Intelligent safety detection system for tower crane jacking

Abstract

The utility model discloses an intelligent safety detection system for jacking of a tower crane, which comprises a sleeve frame state detection system for detecting the inclination angle of a sleeve frame, the inclination angle of a standard knot and the relative inclination angle of the sleeve frame and the standard knot, and comprises a first monitoring camera group and an analysis processing module; the first monitoring camera group is in communication connection with the analysis processing module, and the first monitoring camera group is used for acquiring detection picture data and is detachably arranged on the sleeve frame; the analyzing and processing module is used for analyzing and processing the detection picture data acquired by the first monitoring camera group to obtain the inclination angle of the sleeve frame, the inclination angle of the standard knot and the relative inclination angle of the sleeve frame and the standard knot; and the detection judgment system is connected with the oil cylinder on the sleeve frame and is used for locking or unlocking the oil cylinder according to the detection result of the sleeve frame state detection system. The leveling relation between the sleeve frame and the standard knot is detected through the monitoring camera detachably installed on the sleeve frame, no structure needs to be added to the standard knot, and the consumption cost can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to tower crane jacking safety technical field especially relates to an intelligent safety detection system of tower crane jacking. BACKGROUND

[0002] Safety is the most important in engineering operation, if the safety measure does not reach the standard, then it is extremely easy to cause the serious safety accident such as tower crane collapse. Therefore only in the current safety condition meets the case can the next process begin.

[0003] In the current tower crane jacking process, the sleeve frame needs to be sleeved on the outside of the standard section, and the jacking assembly on the sleeve frame is used to realize the jacking of the sleeve frame itself, so as to install the new standard section on the original standard section. In the process, the sleeve frame adjusts the luffing trolley through the tower crane cab to realize the adjustment of the position of the standard section used for trimming, so as to adjust the positional relationship between the sleeve frame and the standard section. After adjustment, the on-site operator mainly relies on naked eye observation to observe the gap size between the total 16 guide wheels of the upper and lower layers of the sleeve frame and the main chord of the standard section, and confirms whether it is consistent (the gap size is usually between 2-4mm). Only after the hoisting arm of the tower crane is trimmed to ensure that the overall upper structure of the tower crane is in a horizontal state, the next jacking operation can be carried out.

[0004] However, the current method mainly relies on manual observation and monitoring, and the human eye can only roughly judge the distance between each guide wheel and the chord, which requires higher experience of the operator and has certain error in distance judgment. On the other hand, the monitoring effectiveness is not enough, and the control of the operation process is not strong enough. The single result of personnel judgment determines whether the jacking process can proceed, the judgment standards of each operator are different, and the operation state of the personnel is uncertain, which has certain safety risk.

[0005] There is also a method of using a proximity sensor for detection in the prior art, for example, a proximity switch is added at each standard section step, and the control loop is modified to allow jacking only when the proximity switch is closed. In this way, when the jacking cross beam and the safety pin are in place, it can be sensed to enable jacking. However, this method requires modification of all existing machines to add sensors, which is time-consuming and labor-intensive, and the cost is extremely high. UTILITY MODEL CONTENTS

[0006] The utility model embodiment provides a kind of intelligent safety detection system of tower crane jacking to solve the problem of insufficient detection accuracy or high cost before tower crane jacking in prior art.

[0007] According to one aspect of the utility model, an intelligent safety detection system of tower crane jacking is provided, comprising

[0008] The application relates to a tower crane jacking intelligent safety detection system.

[0009] The first monitoring camera group is used for acquiring detection picture data and is detachably arranged on the sleeve frame, and the analysis processing module is used for analyzing and processing the detection picture data acquired by the first monitoring camera group to obtain the inclination angle of the sleeve frame, the inclination angle of the standard section and the relative inclination angle of the sleeve frame and the standard section.

[0010] The detection judgment system is connected with the oil cylinder on the sleeve frame and is used for locking or unlocking the oil cylinder according to the detection result of the sleeve frame state detection system.

