the hoist arm endpoint is in the safety distance, if the hoisted object is large, the hoisted object may collide, therefore, it is necessary to obtain the hoisting characteristic data and the size of the hoisted object, the hoisting characteristic data includes horizontal hoisting or vertical hoisting, and the size of the hoisted object includes the length, width and height of the hoisted object, then the hoist arm endpoint coordinates are corrected according to the hoisting characteristic data in combination with the size of the hoisted object, for example, for horizontal hoisting, the length of the hoisted object is taken half to obtain the size exceeding the hoist arm endpoint, and the hoist arm endpoint coordinates are summed to obtain hoist arm endpoint correction coordinates, and then the hoisting safety distance is corrected to obtain a hoisting safety correction distance.

[0114] It is worth mentioning that, according to the embodiment of the application, further comprising:

[0115] Obtaining the hoisting safety correction distance in a preset time period;

[0116] According to the hoisting safety correction distance, a hoist arm approach rate is obtained;

[0117] The hoist arm approach rate is compared with a preset approach rate threshold;

[0118] If it is less than or equal to the preset approach rate threshold, the hoisting is normally carried out;

[0119] If greater than the preset approach rate threshold, output collision warning.

[0120] It should be noted that in order to dynamically monitor the hoisting process, predict the collision risk in time, obtain the hoisting safety correction distance in the preset time period for processing, obtain the hoisting approach rate, the hoisting approach rate refers to the ratio of the difference between the hoisting safety correction distance in the previous preset time period and the hoisting safety correction distance in the subsequent preset time period to the hoisting safety correction distance in the previous preset time period, and the obtained hoisting approach rate is compared with the preset approach rate threshold, in the embodiment, the approach rate threshold is set to (0, 0.2], (0.2, 1], corresponding to normal hoisting and outputting collision warning respectively, for example, the hoisting safety correction distance in the subsequent preset time period is 2 meters, and the hoisting safety correction distance in the previous preset time period is 2.2 meters, then (2.2-2) / 2=0.1, which is less than the preset approach rate threshold, so the hoisting is normally carried out.

[0121] Please refer to Figure 4 , Figure 4 The application also discloses a hoisting safety monitoring device based on reverse modeling of existing structures, and has the characteristics that the hoisting safety monitoring device based on reverse modeling of existing structures comprises:

[0122] The hoisting monitoring device is used for monitoring the hoisting operation in the hoisting simulation process and the hoisting process.

[0123] The hoisting operation safety warning device is used for outputting a warning and controlling the hoisting operation after the hoisting collision warning is monitored in the hoisting simulation process and the hoisting process.

[0124] It should be noted that in order to realize the safety monitoring of the hoisting process, the hoisting monitoring device is arranged to monitor the hoisting operation, and the hoisting operation safety warning device is arranged to give a warning.

[0125] According to the embodiment of the application, the hoisting monitoring device comprises:

[0126] The sensing module comprises a radar sensor and is used for monitoring the real-time distance between the hoisting arm and the existing structure.

[0127] The wireless signal transmitting module is used for transmitting monitoring information and data.

[0128] The solar cell module is used for providing power for the hoisting monitoring device.

[0129] It should be noted that the real-time data is sensed by the sensing module, and is sent to the hoisting operation safety warning device for processing and warning by the wireless signal transmitting module.

[0130] Please refer to Figure 5 , Figure 5It is a display device schematic diagram of a display module of a hoisting safety monitoring method of an existing structure based on reverse modeling according to an embodiment of the present application.

[0131] The control module is connected with other modules, and is responsible for executing program instructions, processing data and controlling the safety warning interlocking device to work in a specified order and step through an internal central processing unit;

[0132] The sound and light warning module is connected with the control module, and is composed of a light module and a loudspeaker, wherein the light module includes a safety prompt warning light, a maintenance work state indicating light and an identification indicating light, etc., and the loudspeaker includes a loudspeaker and a buzzer, and is used for emitting sound and light;

[0133] The interlocking module is connected with the control module, and stops the current action of the hoisting equipment according to the instruction of the control module;

[0134] The wireless communication module is used for data transmission;

[0135] The display module is used for displaying hoisting operation data and providing a basic user operation interface for an operator.

[0136] It should be noted that the hoisting operation safety warning device processes and displays and controls according to real-time monitoring data of the hoisting monitoring device.

[0137] The hoisting safety monitoring method and device based on reverse modeling of the existing structure disclosed in the present application simulate the hoisting working condition through three-dimensional scanning and reverse modeling, and determine the optimal working condition according to the preset collision distance threshold, so as to realize accurate and efficient safety monitoring of hoisting under the existing structure.

[0138] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components can be through some interfaces, indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0139] The units described as separate components above can be or can not be physically separated, and the components displayed as units can be or can not be physical units; they can be located in one place or distributed on multiple network units; and part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0140] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be separately taken as one unit, or two or more units can be integrated in one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0141] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the foregoing program can be stored in a readable storage medium, and the program executes the steps including the above-mentioned method embodiments when executed; and the foregoing storage medium includes a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disc or an optical disc, and various storage medium capable of storing program codes.

[0142] Alternatively, the integrated unit of the present application, if realized in the form of a software functional module and sold or used as an independent product, can also be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium, includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes a mobile storage device, a ROM, a RAM, a magnetic disc or an optical disc, and various storage medium capable of storing program codes.

