A safety monitoring processing method and system of a tower crane

Abstract

This application discloses a safety monitoring and processing method and system for tower cranes. The method includes: acquiring first monitoring data, which includes monitoring data obtained after detecting the fracture of the boom and hook; when the first monitoring data determines that the boom and / or hook are fractured, determining a first fall area of ​​the first boom component and / or a second fall area of ​​the first material; determining a first warning area based on the size of the first boom component and the first fall area, and / or determining a second warning area based on the size of the first material and the second fall area; and outputting a first control command to a warning device and a moving device after determining a final warning area based on the first warning area and / or the second warning area. By adopting the monitoring and processing scheme of this application, the occurrence of personal injury and property damage caused by falling objects from heights can be reduced, construction safety can be improved, and it can be widely applied in the construction field.

Description

Technical Field

[0001] This invention relates to safety monitoring and processing technology, and in particular to a safety monitoring and processing method and system for tower cranes. Background Technology

[0002] In the construction industry, tower cranes are an essential piece of construction equipment. They are rotating cranes with a boom (i.e., lifting arm / tower arm) mounted on the upper part of a tall tower. They are mainly used for the vertical and horizontal transport of materials and the installation of building components in building construction.

[0003] During tower crane operation, there is a risk of suspended materials and / or broken sections of the boom falling from height due to hook / rope breakage. When such a hazard occurs, workers and objects moving on the ground (such as automated guided vehicles or patrol vehicles), as well as those inside or under construction buildings, may not be aware of the situation in time. Consequently, workers and moving objects cannot quickly and effectively move away from the danger zone. When the suspended materials and / or broken sections of the boom fall to the ground, it can easily cause injury or death to workers (whether walking on the ground or inside buildings), and damage to moving objects or buildings under construction. Therefore, safety monitoring and early warning systems for falling objects from tower cranes are crucial and urgently need to be addressed. Summary of the Invention

[0004] In view of this, this application aims to at least solve one of the technical problems existing in the prior art. To this end, this application proposes a safety monitoring and processing method and system for tower cranes, which can identify, monitor and warn of falling objects from tower cranes, thereby improving the safety of construction sites.

[0005] In a first aspect, embodiments of this application provide a safety monitoring and processing method for tower cranes, the method comprising:

[0006] S1. Obtain first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture of the boom and second monitoring sub-data obtained after detecting the fracture of the hook.

[0007] S2. When it is determined from the first monitoring data that the boom is broken and / or the hook is broken, the first falling area of ​​the first boom component and / or the second falling area of ​​the first material are determined.

[0008] S3. Determine the first warning zone based on the size of the first crane boom component and the first fall area, and / or determine the second warning zone based on the size of the first material and the second fall area;

[0009] S4. After determining the final warning area based on the first warning area and / or the second warning area, output the first control command to the corresponding warning device and mobile device to cause the warning device to issue a warning signal and to cause the mobile device to move from the final warning area to a safe area.

[0010] In some embodiments, the step of determining that the crane boom is broken based on the first monitoring data specifically includes:

[0011] S201. Acquire first tilt angle data, first vibration data and / or first image data; wherein, the first tilt angle data is obtained by detecting the crane boom using a tilt angle sensor, the first vibration data is obtained by detecting the crane boom using a vibration sensor, and the first image data is obtained by capturing images of the crane boom using a camera device.

[0012] S202. Determine whether the crane boom is broken based on the first tilt angle data, the first vibration data and / or the first image data.

[0013] In some embodiments, step S202 specifically includes:

[0014] S2021. When the first tilt angle data and the first vibration data meet the first fracture judgment condition, output the second control command to the camera device so that the camera device can take pictures of the crane arm and obtain the first image data.

[0015] S2022. Determine whether the crane boom is broken based on the first image data.