[0011] The tower crane jacking intelligent safety detection system detects the levelness of the whole sleeve frame and the standard section during the jacking process of the tower crane, and only allows the oil cylinder to work when the detection result meets the standard, so that the safety of the tower crane during jacking can be effectively improved. When the levelness of the whole sleeve frame is detected, the picture between the sleeve frame and the standard section is acquired through the monitoring camera (the first monitoring camera group) which is detachably arranged on the sleeve frame, so that the leveling relationship between the sleeve frame and the standard section can be determined by combining the inclination angle calculation algorithm, thereby replacing the manual naked-eye observation mode for judgment. Moreover, the monitoring camera can be detachably arranged on the sleeve frame, and the standard section does not need to be further added with a structure, so that the cost can be effectively reduced. The detachable arrangement between the monitoring camera and the sleeve frame enables the monitoring camera to be repeatedly used in various tower crane jacking systems, and the communication of the system does not need to be re-paired due to the replacement of the monitoring camera. After the jacking is completed, the monitoring camera can be detached, and damage of the monitoring camera caused by the storage of the sleeve frame can be avoided.

[0012] In some embodiments, the first monitoring camera group comprises a first monitoring camera and a second monitoring camera,

[0013] The first monitoring camera acquires first picture data comprising the first sleeve frame main chord and the first standard section main chord on the first side of the first side surface of the tower crane,

[0014] The second monitoring camera acquires second picture data comprising the second sleeve frame main chord and the second standard section main chord on the second side of the second side surface of the tower crane, wherein the first side surface and the second side surface are mutually perpendicular side surfaces.

[0015] Thus, by such an arrangement, two different groups of main chords located on different sides between the sleeve frame and the standard section can be detected, and the inclination angles of the two groups of main chords are detected as the inclination angles and the relative inclination angle of the sleeve frame and the standard section in two directions, so that the levelness of the sleeve frame and the standard section can be determined, and the number of monitoring cameras used can be reduced as much as possible, so that the cost can be further reduced, the operation amount during data processing can be reduced, and the efficiency can be improved.

[0016] In some embodiments, the main chords of the sleeve frame are provided with mark strips, the first monitoring camera group includes a first monitoring camera and a second monitoring camera,

[0017] The detection picture data obtained by the first monitoring camera includes first picture data containing a first mark strip on a first sleeve frame main chord on a first side of a first side of the tower crane and a second mark strip on a first standard section main chord on the first side, wherein the first mark strip is parallel to the first sleeve frame main chord, and the second mark strip is parallel to the first standard section main chord.

[0018] The detection picture data obtained by the second monitoring camera includes second picture data containing a third mark strip on a second sleeve frame main chord on a second side of a second side of the tower crane and a fourth mark strip on a second standard section main chord on the second side, wherein the third mark strip is parallel to the second sleeve frame main chord, and the fourth mark strip is parallel to the second standard section main chord.

[0019] Thus, by such an arrangement, the mark strips provided on the main chords of the sleeve frame and the standard section can be used to mark the inclination direction of the sleeve frame and the standard section, so that the inclination angles of the main chords of the sleeve frame and the standard section in the same group can be determined by detecting the directions of the mark strips on the main chords, and the inclination angles of the sleeve frame and the standard section can be detected. The mark strips used in this way are regular in shape, so that the difficulty of processing and generating the center line can be reduced, the processing amount during data processing can be reduced, and the efficiency can be improved.

[0020] In some embodiments, the method further comprises

[0021] The jacking cross beam in-place detection system is used to detect whether the jacking cross beam is in place, and comprises a first monitoring camera, a fifth monitoring camera, and an analysis and processing module.

