Intelligent control method and system based on tower crane

Abstract

This application relates to the field of data processing technology and provides an intelligent control method and system based on tower cranes. The method includes first acquiring global layout information and endpoint offset position information of the target cargo; then, determining predicted coverage information based on multiple endpoint offset position information; further, determining multiple associated camera information based on this; then, generating predicted personnel trajectory information based on the multiple associated camera information; and finally, generating risk assessment information based on the predicted personnel trajectory information. This application ensures that operators in the control cabin can accurately and in real-time grasp the location information around the cargo, achieving an efficient information acquisition and transmission mechanism. It avoids misjudgments and operational errors caused by information transmission delays or misunderstandings, significantly improving the overall safety and reliability of tower crane operations, enhancing the operator's environmental awareness, and effectively ensuring the efficient operation of cargo transportation and management.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and more specifically, to an intelligent control method and system based on tower cranes. Background Technology

[0002] Tower cranes are a type of high-efficiency construction lifting equipment, widely used in high-rise buildings and large-scale engineering projects. They lift heavy objects from the ground to the air through their tower and boom, enabling vertical and horizontal movement and greatly improving construction efficiency.

[0003] Currently, tower crane operators typically communicate with ground control personnel in real time via walkie-talkie from inside the control cabin to monitor the surrounding location of the cargo. However, this communication method, which relies on continuous calls, is prone to untimely information transmission or misunderstandings, resulting in low reliability and requiring further improvement. Summary of the Invention

[0004] Based on this, embodiments of this application provide an intelligent control method and system for tower cranes to solve the problem of low reliability in the prior art.

[0005] In a first aspect, embodiments of this application provide an intelligent control method based on a tower crane, the method comprising:

[0006] Obtain the preset global layout map information and the endpoint offset position information of the target cargo;

[0007] Based on the multiple endpoint offset position information, the predicted coverage information is determined;

[0008] Based on the predicted coverage information, and according to the global layout map information, multiple associated camera information is determined;

[0009] Based on the information from the multiple associated cameras, predictive personnel trajectory information is generated;

[0010] Risk assessment information is generated based on the predicted coverage information and the predicted personnel trajectory information.

[0011] Compared with existing technologies, the beneficial effects are as follows: The intelligent control method based on tower cranes provided in this application embodiment allows the terminal device to first acquire preset global layout map information and simultaneously acquire endpoint offset position information of the target cargo. Then, based on multiple endpoint offset position information, the predicted coverage area information is effectively determined. Based on the predicted coverage area information and the global layout map information, multiple associated camera information is quickly determined. Then, based on the multiple associated camera information, the predicted personnel trajectory information is accurately generated. Finally, based on the predicted coverage area information and the predicted personnel trajectory information, risk assessment information is efficiently generated. This enables the operators in the control cabin to know the specific situation of the cargo's surrounding location in real time, avoiding situations where information transmission is untimely or misunderstandings occur, greatly improving reliability, and to a certain extent solving the current problem of low reliability.

[0012] Secondly, embodiments of this application provide an intelligent control system based on a tower crane, the system comprising:

[0013] Endpoint offset position information acquisition module: used to acquire preset global layout map information and acquire the endpoint offset position information of the target cargo;

[0014] Predicted coverage information determination module: used to determine predicted coverage information based on multiple endpoint offset position information;

[0015] Associated camera information determination module: used to determine multiple associated camera information based on the predicted coverage information and the global layout map information;

[0016] Predicted Personnel Trajectory Information Generation Module: Used to generate predicted personnel trajectory information based on the information from the multiple associated cameras;

[0017] Risk assessment information generation module: used to generate risk assessment information based on the predicted coverage information and predicted personnel trajectory information.

[0018] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect above.

[0019] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the first aspect above.