[0016] In some embodiments, step S2021 specifically includes:

[0017] S20211. When the first tilt angle data falls within the first tilt angle threshold range and the vibration frequency of the first vibration data falls within the first vibration frequency range, then the first tilt angle data and the first vibration data are determined to meet the first fracture judgment condition; and / or,

[0018] S20212. After constructing the first feature data from the vibration frequencies of the first tilt angle data and the first vibration data, calculate the first similarity between the first feature data and the preset fracture feature data. When the calculated first similarity is greater than or equal to the first similarity threshold, it is determined that the first tilt angle data and the first vibration data meet the first fracture judgment condition.

[0019] In some embodiments, step S2022 specifically includes:

[0020] S20221. After performing edge fitting on the target object in the first image data, calculate the slope of the straight line of the fitted edge, and determine whether the crane arm is broken based on the slope change trend between adjacent straight line segments in the edge; and / or,

[0021] S20222. After obtaining the first texture feature of the target object from the first image, calculate the second similarity between the first texture feature and the reference texture, and determine whether the crane arm is broken based on the second similarity.

[0022] In some embodiments, the step of determining the first fall zone of the first lifting boom component specifically includes:

[0023] S2031. Obtain the landing area of ​​the first lifting boom component and the size of the first lifting boom component, wherein the size of the first lifting boom component is determined based on the fracture location of the lifting boom and the size of the lifting boom.

[0024] S2032. Using the center coordinates of the landing area as the center and the length of the first lifting arm component as the diameter, a corresponding circular area is determined, and the circular area is taken as the first fall area; wherein, the length of the first lifting arm component is obtained from the size information of the first lifting arm component.

[0025] In some embodiments, the step of determining the final warning area based on the first warning area and / or the second warning area specifically includes:

[0026] S401. Determine the minimum outer contour of the first and second warning areas;

[0027] S402. After expanding the minimum outer contour according to the preset expansion distance, the contour area obtained after the expansion process is used as the final warning area.

[0028] Secondly, embodiments of this application provide a safety monitoring and processing system for tower cranes, the system comprising:

[0029] The first detection device is used to detect the fracture condition of the boom and hook and obtain the first monitoring data.

[0030] The first processing system includes at least one processor for loading a program to execute steps to implement the safety monitoring processing method for a tower crane as described above.

[0031] The first detection device is connected to the first processing system.

[0032] In some embodiments, the first detection device includes a tilt sensor, a vibration sensor, and / or a camera device; the camera device is a camera device mounted on an unmanned aerial vehicle.

[0033] Thirdly, embodiments of this application provide a safety monitoring and processing system for tower cranes, the system comprising:

[0034] The first acquisition unit is used to acquire first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture of the boom and second monitoring sub-data obtained after detecting the fracture of the hook.

[0035] The first determining unit is used to determine the first falling area of ​​the first lifting boom component and / or the second falling area of ​​the first material when it is determined from the first monitoring data that the lifting boom is broken and / or the hook is broken.

[0036] The second determining unit is used to determine the first warning area based on the size of the first crane boom component and the first fall area, and / or to determine the second warning area based on the size of the first material and the second fall area.

[0037] The first control unit is configured to, after determining the final warning area based on the first warning area and / or the second warning area, output a first control command to the corresponding warning device and mobile device, so as to cause the warning device to issue a warning signal and cause the mobile device to move from the final warning area to a safe area.

[0038] This application can achieve at least one of the following technical effects: The solution of this application detects the fracture of the boom and hook of a tower crane. When a fracture is detected in the boom and / or hook, it indicates a high risk of falling objects from a height for the fractured part of the boom (i.e., the first boom component) and / or the lifted material. In this case, it is necessary to first determine the first fall zone of the first boom component and / or the second fall zone of the first material. Then, based on the size of the first boom component and the first fall zone, a first warning zone is determined, and / or based on the size of the first material and the second fall zone, a second warning zone is determined. After determining the final warning area based on the first and / or second warning areas, the system outputs a first control command to the warning device and mobile device located within the final warning area. This commands the warning device to issue a warning signal and the mobile device to move from the final warning area to a safe area. This not only allows construction personnel and moving objects to leave the danger zone of falling objects in a timely manner, greatly reducing the possibility of personnel injury and / or property damage caused by falling objects and improving construction safety, but also promptly sends warning signals to the relevant maintenance personnel, enabling them to quickly and timely inspect and maintain the tower crane. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0040] Figure 1 This application provides a flowchart illustrating the steps of a safety monitoring and processing method for a tower crane, as illustrated in an embodiment of the present application.