[0022] The first picture data obtained by the first monitoring camera further contains the shaft head on one side of the jacking beam and the step groove on the standard section, the fifth monitoring camera is detachably arranged on the sleeve frame and is used to obtain the fifth picture data containing the shaft head on the other side of the jacking beam and the step groove on the standard section, and the analysis processing module is further used to analyze and process the first picture data obtained by the first monitoring camera and the fifth picture data obtained by the fifth monitoring camera to obtain the relative position condition between the jacking beam and the standard section.

[0023] The detection and judgment system is arranged to lock or unlock the oil cylinder according to the detection results of the sleeve frame state detection system and the jacking beam in-place detection system.

[0024] Therefore, by such an arrangement, the jacking beam in-place detection system is further arranged to detect the in-place condition of the jacking beam, the system simultaneously detects the position condition between the shaft head and the step groove on both sides of the jacking beam by using the fifth monitoring camera and further using the first monitoring camera, so that the number of monitoring cameras used can be effectively reduced, the cost consumed can be reduced, and the analysis of the position condition of the jacking beam can be performed together with the analysis of the levelness of the sleeve frame and the standard section, so that the safety during jacking can be further improved, and the efficiency can be greatly improved.

[0025] In some embodiments, a smart early warning nut is arranged on the bolt between the sleeve frame and the rotary lower support, and the overall system further comprises

[0026] A rotary lower support bolt connection detection system is used to detect whether the bolt between the sleeve frame and the rotary lower support is installed in place and is composed of a bolt monitoring camera group and an analysis processing module.

[0027] The bolt monitoring camera group and the analysis processing module are in communication connection and are detachably arranged on the sleeve frame and are used to obtain third detection picture data containing the smart early warning nut arranged on the sleeve frame and the rotary lower support, and the analysis processing module is further used to analyze and process the obtained third detection picture data to obtain the pre-tightening number of the smart early warning nut on the rotary lower support.

[0028] The detection and judgment system is arranged to lock or unlock the oil cylinder according to the detection results of the sleeve frame state detection system, the jacking beam in-place detection system and the rotary lower support bolt connection detection system.

[0029] Therefore, by such an arrangement, the rotary lower support bolt connection detection system is further arranged to detect the bolt connection condition between the sleeve frame and the rotary lower support, the system detects the pre-tightening number of the smart early warning nut on the bolt between the sleeve frame and the rotary lower support by using the bolt monitoring camera group, so that the safety during jacking can be further improved.

[0030] In some embodiments, further comprising

[0031] A climbing shoe in-place detection system for detecting whether the climbing shoe and the support block step are in place when the oil cylinder is retracted, which comprises a climbing shoe monitoring camera group and an analysis processing module;

[0032] The climbing shoe monitoring camera group and the analysis processing module are communicatively connected and detachably arranged on the sleeve frame, are used to obtain fourth detection picture data containing the climbing shoe and the support block step on the standard section, and the analysis processing module is further used to analyze and process the obtained fourth monitoring picture data to obtain the relative position condition between the climbing shoe and the support block step on the standard section.

[0033] The detection judgment system is arranged to be used to lock or unlock the oil cylinder according to the detection results of the sleeve frame state detection system, the jacking beam in-place detection system, the rotating lower support bolt connection detection system and the climbing shoe in-place detection system.

[0034] In this way, by being thus arranged, the climbing shoe in-place detection system can be further arranged to detect the position condition between the climbing shoe and the support block step, the system uses the climbing shoe monitoring camera group to obtain the picture of the position condition between the climbing shoe and the support block step, and uses the analysis processing module to analyze the same to obtain the relative position condition between the climbing shoe and the support block step, so as to realize the analysis of the safety condition of jacking and improve the safety during jacking.

[0035] In some embodiments, the detection judgment system is the analysis processing module.

[0036] In this way, by being thus arranged, the detection judgment system can directly obtain the detection results of each detection system, while reducing the number of deployed devices and reducing costs.

[0037] In some embodiments, the first monitoring camera group is arranged at the bottom of the lower working platform of the sleeve frame, and each monitoring camera is a smart pan-tilt camera.