[0020] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0022] Figure 1 This is a flowchart illustrating an embodiment of the intelligent control method provided in this application;

[0023] Figure 2 This is a flowchart illustrating step S100 in an intelligent control method provided in an embodiment of this application;

[0024] Figure 3 This is a flowchart illustrating step S200 in an intelligent control method provided in an embodiment of this application;

[0025] Figure 4 This is a flowchart illustrating step S300 in an intelligent control method provided in an embodiment of this application;

[0026] Figure 5 A flowchart illustrating step S400 in an embodiment of the intelligent control method provided in this application;

[0027] Figure 6 This is a flowchart illustrating step S500 in an intelligent control method provided in an embodiment of this application;

[0028] Figure 7 This is a block diagram of an intelligent control system provided in an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of a terminal device provided in an embodiment of this application. Detailed Implementation

[0030] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0031] In the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0033] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0034] Please see Figure 1 , Figure 1 This is a flowchart illustrating the intelligent control method based on tower cranes provided in this application embodiment. In this embodiment, the executing entity of the intelligent control method is a terminal device. It is understood that the types of terminal devices include, but are not limited to, mobile phones, tablets, laptops, Ultra-Mobile Personal Computers (UMPCs), netbooks, Personal Digital Assistants (PDAs), etc. This application embodiment does not impose any restrictions on the specific type of terminal device.

[0035] Please see Figure 1 The intelligent control method provided in this application includes, but is not limited to, the following steps:

[0036] In S100, the preset global layout map information is obtained, and the endpoint offset position information of the target cargo is obtained.

[0037] Specifically, the terminal device can first obtain the preset global layout information and the endpoint offset position information of the target cargo. The global layout information is used to display the layout of various equipment in the construction site; the target cargo is used to describe the cargo being transported by the tower crane; the endpoint offset position information is used to describe the maximum offset position of the target cargo relative to the ideal position, and the ideal position is used to describe the theoretical position of the target cargo when there is no wind speed and the wire rope remains completely vertical.

[0038] In some possible implementations, in order to obtain accurate global layout information and endpoint offset position information, the method may include, but is not limited to, the following steps before step S100:

[0039] In S101, the position information of the pulley corresponding to the end of the tower crane's boom is obtained, and the vertical length information of the tower crane's wire rope is also obtained.

[0040] Specifically, the terminal device can first obtain the position information of the pulley at the end of the tower crane's boom and the vertical length information of the tower crane's wire rope. The pulley position information is used to describe the position of the hook pulley installed at the end of the boom, and the vertical length information of the wire rope is used to describe the length of the wire rope from the hook pulley to the hook.

[0041] Accordingly, please refer to Figure 2 Step S100 includes, but is not limited to, the following steps:

[0042] In S110, the preset global layout diagram information is obtained.

[0043] Specifically, the terminal device can obtain preset global layout information, which includes multiple candidate camera location information. The candidate camera location information is used to describe the location of cameras that are pre-installed in different locations within the construction site.

[0044] In S120, within a specified acquisition time period, the first swing trajectory information of the hook is acquired based on the inertial measurement unit.

[0045] Specifically, after the terminal device obtains the global layout information, it can acquire the first swing trajectory information of the hook based on the inertial measurement unit within a specified collection time period. The specific duration of the collection time period is predefined by the maintenance personnel, such as one minute, three minutes, or five minutes. The inertial measurement unit (IMU) can integrate an accelerometer and a gyroscope. It determines the position change by measuring acceleration and angular velocity and then performing integration calculations. The specific process of the inertial measurement unit determining the position change can use existing technologies, so it will not be elaborated here. The first swing trajectory information is used to describe the motion trajectory of the hook due to the swing caused by wind speed during actual operation.

[0046] In S130, the first swing trajectory information of the hook is determined to be the second swing trajectory information of the target cargo.

[0047] Specifically, after the terminal device acquires the first swing trajectory information, the terminal device can determine the first swing trajectory information of the hook as the second swing trajectory information of the target cargo, thereby determining the motion trajectory of the target cargo caused by the swing due to wind speed in actual operation. The second swing trajectory information includes multiple swing trajectory point information.

[0048] In S140, the theoretical position information of the hook is determined based on the pulley position information and the vertical length information of the wire rope.

[0049] Specifically, after the terminal device determines the second swing trajectory information, the terminal device can determine the theoretical position information of the hook based on the pulley position information and the vertical length information of the wire rope. The theoretical position information is used to describe the theoretical position of the hook, that is, the aforementioned ideal position.