[0041] Figure 2 This is a schematic diagram of an embodiment of the minimum outer contour in this application;

[0042] Figure 3 A schematic diagram of the first embodiment of a safety monitoring and processing system for a tower crane provided in this application;

[0043] Figure 4 This is a schematic diagram of the second embodiment of a safety monitoring and processing system for a tower crane provided in this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] Tower cranes, commonly used in construction, are prone to breakage due to various reasons, including overloading / excessive torque, structural fatigue damage, design / manufacturing / material defects, and overloading caused by extreme weather. Similarly, their hooks can break due to excessive wear / breakage of the wire rope (lifting rope), deformation damage, or corrosion of some components. When a tower crane is lifting building materials / components, if the boom and / or hook break, there is a risk of the suspended material and / or the broken portion of the boom falling from a great height. If workers and moving objects cannot be quickly and promptly moved away from the danger zone, the falling hook and / or boom can easily cause injury or death to workers, damage to moving objects on the ground, or damage to buildings under construction or already built. The safety of the construction site cannot be guaranteed, and construction progress will be slowed down, increasing costs. In view of this, this application provides a safety monitoring technology solution for tower cranes to achieve safety monitoring and early warning of falling objects from tower cranes, and to promptly remind workers and moving objects to stay away from the danger zone of falling objects.

[0046] Reference Figure 1 This application provides a safety monitoring and processing method for tower cranes, which includes the following steps.

[0047] S1. Obtain first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture condition of the crane boom and second monitoring sub-data obtained after detecting the fracture condition of the hook.

[0048] Specifically, for the first monitoring data, at least one detection sensor can be used to detect the breakage of the boom and hook. This detection sensor can be installed on the boom, components associated with / connected to the boom, the hook, or components associated with / connected to the hook (such as the lifting rope), or it can be a non-contact detection sensor (such as a camera sensor). The choice and setting can be made according to the actual situation, and no special limitations are made here. It should also be noted that the detection of boom and hook breakage can refer to the condition of the component itself, or it can be characterized by the condition of other related components. For example, the breakage of the lifting rope can be used to characterize the breakage of the hook.

[0049] S2. When it is determined from the first monitoring data that the crane boom is broken and / or the hook is broken, the first fall area of ​​the first crane boom component and / or the second fall area of ​​the first material are determined.

[0050] Specifically, the determination of the fall zone is mainly achieved through calculation using a pre-constructed dynamic simulation model. When the crane boom is broken and the hook is not carrying any material, the inputs are the dimensions (which can be determined based on the location of the break point and the complete structural dimensions of the crane boom itself), weight, break location, swing angle, angular velocity, and wind speed of the broken part of the crane boom (i.e., the first crane boom component). This outputs the corresponding landing area, and the first fall zone is determined based on the landing area. When the hook is broken and carrying material, the inputs are the dimensions and weight of the material, the swing angle and angular velocity of the hook end, wind speed, and the real-time height of the hook above the ground. This outputs the corresponding landing area, and the second fall zone is determined based on the landing area. When the crane boom is broken and the hook is carrying material, the first and second fall zones are calculated separately using the above methods, and these are combined to determine the final warning location. It should be noted that the dynamic simulation models used to calculate and determine the first and second crash zones can be the same model, or they can be learned and trained separately at different times. During calculation, the appropriate models can be called upon for the corresponding target objects. As for the aforementioned dynamic simulation models, they can be constructed using existing model building methods, which will not be elaborated upon here.