Claims

1. A safety monitoring method for hoisting under existing structures based on reverse modeling, characterized in that: The following steps are involved: Get the flight path of the drone; Controlling the drone according to the flight path to collect point cloud data of the existing structure according to a preset method, and processing the data using a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure; Inputting the three-dimensional model of the existing structure and the preset lifting machinery model into a preset safety monitoring platform, and performing a lifting operation simulation; Determine the optimal working conditions based on the lifting operation simulation results and carry out the lifting operation.

2. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 1 is characterized in that: The obtaining of the flight path of the UAV includes: Obtain the first position data and flight speed of the drone; The fastest collision time between the UAV and the obstacle is obtained by processing the first position data and the flight speed in combination with the second position data and the safety radius of the preset obstacle; Get the flight speed of the drone and the flight angle between it and the horizontal plane; The fastest collision time and the flight angle are processed in combination with a preset gravity acceleration to obtain a collision cone angle range of the UAV, including a horizontal collision cone angle range and a vertical collision cone angle range; Get the initial position and target position of the UAV; The flight path of the UAV is obtained by processing the horizontal collision cone angle range and the vertical collision cone angle range in combination with the initial position and the target position through a preset path planning method.

3. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 2 is characterized in that: The step of controlling the drone according to the flight path to collect point cloud data of the existing structure according to a preset method, and processing the data using a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure includes: Controlling the drone according to the flight path to collect point cloud data of the existing structure at a preset resolution; The point cloud data includes three-dimensional coordinates, reflection intensity data and color attribute feature data of existing structures; The three-dimensional coordinates, reflection intensity data and color attribute characteristic data are processed by a preset three-dimensional modeling software to obtain a three-dimensional model of the existing structure.

4. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 3 is characterized in that: The three-dimensional model of the existing structure and the preset lifting machinery model are input into a preset safety monitoring platform, and a lifting operation simulation is performed, including: Inputting the existing structure three-dimensional model and the preset lifting machinery model into a preset safety monitoring platform, and performing block division to obtain a lifting model block and an existing building model block; Extracting coordinates of the hoisting model block and the existing building model block to obtain the coordinates of the hoisting model block and the coordinates of the existing building model block; Extracting feature point coordinates corresponding to preset feature points according to the block coordinates of the existing building model; Obtain the initial position coordinates, boom extension dimensions, lifting angles, and rotation angles for different lifting conditions, and input them into the preset boom endpoint calculation model for processing to obtain the boom endpoint coordinates; Input the boom endpoint coordinates and the feature point coordinates into a preset safety distance prediction model for processing to obtain a real-time safety distance corresponding to the preset feature point; The real-time safety distance is compared with a preset collision distance threshold to obtain a hoisting safety level, including a safety level or a danger level.

5. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 4 is characterized in that: Determining the optimal working condition based on the hoisting operation simulation results and performing the hoisting operation includes: Perform weighted averaging on the real-time safety distance to obtain a hoisting safety distance corresponding to the hoisting working condition; Arrange the hoisting safety distances in ascending order to obtain a hoisting safety distance list corresponding to the hoisting working condition; The lifting condition with the largest lifting safety distance is determined as the optimal condition, and the lifting operation is carried out.

6. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 5 is characterized in that: Also includes: Comparing the coordinates of the hoisting model block corresponding to different time points to obtain the deviation rate of the hoisting model block coordinates; Comparing the coordinate deviation rate of the hoisting model block with a preset coordinate offset threshold; If it is less than or equal to the preset coordinate offset threshold, it is determined that the hoisting equipment is operating normally; If it is greater than the preset coordinate offset threshold, it is determined that the lifting equipment is at risk of overturning and an early warning response is output.

7. The method for monitoring safety of hoisting under an existing structure based on reverse modeling according to claim 6 is characterized in that: Also includes: Comparing the hoisting safety distance with a preset upper safety distance threshold and a preset lower safety distance threshold respectively; If it is greater than or equal to the preset upper safety distance threshold, the lifting is normal; If it is less than the preset upper safety distance threshold and greater than or equal to the preset lower safety distance threshold, an audible and visual warning is output; If it is less than the preset lower safety distance threshold, the lifting will be stopped.

8. The safety monitoring device for hoisting under existing structures based on reverse modeling is characterized by: include: Hoisting monitoring device, used to monitor hoisting operation during hoisting simulation and hoisting process; The hoisting operation safety warning device is used to output warnings and control hoisting operations after detecting hoisting collision warnings during hoisting simulation and hoisting process.

9. The safety monitoring device for hoisting under an existing structure based on reverse modeling according to claim 8 is characterized in that: The hoisting monitoring device comprises: A sensing module, including a radar sensor, is used to monitor the real-time distance between the boom and the existing structure; Wireless signal transmission module, used to transmit monitoring information and data; Solar cell modules are used to provide power for the hoisting monitoring device.

10. The safety monitoring device for hoisting under an existing structure based on reverse modeling according to claim 9 is characterized in that: The hoisting operation safety warning device includes: The control module is connected to other modules and is responsible for executing program instructions, processing data and controlling the safety warning interlock device to work in the specified sequence and steps through the internal central processing unit; The sound and light warning module is connected to the control module and includes a light module and a speaker. The light module includes a safety warning light, a maintenance work status indicator light, and a logo indicator light, etc. The speaker includes a horn and a buzzer for emitting sound and light. The interlocking module is connected to the control module and receives instructions from the control module to stop the current action of the lifting equipment; Wireless communication module for data transmission; The display module is used to display the lifting operation data and provide a basic user operation interface for the operator.

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