[0050] For example, the terminal device can determine the theoretical position of the hook by subtracting the vertical length of the wire rope from the pulley position information.

[0051] In S150, the lowest swing trajectory point information is associated with the theoretical position information, and based on the theoretical position information and multiple swing trajectory point information, the swing trajectory point information furthest from the theoretical position information is determined as the endpoint offset position information.

[0052] Specifically, after the terminal device determines the theoretical position information, it can associate the lowest swing trajectory point information with the theoretical position information, that is, determine the swing trajectory point information with the lowest height as the theoretical position information. Then, based on the theoretical position information and multiple swing trajectory point information, the swing trajectory point information furthest from the theoretical position information is determined as the endpoint offset position information.

[0053] For example, the hook will swing due to the wind speed during actual operation, and the motion trajectory corresponding to each swing is multiple motion trajectories. For each motion trajectory, the terminal device can calculate the maximum distance between the swing trajectory points on the left and right sides of the theoretical position information and the theoretical position information, and then use the swing trajectory points corresponding to the maximum distance on the left and right sides as the offset position information of the two endpoints of each motion trajectory.

[0054] In S200, the predicted coverage information is determined based on the offset position information of multiple endpoints.

[0055] Specifically, after the terminal device obtains the endpoint offset location information, it can determine the predicted coverage area information based on multiple endpoint offset location information, thereby determining the ground area involved by the target cargo under the action of wind speed.

[0056] In some possible implementations, to determine the predicted coverage information, please refer to [link / reference needed]. Figure 3 Step S200 includes, but is not limited to, the following steps:

[0057] In S210, the ground projection position information corresponding to each endpoint offset position information is determined based on the pulley position information and the offset position information of each endpoint.

[0058] Specifically, the terminal device can first arbitrarily select an endpoint offset position information, and then, based on the pulley position information and the endpoint offset position information, generate a straight line extending to the ground, with the pulley position information as the starting point and the endpoint offset position information as the passing point. Through the intersection of the straight line and the ground, the ground projection position information of the endpoint offset position information is effectively determined. Then, the same steps are performed for another endpoint offset position information to determine the ground projection position information of the other endpoint offset position information. Then, the same steps are performed for other endpoint offset position information until the ground projection position information corresponding to all endpoint offset position information is determined. The ground projection position information is used to describe the position of the target cargo projected onto the ground.

[0059] In S220, the distance between any two ground projection position information is calculated to generate projection position distance information.

[0060] Specifically, after the terminal device determines the ground projection position information, the terminal device can calculate the distance between any two ground projection position information in turn to generate projection position distance information, which is used to describe the shortest distance between two ground projection position information.

[0061] In S230, the two ground projection position information corresponding to the largest projection position spacing information are determined as the target projection position information.

[0062] Specifically, after the terminal device generates the projection position spacing information, the terminal device can determine the two ground projection position information corresponding to the largest projection position spacing information as the target projection position information.

[0063] In S240, the predicted coverage information is determined based on the two target projection position information.

[0064] Specifically, after the terminal device determines the target projection location information, the terminal device can determine the predicted coverage information based on the two target projection location information. The predicted coverage information is used to describe the area whose edge passes through the two target projection location information and whose shape is a perfect circle.

[0065] In S300, based on the predicted coverage information and the global layout map information, information on multiple associated cameras is determined.

[0066] Specifically, after the terminal device determines the predicted coverage information, it can effectively determine the information of multiple associated cameras based on the predicted coverage information and the global layout map information, thereby identifying the cameras in the area surrounding the target cargo and determining the cameras that can effectively capture the target cargo.

[0067] In some possible implementations, to determine multiple associated camera information, please refer to [link / reference]. Figure 4 Step S300 includes, but is not limited to, the following steps:

[0068] In S310, associated range information is generated based on the predicted coverage information and the preset associated distance value.

[0069] Specifically, after the terminal device determines the predicted coverage information, it can generate associated range information based on the predicted coverage information and the preset associated distance value. The associated range information describes a circular area that is expanded away from the center of the predicted coverage information, with the associated distance value as the interval, based on the predicted coverage information.