[0051] S3. Determine a first warning zone based on the size of the first crane boom component and the first fall zone, and / or determine a second warning zone based on the size of the first material and the second fall zone.

[0052] Specifically, in this embodiment, the determined first and second fall areas can be directly used as the first and second warning areas, respectively, or the first and second fall areas can be adjusted in shape, size, and position to obtain the corresponding first and second warning areas.

[0053] S4. After determining the final warning area based on the first warning area and / or the second warning area, output a first control command to the corresponding warning device and mobile device, so that the warning device issues a warning signal and the mobile device moves from the final warning area to a safe area. The warning device may be located within or outside the final warning area, and may be a fixed and / or movable device; the mobile device receiving the first control command primarily refers to a mobile device located within the final warning area.

[0054] Specifically, when the final warning area is determined, the warning devices located within the final warning area are queried and instructed to issue warning alerts to notify personnel to quickly leave the danger zone. If no corresponding warning devices are deployed within the final warning area, then the warning devices near the final warning area are queried to issue warning alerts. If the distance between the nearest warning device and the final warning area is greater than or equal to a first distance threshold (e.g., 1.5~3m), its warning effect is insufficient and may cause misunderstanding, leading to the evacuation of personnel near the warning device instead of personnel located in the actual warning area. In this case, the first control command can be output to at least one unmanned aerial vehicle (UAV) (equipped with a prompting function module) to cause at least one UAV to fly along the edge / near the edge of the final warning area and simultaneously issue a warning signal. Alternatively, if there are mobile devices within the final warning area, they will respond to the received first control command by moving away from the warning area while issuing a warning signal, thereby guiding staff to evacuate quickly along their movement trajectory. In this movement trajectory, after receiving the first control command, the mobile device can activate the movement trajectory calculation function, and plan the shortest and safest movement path based on its own environmental information and the final warning area information, and then move along this safe movement path.

[0055] As can be seen, by adopting the above monitoring and processing method, the fracture status of the tower crane boom and the suspended materials can be detected. When a fracture is detected, the final warning area is determined, and a control command is issued to the corresponding warning device to warn the personnel in the danger zone and to move the mobile devices located in the danger zone away from the danger zone. This realizes the monitoring and early warning of the danger of falling objects from the tower crane, which greatly improves the safety of the construction site and avoids the delay of the construction progress and the input of additional costs.

[0056] In some embodiments, the step of determining that the crane boom is broken based on the first monitoring data specifically includes the following steps.

[0057] S201. Acquire first tilt angle data, first vibration data, and / or first image data; wherein, the first tilt angle data is obtained by detecting the crane boom using a tilt angle sensor, the first vibration data is obtained by detecting the crane boom using a vibration sensor, and the first image data is obtained by capturing images of the crane boom using a camera device.

[0058] S202. Determine whether the crane boom is broken based on the first tilt angle data, the first vibration data and / or the first image data.

[0059] Specifically, for the fracture detection method of the crane boom, at least one of the following methods can be used: tilt sensor, vibration sensor, and camera device. For example, fracture detection can be achieved by using only tilt sensor. In this case, several tilt sensors can be deployed at different positions on the crane boom. When the obtained tilt data [a1,a2,a3,…,an] is similar to the historical tilt data [b1,b2,b3,…,bn] corresponding to historical fracture cases, it is determined that the current crane boom has fractured.

[0060] For detecting hook breakage, at least one of the following methods can be used: tension sensor, vibration sensor, and camera device. The tension sensor is used to detect the tension data of the lifting rope, the vibration sensor is used to detect the vibration data of the hook, and the camera device is used to detect and identify crack features in key parts such as the hook and lifting rope through image recognition. Based on the identified feature information, it is determined whether there is a crack. If so, a breakage has occurred.

[0061] In some embodiments, in order to improve the detection accuracy of crane boom breakage, a combination of tilt sensor, vibration sensor and camera device is used to achieve detection. Therefore, step S202 specifically includes the following steps.