[0038] In this way, by being thus arranged, the shooting angle of the camera can be adjusted through the pan-tilt, so that the corresponding picture data can be better obtained, thereby providing sufficient guarantee for the safety condition analysis during jacking.

[0039] In some embodiments, the monitoring camera is detachably mounted on the sleeve frame through a portable mounting bracket, the portable mounting bracket comprises a connecting rod detachably connected with the monitoring camera, a rod sleeve slidably arranged on the connecting rod, and a first clamping structure for fixing the rod sleeve on the sleeve frame, and a second clamping structure for relatively fixing the position of the rod sleeve and the connecting rod is further arranged on the rod sleeve.

[0040] Therefore, this setup allows for the installation of surveillance cameras using portable mounting brackets, thus avoiding damage to the cameras during storage and enabling the cameras to be reused in various tower crane jacking systems without requiring re-pairing of the system's communication when replacing cameras.

[0041] In some embodiments, the first clamping structure includes a first clamping plate and a second clamping plate arranged in parallel, and a second screw is provided through the first clamping plate;

[0042] The second clamping structure includes a first screw that passes through the sleeve and is threadedly connected to the sleeve. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the first side of the tower crane in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention.

[0045] Figure 2 This is a schematic diagram of the second side of the tower crane in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the overall structure of the tower crane in the intelligent safety detection system for tower crane lifting according to one embodiment of the present invention.

[0047] Figure 4 The image is obtained from the intelligent safety detection system for tower crane jacking according to one embodiment of this utility model.

[0048] Figure 5 The intelligent safety detection system for tower crane jacking according to one embodiment of this utility model provides a method for... Figure 4 The image after extracting the center point of the main chord of the frame and the main chord of the standard section;

[0049] Figure 6 The intelligent safety detection system for tower crane jacking according to one embodiment of this utility model provides a method for... Figure 5 The image after fitting the center point to form the center line;

[0050] Figure 7 This is a schematic diagram of the first side of the tower crane in the intelligent safety detection system for tower crane lifting according to another embodiment of the present invention.

[0051] Figure 8 For the embodiment of the utility model Figure 7 The second side structure schematic view of tower crane in the intelligent safety detection system of tower crane jacking of the embodiment of the utility model

[0052] Figure 9 For Figure 1 The enlarged structure schematic view of part A in the embodiment of the utility model

[0053] Figure 10 For Figure 3 The enlarged structure schematic view of part B in the embodiment of the utility model

[0054] Figure 11 The principle block diagram of the intelligent safety detection system of tower crane jacking of the embodiment of the utility model

[0055] Figure 12 The structure schematic view of portable mounting bracket used in the intelligent safety detection system of tower crane jacking of the embodiment of the utility model

[0056] Mark explanation: 1, cover frame;11, lower working platform;12, oil cylinder;13, jacking cross beam;131, shaft head;14, rotary lower support;15, climbing claw;2, standard section;21, step groove;22, support block step;31, first monitoring camera;32, second monitoring camera;35, fifth monitoring camera;41, first cover frame main chord;42, first standard section main chord;51, second cover frame main chord;52, second standard section main chord;61, first marking strip;62, second marking strip;63, third marking strip;64, fourth marking strip;71, connecting rod;72, rod sleeve;73, first screw;74, second screw;81, cover frame state detection system;82, jacking cross beam in place detection system;83, rotary lower support bolt connection detection system;84, climbing claw in place detection system;85, detection judgment system. Specific implementation

[0057] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0058] In the description of the present application, it needs to be understood that if the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The features defined as "first", "second" are used to distinguish the feature names, not to have special meanings, and in addition, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0059] In the description of the present application, it needs to be explained that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0060] It also needs to be explained that in this paper, the terms "including", "containing", not only include those elements, but also include other elements not explicitly listed, or include elements inherent to the process, method, article or device. Without more limitations, the elements defined by the sentence "including" do not exclude the presence of other identical elements in the process, method, article or device including the elements. The terms used in this paper are generally the terms commonly used by those skilled in the art, and if they are inconsistent with the commonly used terms, the terms in this paper shall prevail.