[0070] In S320, based on the global layout map information, it is determined whether there is a specified number of candidate camera location information within the associated range information.

[0071] Specifically, after the terminal device generates the associated range information, the terminal device can determine whether there is a specified number of candidate camera location information within the associated range information based on the global layout map information. The specific number of the specified number is predefined by the operation and maintenance personnel, such as three, five or eight.

[0072] In S330, if a specified number of candidate camera location information exists within the associated range information, then each candidate camera location information located within the associated range information is determined to be associated camera information.

[0073] Specifically, if a specified number of candidate camera location information exists within the associated range information, the terminal device can determine that each candidate camera location information within the associated range information is associated camera information, thereby identifying the camera that can effectively capture the target cargo.

[0074] In S340, if the specified number of candidate camera location information is not found within the associated range information, the associated distance value is increased based on the preset new distance value, and the associated range information is generated again based on the predicted coverage information and the preset associated distance value. Then, based on the global layout map information, it is determined whether the specified number of candidate camera location information is found within the associated range information, until the specified number of candidate camera location information is found within the associated range information.

[0075] Specifically, if there is no specified number of candidate camera location information within the associated range information, the terminal device can increase the associated distance value based on the preset new distance value, and execute steps S310 to S320 again until there is a specified number of candidate camera location information within the associated range information.

[0076] In the S400, predicted personnel trajectory information is generated based on information from multiple associated cameras.

[0077] Specifically, after the terminal device determines the information of multiple associated cameras, it can effectively generate predicted personnel trajectory information based on the information of multiple associated cameras, thereby predicting the movement trajectory of personnel in the area surrounding the target goods.

[0078] For a more efficient way to generate predicted personnel trajectory information, please refer to [link to relevant documentation]. Figure 5 Step S400 includes, but is not limited to, the following steps:

[0079] In the S410, real-time image information is acquired based on information from multiple associated cameras.

[0080] Specifically, after the terminal device determines the location information of the candidate camera, the terminal device can control each associated camera to take pictures of the target goods based on multiple associated camera information to obtain real-time image information. The real-time image information is used to describe the images obtained by the associated camera information from taking pictures of the surrounding area.

[0081] In S420, target personnel information is determined based on real-time image information and a preset target detection algorithm.

[0082] Specifically, after the terminal device acquires real-time image information, it can use a preset target detection algorithm to process the real-time image information and quickly determine the target personnel information. The target detection algorithm can be R-CNN algorithm, Mask R-CNN algorithm, or YOLOv8 algorithm.

[0083] In S430, the head orientation information of the target person is determined based on a preset facial key point detection algorithm.

[0084] For example, after the terminal device determines the target person's information, it can detect the facial key points of the target person's information based on a preset facial key point detection algorithm, determine the nose tip key point and the eye key points, and then comprehensively determine the head orientation of the target person by the orientation of the nose tip key point and the eye key points, thus quickly determining the head orientation information of the target person's information. The facial key point detection algorithm can be the TCDCN (Tasks-Constrained Deep Convolutional Network) algorithm or the Cascaded CNN algorithm; the head orientation information is used to describe the head orientation of the target person's information.

[0085] In S440, based on head orientation information, the target personnel information is processed into a linear array to generate multiple array object information.

[0086] Specifically, after the terminal device determines the head orientation information, it can perform linear array processing on the target personnel information based on the head orientation information and with the head orientation information as the array direction, to generate multiple array object information.

[0087] In S450, predicted personnel trajectory information is generated based on target personnel information and information from multiple array objects.

[0088] Specifically, after the terminal device generates information on multiple array objects, it can generate predicted personnel trajectory information based on the target personnel information and the multiple array object information. The predicted personnel trajectory information is used to describe the trajectory composed of the target personnel information and the multiple array object information.

[0089] In S500, risk assessment information is generated based on the predicted coverage information and the predicted personnel trajectory information.

[0090] Specifically, after the terminal device generates the predicted personnel trajectory information, it can generate risk assessment information based on the predicted coverage information and the predicted personnel trajectory information. The risk assessment information is either high-risk or low-risk. High-risk information describes a high level of personal safety risk, while low-risk information describes a low level of personal safety risk.