[0062] S2021. When the first tilt angle data and the first vibration data meet the first fracture judgment condition, output the second control command to the camera device so that the camera device can take pictures of the crane arm and obtain the first image data.

[0063] S2022. Determine whether the crane boom is broken based on the first image data.

[0064] Specifically, for minor cracks (referring primarily to those that would eventually cause the crane boom to break), tilt angle sensors and vibration sensors have higher sensitivity. Therefore, compared to image recognition, tilt angle sensors and vibration sensors can identify minor cracks more quickly, meaning their timeliness is higher. While image technology is more accurate at identifying more obvious cracks (which fall under the category of more obvious fractures) and can accurately identify and confirm the location of cracks, its data processing speed is slower than that of tilt angle and vibration data because it requires feature extraction and processing of the captured images. Therefore, to improve the sensitivity, processing efficiency, and accuracy of fracture identification, this embodiment first identifies minor cracks (i.e., minor fractures) based on tilt angle and vibration data, and then uses a camera device to identify more obvious fractures. Furthermore, the camera is only triggered after a minor breakage is detected. This eliminates the need for the camera to continuously capture images of the crane boom and process the corresponding image data. Before triggering the camera to capture images of the crane boom, the camera can perform other monitoring functions, such as smoke safety monitoring and personnel operation safety monitoring. In other words, one camera can be compatible with multiple functions. Therefore, this embodiment of breaking condition identification can save on the additional investment in camera equipment and reduce equipment investment costs.

[0065] In some embodiments, determining whether the first tilt angle data and the first vibration data meet the first fracture judgment condition can be achieved by using threshold judgment and / or historical feature similarity calculation. Therefore, step S2021 specifically includes the following steps.

[0066] S20211. When the first tilt angle data falls within the first tilt angle threshold range and the vibration frequency of the first vibration data falls within the first vibration frequency range, then the first tilt angle data and the first vibration data are determined to meet the first fracture judgment condition; and / or,

[0067] S20212. After constructing the first feature data from the vibration frequencies of the first tilt angle data and the first vibration data, the first similarity between the first feature data and the preset fracture feature data is calculated. When the calculated first similarity is greater than or equal to the first similarity threshold, it is determined that the first tilt angle data and the first vibration data meet the first fracture judgment condition. The preset fracture feature data is historical fracture feature data obtained by performing tilt angle and vibration detection tests on crane booms with different cracks.

[0068] Specifically, the first tilt angle data and the first vibration data are obtained by detecting several tilt angle sensors and vibration sensors deployed at corresponding positions on the crane boom. The determination method in step S20211, being a threshold judgment, has the advantage of high data processing efficiency. The determination method in step S20212, which involves calculating the similarity of data features, offers higher accuracy. Therefore, one of the above methods can be selected based on the actual situation to determine whether the first tilt angle data and the first vibration data meet the first fracture judgment condition.

[0069] Alternatively, a rough judgment can be made using step S20211. Specifically, S20211 involves determining that the first tilt angle data and the first vibration data meet the rough fracture judgment conditions when the first tilt angle data falls within the first tilt angle threshold range and the vibration frequency of the first vibration data falls within the first vibration frequency range. Then, if the rough fracture judgment conditions are met, step S20212 is executed. The vibration frequencies of the first tilt angle data and the first vibration data are used to construct the first feature data. The first similarity between the first feature data and the preset fracture feature data is then calculated. If the calculated first similarity is greater than or equal to the first similarity threshold, the first tilt angle data and the first vibration data meet the fine fracture judgment conditions, i.e., they meet the first fracture judgment conditions. This approach ensures data processing efficiency while improving the accuracy of identification and judgment.

[0070] In some embodiments, step S2022 specifically includes the following steps.

[0071] S20221. After performing edge fitting on the target object in the first image data, calculate the slope of the straight line of the fitted edge, and determine whether the crane arm is broken based on the slope change trend between adjacent straight line segments in the edge; and / or,

[0072] S20222. After obtaining the first texture feature of the target object from the first image, calculate the second similarity between the first texture feature and the reference texture, and determine whether the crane arm is broken based on the second similarity.