[0091] For some possible implementations, please refer to [link to relevant documentation] for accurate generation of risk assessment information. Figure 6 Step S500 includes, but is not limited to, the following steps:

[0092] In S510, it is determined whether there is an overlapping area between the predicted coverage information and the predicted personnel trajectory information.

[0093] Specifically, the terminal device can determine whether there is an overlap between the predicted coverage information and the predicted personnel trajectory information.

[0094] In S520, if there is an overlap between the predicted coverage information and the predicted personnel trajectory information, the risk assessment information is determined to be high-risk information; otherwise, the risk assessment information is determined to be low-risk information.

[0095] Specifically, if there is an overlap between the predicted coverage information and the predicted personnel trajectory information, it indicates that personnel in the vicinity of the target cargo have a probability of moving into the coverage area affected by the wind speed. Therefore, the terminal device can determine the risk assessment information as high-risk information. Otherwise, it indicates that personnel in the vicinity of the target cargo will not move into the coverage area affected by the wind speed. Therefore, the terminal device can determine the risk assessment information as low-risk information, thereby effectively improving reliability.

[0096] In some possible implementations, the terminal device can quickly upload real-time image information captured by various associated cameras to the display terminal corresponding to the operator in the cab. This avoids situations where the driver cannot directly observe the hoisting area due to high position or obstructions and can only operate by feeling. Through multiple cameras and real-time video transmission, clear visual references are provided to the operator, blind spots are completely eliminated, and the risk of injury to personnel on the ground is avoided.

[0097] In some possible implementations, the terminal equipment can also monitor the tower crane's operating status in real time through multi-sensor fusion safety monitoring technology, and automatically initiate corrective procedures when non-compliance or potential hazards occur. In some possible implementations, the terminal equipment can also use facial recognition technology to ensure the operator's qualifications are compliant, and change the traditional "following orders" work mode by sharing information between the operator's cabin display screen and the frame display screen, thus preventing safety accidents caused by signal transmission errors.

[0098] In some possible implementations, the terminal device can collect tower crane operation data in real time, transmit and analyze it, and transmit the data to the management platform, enabling managers to remotely monitor the tower crane's operation, manage operator attendance, and statistically analyze project profitability. At the same time, the terminal device can also integrate other data from the smart construction site to form a complete project information view, avoiding the problems of information opacity and data sharing that exist in current tower crane management, and improving management efficiency.

[0099] The implementation principle of the intelligent control method for tower cranes in this application embodiment is as follows: The terminal equipment can first obtain the preset global layout map information and the endpoint offset position information of the target cargo. Then, based on the multiple endpoint offset position information, the predicted coverage information is effectively determined. Based on the predicted coverage information and the global layout map information, the information of multiple associated cameras is quickly determined. Based on the information of multiple associated cameras, the predicted personnel trajectory information is accurately generated. Finally, based on the predicted coverage information and the predicted personnel trajectory information, the risk assessment information is efficiently generated. This enables the operators in the control cabin to know the surrounding position of the cargo in real time, avoiding untimely information transmission or misunderstandings, and greatly improving reliability.

[0100] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0101] Embodiments of this application also provide an intelligent control system based on tower cranes. For ease of explanation, only the parts relevant to this application are shown, such as... Figure 7 As shown, the system 70 includes:

[0102] Endpoint offset position information acquisition module 71: used to acquire preset global layout map information and acquire the endpoint offset position information of the target cargo;

[0103] Predicted coverage information determination module 72: used to determine predicted coverage information based on multiple endpoint offset position information;

[0104] Associated camera information determination module 73: used to determine the information of multiple associated cameras based on the predicted coverage information and the global layout map information;

[0105] Predicted Personnel Trajectory Information Generation Module 74: Used to generate predicted personnel trajectory information based on information from multiple associated cameras;

[0106] Risk assessment information generation module 75: Used to generate risk assessment information based on the predicted coverage information and the predicted personnel trajectory information.

[0107] Optionally, the tower crane includes a hook pre-installed with an inertial measurement unit; the system 70 also includes:

[0108] Pulley position information acquisition module: used to acquire the position information of the pulley corresponding to the end of the tower crane boom, and to acquire the vertical length information of the tower crane's wire rope;

[0109] Accordingly, the endpoint offset position information acquisition module 71 includes:

[0110] Global Layout Map Information Acquisition Submodule: Used to acquire preset global layout map information, which includes the position information of multiple candidate cameras;

[0111] First swing trajectory information acquisition submodule: used to acquire the first swing trajectory information of the hook based on the inertial measurement unit within a specified acquisition time period;

[0112] Second swing trajectory information determination submodule: used to determine the first swing trajectory information of the hook as the second swing trajectory information of the target cargo, wherein the second swing trajectory information includes multiple swing trajectory point information;

[0113] Theoretical position information determination submodule: used to determine the theoretical position information of the hook based on the pulley position information and the vertical length information of the wire rope;

[0114] Endpoint offset position information determination submodule: It is used to associate the lowest swing trajectory point information with the theoretical position information, and determine the swing trajectory point information that is furthest from the theoretical position information as the endpoint offset position information based on the theoretical position information and multiple swing trajectory point information.

[0115] Optionally, the aforementioned predicted coverage information determination module 72 includes:

[0116] Ground projection position information determination submodule: used to determine the ground projection position information corresponding to each endpoint offset position information based on the pulley position information and the offset position information of each endpoint;

[0117] Projection Position Spacing Information Generation Submodule: Used to calculate the spacing between any two ground projection position information and generate projection position spacing information;

[0118] Target projection position information determination submodule: used to determine the two ground projection position information corresponding to the maximum projection position spacing information as the target projection position information;

[0119] Predicted Coverage Information Determination Submodule: This module is used to determine the predicted coverage information based on the two target projection position information. The predicted coverage information describes the area that passes through the two target projection position information and has a circular shape.

[0120] Optionally, the aforementioned associated camera information determination module 73 includes:

[0121] The associated range information generation submodule is used to generate associated range information based on the predicted coverage information and the preset associated distance value. The associated range information describes the circular area obtained by expanding outward from the center of the predicted coverage information with the associated distance value as the interval, based on the predicted coverage information.

[0122] Candidate camera location information determination submodule: used to determine whether a specified number of candidate camera location information exists within the associated range information based on the global layout map information;

[0123] Associated Camera Information Determination Submodule: If a specified number of candidate camera location information exists within the associated range information, then each candidate camera location information within the associated range information is determined to be associated camera information.

[0124] The submodule is executed again: if the specified number of candidate camera location information does not exist within the associated range information, the associated distance value is increased based on the preset new distance value, and the associated range information is generated again based on the predicted coverage range information and the preset associated distance value. Based on the global layout map information, it is determined whether the specified number of candidate camera location information exists within the associated range information, until the specified number of candidate camera location information exists within the associated range information.

[0125] Optionally, the aforementioned predictor trajectory information generation module 74 includes:

[0126] Real-time image information acquisition submodule: used to acquire real-time image information based on information from multiple associated cameras;

[0127] Target Personnel Information Determination Submodule: Used to determine target personnel information based on real-time image information and preset target detection algorithms;

[0128] Head orientation information determination submodule: used to determine the head orientation information of the target person based on a preset facial key point detection algorithm;

[0129] Array object information generation submodule: Based on head orientation information, it performs linear array processing on the target person information to generate multiple array object information;

[0130] Predicted Personnel Trajectory Information Generation Submodule: This module generates predicted personnel trajectory information based on target personnel information and multiple array object information. The predicted personnel trajectory information describes the trajectory composed of the target personnel information and multiple array object information.

[0131] Optionally, the risk assessment information can be high-risk or low-risk; the aforementioned risk assessment information generation module 75 includes:

[0132] Overlapping Area Judgment Submodule: Used to determine whether there is an overlapping area between the predicted coverage information and the predicted personnel trajectory information;

[0133] Risk assessment information determination submodule: If there is an overlap between the predicted coverage information and the predicted personnel trajectory information, the risk assessment information is determined to be high-risk information; otherwise, the risk assessment information is determined to be low-risk information.