[0073] Specifically, the outline of the crane boom is primarily rectangular. Therefore, if a break occurs, causing the boom to bend (bend) and / or break or crack, its outline will deform. For the horizontal outline segments, i.e., the straight segments along the length of the boom, a single line segment will become at least two, with significant changes in slope between them. If no bending and / or breaking or cracking occurs, the fitted straight segment is generally only one. Even if the number of these segments during fitting is at least two, their slopes are very similar, meaning the slope error is less than the first slope threshold. Therefore, by detecting the slope change trend between two adjacent straight segments on the horizontal outline edge of the boom, the presence of a break can be determined. Using this step S20221 to determine the breakage condition involves relatively simple data processing steps and is efficient. As for the fracture situation in step S20222, the similarity between the fracture features in the image and the preset benchmark texture (which mainly refers to the historical crack texture features corresponding to different fracture situations) is calculated. When the similarity is greater than or equal to the second similarity threshold, it is determined that the crane arm has fractured. This method has high recognition accuracy.

[0074] For the two fracture determination methods based on image recognition technology mentioned above, either method can be chosen, or a combination of the two methods can be used. For example, if the fracture of the crane boom is determined using step S20211, then step S20222 is not necessary. However, if the fracture is not determined by step S20211, then step S20222 is executed. This way, both efficiency and accuracy can be guaranteed.

[0075] In some embodiments, in order to further improve the accuracy of determining the fall area, the step of determining the first fall area corresponding to the first crane boom component, namely the step of determining the first fall area of ​​the first crane boom component, specifically includes the following steps.

[0076] S2031. Obtain the landing area of ​​the first lifting boom component and the size of the first lifting boom component, wherein the size of the first lifting boom component is determined based on the fracture location of the lifting boom and the size of the lifting boom.

[0077] S2032. Using the center coordinates of the landing area as the center and the length of the first lifting arm component as the diameter, a corresponding circular area is determined, and the circular area is taken as the first fall area; wherein, the length of the first lifting arm component is obtained from the size information of the first lifting arm component.

[0078] Specifically, the dimensions of the lifting boom are known data. These can be obtained from the tower crane's factory specifications or by scanning the boom using laser point cloud scanning technology. The volume of the boom is then calculated based on the obtained point cloud data, thus determining its dimensions. When the fracture location is identified, the dimensions of the first lifting boom component can be determined by combining these dimensions. Furthermore, considering that the area of ​​the landing zone calculated using dynamic simulation is not significantly different from the area occupied by the first lifting boom component, and that the component will rotate horizontally during the fall, this embodiment uses the center coordinates of the landing zone as the center and the length of the first lifting boom component as the diameter to determine the corresponding circular area. This circular area is then used as the first landing zone, thus accurately and effectively expanding the landing area.

[0079] In some embodiments, the step of determining the final warning area based on the first warning area and / or the second warning area specifically includes the following steps.

[0080] S401. Determine the minimum outer contour of the first and second warning areas;

[0081] S402. After expanding the minimum outer contour according to the preset expansion distance, the contour area obtained after the expansion process is used as the final warning area.

[0082] Specifically, when only one of the first and second warning zones exists, either the first or second warning zone can be used as the final warning zone. When both a first and second warning zone exist, they may overlap or not. When the first and second warning zones do not overlap (e.g....),... Figure 2 As shown in the figure, V1 represents the first warning area and V2 represents the second warning area. The space between these two areas is also a relatively dangerous area. Therefore, in this embodiment, the final warning area is determined using a minimum outer contour. This minimum outer contour refers to the contour used to simultaneously cover both the first and second warning areas. The shape of this contour can be a regular shape (such as an ellipse, rectangle, etc.) or an irregular shape (such as...). Figure 2 The shape shown by the dashed line is used to define the minimum outer contour, which can be selected according to actual needs. Then, to further ensure the accuracy of the final warning area and improve the security of warning monitoring, the minimum outer contour is expanded using a preset expansion distance to obtain the final warning area.

[0083] It is evident that using the above method to determine the final warning area, and evacuating and moving / removing personnel and goods according to that area, can greatly improve the safety and effectiveness of the overall warning for falling objects from heights, thereby significantly reducing the adverse effects of personal injury and / or damage to goods caused by falling objects from heights.

[0084] Reference Figure 3 This application also provides a safety monitoring and processing system for tower cranes, the system comprising:

[0085] The first detection device is used to detect the fracture condition of the boom and hook and obtain the first monitoring data.

[0086] The first processing system includes at least one processor for loading a program to execute steps of implementing a safety monitoring and processing method for a tower crane as described in the above method embodiments.

[0087] The first detection device is connected to the first processing system.

[0088] In some embodiments, the first detection device includes a tilt sensor, a vibration sensor, and / or a camera device; the camera device is mounted on an unmanned aerial vehicle. Additionally, the first processing system is also communicatively connected to the early warning device and the mobile device.

[0089] The processor included in the first processing system described above is used to load and execute the steps described in the above method example. Therefore, the beneficial effects of this embodiment are the same as those of the above method, and will not be described in detail here.

[0090] Reference Figure 4 This application also provides a safety monitoring and processing system for tower cranes, the system comprising:

[0091] The first acquisition unit is used to acquire first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture of the boom and second monitoring sub-data obtained after detecting the fracture of the hook.

[0092] The first determining unit is used to determine the first falling area of ​​the first lifting boom component and / or the second falling area of ​​the first material when it is determined from the first monitoring data that the lifting boom is broken and / or the hook is broken.

[0093] The second determining unit is used to determine the first warning area based on the size of the first crane boom component and the first fall area, and / or to determine the second warning area based on the size of the first material and the second fall area.

[0094] The first control unit is configured to, after determining the final warning area based on the first warning area and / or the second warning area, output a first control command to the corresponding warning device and mobile device, so as to cause the warning device to issue a warning signal and cause the mobile device to move from the final warning area to a safe area.

[0095] The units / modules of the above system embodiment correspond one-to-one with the steps of the method embodiment. Therefore, the beneficial effects of this embodiment are the same as those of the above method, and will not be described in detail here.

[0096] In addition, this application also provides a computer-readable storage medium storing a computer program that is executed by a processor to implement the steps of the above-described method embodiments.

[0097] Given that the readable storage medium in the storage medium embodiment stores a computer program, and the computer program is executed by a processor to implement the steps of the above method embodiment, the beneficial effects of this embodiment are the same as those of the above method and system embodiments, and will not be described in detail here.

[0098] The number of processors mentioned in the above storage medium embodiments and system embodiments can be at least one, capable of executing at least any of the steps in the above method embodiments. When the number is at least two, the at least two processors can communicate with each other, not limited to wired or wireless communication connections, and the at least one processor can communicate with various smart terminal devices. Furthermore, the processor 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.

[0099] Finally, it should be understood 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.

[0100] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A safety monitoring and processing method for tower cranes, characterized in that, The method includes: S1. Obtain first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture of the boom and second monitoring sub-data obtained after detecting the fracture of the hook. S2. When it is determined from the first monitoring data that the boom is broken and / or the hook is broken, the first falling area of ​​the first boom component and / or the second falling area of ​​the first material are determined. S3. Determine the first warning zone based on the size of the first crane boom component and the first fall area, and / or determine the second warning zone based on the size of the first material and the second fall area; S4. After determining the final warning area based on the first warning area and / or the second warning area, output the first control command to the corresponding warning device and mobile device to cause the warning device to issue a warning signal and to cause the mobile device to move from the final warning area to a safe area.