[0134] It should be noted that the information interaction and execution process between the above modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0135] This application also provides a terminal device, such as... Figure 8As shown, the terminal device 80 in this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, it implements the steps described in the intelligent control method embodiment above, for example... Figure 1 Steps S100 to S500 are shown; or, when processor 81 executes computer program 83, it implements the functions of each module in the above-described device, for example... Figure 7 The functions of each module are shown.

[0136] The terminal device 80 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device, and includes, but is not limited to, a processor 81 and a memory 82. Those skilled in the art will understand that... Figure 8 This is merely an example of terminal device 80 and does not constitute a limitation on terminal device 80. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device 80 may also include input / output devices, network access devices, buses, etc.

[0137] The processor 81 can be a central processing unit (CPU), or 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 can be a microprocessor or any conventional processor, etc.

[0138] The memory 82 can be an internal storage unit of the terminal device 80, such as a hard disk or memory of the terminal device 80. The memory 82 can also be an external storage device of the terminal device 80, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 80. Furthermore, the memory 82 can include both internal storage units and external storage devices of the terminal device 80. The memory 82 can also store computer program 83 and other programs and data required by the terminal device 80. The memory 82 can also be used to temporarily store data that has been output or will be output.

[0139] One embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, 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.

[0140] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the methods, principles and structures of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent control method based on tower cranes, applicable to tower cranes, characterized in that, The method includes: Obtain the preset global layout map information and the endpoint offset position information of the target cargo; Based on the multiple endpoint offset position information, the predicted coverage information is determined; Based on the predicted coverage information, and according to the global layout map information, multiple associated camera information is determined; Based on the information from the multiple associated cameras, predictive personnel trajectory information is generated; Based on the predicted coverage information and predicted personnel trajectory information, risk assessment information is generated; The tower crane includes a hook, which is pre-installed with an inertial measurement unit; before acquiring the preset global layout information and the endpoint offset position information of the target cargo, the method further includes: Obtain the position information of the pulley corresponding to the end of the tower crane's boom, and obtain the vertical length information of the tower crane's wire rope; Accordingly, obtaining the preset global layout information and obtaining the endpoint offset position information of the target cargo includes: Obtain preset global layout map information, wherein the global layout map information includes the position information of multiple candidate cameras; Within a specified data acquisition period, the first swing trajectory information of the hook is acquired based on the inertial measurement unit. The first swing trajectory information of the hook is determined to be the second swing trajectory information of the target cargo, wherein the second swing trajectory information includes multiple swing trajectory point information; Based on the pulley position information and the vertical length information of the wire rope, the theoretical position information of the hook is determined; The lowest swing trajectory point information is associated with the theoretical position information, and based on the theoretical position information and multiple swing trajectory point information, the swing trajectory point information furthest from the theoretical position information is determined as the endpoint offset position information. The step of generating predicted personnel trajectory information based on the multiple associated camera information includes: Based on the information from the multiple associated cameras, real-time image information is obtained; Based on the real-time image information and the preset target detection algorithm, the target personnel information is determined; Based on a preset facial key point detection algorithm, the head orientation information of the target person is determined; Based on the head orientation information, the target person information is processed into a linear array to generate multiple array object information; Based on the target personnel information and multiple array object information, predicted personnel trajectory information is generated, wherein the predicted personnel trajectory information is used to describe the trajectory composed of the target personnel information and multiple array object information.

2. The method according to claim 1, characterized in that, The step of determining the predicted coverage information based on the multiple endpoint offset position information includes: Based on the pulley position information and the offset position information of each endpoint, determine the ground projection position information corresponding to each of the offset position information of the endpoints; Calculate the distance between any two ground projection position information to generate projection position distance information; The two ground projection position information corresponding to the largest projection position spacing information are determined as the target projection position information; Based on the two target projection position information, the predicted coverage information is determined, wherein the predicted coverage information is used to describe the area that passes through the two target projection position information and has a circular shape.