2. The method as described in claim 1, characterized in that, The step of determining that the crane boom is broken based on the first monitoring data specifically includes: S201. Acquire first tilt angle data, first vibration data and / or first image data; wherein, the first tilt angle data is obtained by detecting the crane boom using a tilt angle sensor, the first vibration data is obtained by detecting the crane boom using a vibration sensor, and the first image data is obtained by capturing images of the crane boom using a camera device. S202. Determine whether the crane boom is broken based on the first tilt angle data, the first vibration data and / or the first image data.

3. The method as described in claim 2, characterized in that, Step S202 specifically includes: S2021. When the first tilt angle data and the first vibration data meet the first fracture judgment condition, output the second control command to the camera device so that the camera device can take pictures of the crane arm and obtain the first image data. S2022. Determine whether the crane boom is broken based on the first image data.

4. The method as described in claim 3, characterized in that, Step S2021 specifically includes: S20211. When the first tilt angle data falls within the first tilt angle threshold range and the vibration frequency of the first vibration data falls within the first vibration frequency range, then the first tilt angle data and the first vibration data are determined to meet the first fracture judgment condition; and / or, S20212. After constructing the first feature data from the vibration frequencies of the first tilt angle data and the first vibration data, calculate the first similarity between the first feature data and the preset fracture feature data. When the calculated first similarity is greater than or equal to the first similarity threshold, it is determined that the first tilt angle data and the first vibration data meet the first fracture judgment condition.

5. The method as described in claim 3, characterized in that, Step S2022 specifically includes: S20221. After performing edge fitting on the target object in the first image data, calculate the slope of the straight line of the fitted edge, and determine whether the crane arm is broken based on the slope change trend between adjacent straight line segments in the edge; and / or, S20222. After obtaining the first texture feature of the target object from the first image, calculate the second similarity between the first texture feature and the reference texture, and determine whether the crane arm is broken based on the second similarity.

6. The method according to any one of claims 1-5, characterized in that, The step of determining the first fall zone of the first lifting boom component specifically includes: S2031. Obtain the landing area of ​​the first lifting boom component and the size of the first lifting boom component, wherein the size of the first lifting boom component is determined based on the fracture location of the lifting boom and the size of the lifting boom. S2032. Using the center coordinates of the landing area as the center and the length of the first lifting arm component as the diameter, a corresponding circular area is determined, and the circular area is taken as the first fall area; wherein, the length of the first lifting arm component is obtained from the size information of the first lifting arm component.

7. The method according to any one of claims 1-5, characterized in that, The step of determining the final warning area based on the first warning area and / or the second warning area specifically includes: S401. Determine the minimum outer contour of the first and second warning areas; S402. After expanding the minimum outer contour according to the preset expansion distance, the contour area obtained after the expansion process is used as the final warning area.

8. A safety monitoring and processing system for tower cranes, characterized in that, The system includes: The first detection device is used to detect the fracture condition of the boom and hook and obtain the first monitoring data. A first processing system includes at least one processor for loading a program to execute the steps of the method as described in any one of claims 1-7; The first detection device is connected to the first processing system.

9. The system as described in claim 8, characterized in that, The first detection device includes a tilt sensor, a vibration sensor, and / or a camera device; the camera device is a camera device mounted on an unmanned aerial vehicle.

10. A safety monitoring and processing system for tower cranes, characterized in that, The system includes: The first acquisition unit is used to acquire first monitoring data, wherein the first monitoring data includes first monitoring sub-data obtained after detecting the fracture of the boom and second monitoring sub-data obtained after detecting the fracture of the hook. The first determining unit is used to determine the first falling area of ​​the first lifting boom component and / or the second falling area of ​​the first material when it is determined from the first monitoring data that the lifting boom is broken and / or the hook is broken. The second determining unit is used to determine the first warning area based on the size of the first crane boom component and the first fall area, and / or to determine the second warning area based on the size of the first material and the second fall area. The first control unit is configured to, after determining the final warning area based on the first warning area and / or the second warning area, output a first control command to the corresponding warning device and mobile device, so as to cause the warning device to issue a warning signal and cause the mobile device to move from the final warning area to a safe area.

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