3. The method according to claim 1, characterized in that, Based on the predicted coverage information and the global layout map information, the determination of multiple associated camera information includes: Based on the predicted coverage information and the preset association distance value, association range information is generated, wherein the association range information is used to describe a circular area obtained by expanding in a direction away from the center of the predicted coverage information, with the predicted coverage information as the reference and the association distance value as the interval. Based on the global layout map information, determine whether there is a specified number of candidate camera location information within the associated range information; If a specified number of candidate camera location information exists within the associated range information, then each candidate camera location information located within the associated range information is determined to be associated camera information. If the specified number of candidate camera location information is not found within the associated range information, the associated distance value is increased based on a preset new distance value, and the process of generating associated range information based on the predicted coverage range information and the preset associated distance value is executed again, and the process of determining whether the specified number of candidate camera location information is found within the associated range information based on the global layout map information is executed until the specified number of candidate camera location information is found within the associated range information.

4. The method according to claim 1, characterized in that, The risk assessment information is either high-risk or low-risk. The step of generating risk assessment information based on the predicted coverage information and predicted personnel trajectory information includes: Determine whether there is an overlapping area between the predicted coverage information and the predicted personnel trajectory information; If there is an overlap between the predicted coverage information and the predicted personnel trajectory information, the risk assessment information is determined to be high-risk information; otherwise, the risk assessment information is determined to be low-risk information.

5. An intelligent control system based on tower cranes, characterized in that, The system includes: Endpoint offset position information acquisition module: used to acquire preset global layout map information and acquire the endpoint offset position information of the target cargo; Predicted coverage information determination module: used to determine predicted coverage information based on multiple endpoint offset position information; Associated camera information determination module: used to determine multiple associated camera information based on the predicted coverage information and the global layout map information; Predicted Personnel Trajectory Information Generation Module: Used to generate predicted personnel trajectory information based on the information from the multiple associated cameras; Risk assessment information generation module: used to generate risk assessment information based on the predicted coverage information and predicted personnel trajectory information; The tower crane includes a hook, and the hook is pre-installed with an inertial measurement unit; the system also includes: Pulley position information acquisition module: used to acquire the position information of the pulley corresponding to the end of the boom of the tower crane, and to acquire the vertical length information of the steel wire rope of the tower crane; Accordingly, the endpoint offset position information acquisition module includes: Global layout map information acquisition submodule: used to acquire preset global layout map information, wherein the global layout map information includes the position information of multiple candidate cameras; First swing trajectory information acquisition submodule: used to acquire the first swing trajectory information of the hook based on the inertial measurement unit within a specified acquisition time period; Second swing trajectory information determination submodule: used to determine the first swing trajectory information of the hook as the second swing trajectory information of the target cargo, wherein the second swing trajectory information includes multiple swing trajectory point information; Theoretical position information determination submodule: used to determine the theoretical position information of the hook based on the pulley position information and the vertical length information of the wire rope; Endpoint offset position information determination submodule: used to associate the lowest swing trajectory point information with the theoretical position information, and determine the swing trajectory point information furthest from the theoretical position information as the endpoint offset position information based on the theoretical position information and multiple swing trajectory point information; The predicted personnel trajectory information generation module includes: Real-time image information acquisition submodule: used to acquire real-time image information based on the information from the multiple associated cameras; Target Personnel Information Determination Submodule: Used to determine target personnel information based on the real-time image information and a preset target detection algorithm; Head orientation information determination submodule: used to determine the head orientation information of the target person based on a preset facial key point detection algorithm; Array object information generation submodule: used to perform linear array processing on the target person information based on the head orientation information to generate multiple array object information; Predicted Personnel Trajectory Information Generation Submodule: Used to generate predicted personnel trajectory information based on the target personnel information and multiple array object information, wherein the predicted personnel trajectory information is used to describe the trajectory composed of the target personnel information and multiple array object information.

6. The system according to claim 5, characterized in that, The risk assessment information is either high-risk or low-risk. The risk assessment information generation module includes: Overlapping Area Judgment Submodule: Used to determine whether there is an overlapping area between the predicted coverage information and the predicted personnel trajectory information; Risk assessment information determination submodule: If there is an overlapping area between the predicted coverage information and the predicted personnel trajectory information, the risk assessment information is determined to be high-risk information; otherwise, the risk assessment information is determined to be low-risk information.

7. 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 as described in any one of claims 1 to 4.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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