[0061] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0062] The present application will be described in further detail below with reference to the accompanying drawings.

[0063] The intelligent safety detection system for tower crane jacking is used in the tower crane commonly used in the existing building construction site, is used for detecting the safety of each part related to the jacking safety of the tower crane and the sleeve frame during the overall jacking process of the sleeve frame when the tower crane needs to jacking the sleeve frame to increase a new standard section on the existing standard section to increase the height of the tower crane. The intelligent safety detection system for tower crane jacking comprises a sleeve frame state detection system 81 and a detection and judgment system 85. The sleeve frame state detection system 81 is used for detecting the inclination angle of the sleeve frame 1, the inclination angle of the standard section 2 and the relative inclination angle between the sleeve frame 1 and the standard section 2. Only when the sleeve frame 1 and the standard section 2 are both horizontal or close to the horizontal state, the jacking can be safe. The detection and judgment system 85 is connected with the oil cylinder 12 of the sleeve frame 1, is used for obtaining the detection result of the sleeve frame state detection system 81, and judges whether the detection result meets the standard according to the preset standard requirement, so as to lock the oil cylinder 12 to not allow the tower crane to jacking when at least one detection result does not meet the standard, and unlock the oil cylinder 12 to allow the tower crane to jacking when all the detection results meet the standard.

[0064] Specifically, the detection of the inclination angle of the tower frame 1 by the tower frame state detection system 81 can be represented by the inclination angles of the main chords in at least two mutually perpendicular directions on the tower frame 1, and the detection of the inclination angle of the standard section 2 can also be represented by the inclination angles of the main chords in at least two mutually perpendicular directions on the standard section 2, and the relative inclination angle between the tower frame 1 and the standard section 2 can be represented by the relative inclination angles between the two groups of main chords in at least two perpendicular directions on the tower frame 1 and the standard section 2. The tower frame state detection system 81 includes a first monitoring camera group and an analysis processing module. The first monitoring camera group is composed of monitoring cameras, which are detachably installed on the tower frame 1 and can be lifted together with the tower frame 1. The first monitoring camera group is used to obtain detection picture data, which is used for analysis and processing to obtain the inclination angle data of the tower frame 1 and the standard section 2. The analysis processing module is used to analyze and process the obtained detection picture data, and then obtain the inclination angle data of the tower frame 1 and the standard section 2 to form the detection result of the tower frame state detection system 81. When analyzing and processing the detection picture data, the analysis processing module analyzes and processes the frame pictures in the obtained video data. The analysis processing module can be formed by a customized industrial computer. The industrial computer is a kind of reinforced enhanced personal computer, which has important computer properties and characteristics, such as computer, CPU, hard disk, memory, peripherals and interfaces, operating system, control network and protocol, computing power, and friendly human-computer interface. The industrial computer often runs in a relatively harsh environment, and the safety of data is also higher, so the industrial computer usually has special designs such as reinforcement, dustproof, moisture-proof, corrosion-proof, and radiation-proof. Each monitoring camera of the first monitoring camera group is in communication connection with the analysis processing module, so that the obtained detection picture data can be communicated and transmitted to the analysis processing module in real time to perform first analysis and processing on the detection picture data. The communication connection can be in the form of cable connection or wireless communication. The cable connection mode has faster signal acquisition, while the wireless communication mode does not require cables and thus does not need to consider the problem of cable length, which has certain advantages for signal transmission with the tower frame 1 located at high altitude.

[0065] As one possible implementation of the tower frame state detection system 81, the first monitoring camera group can include a first monitoring camera 31 and a second monitoring camera 32. The first monitoring camera 31 obtains first picture data including a first tower frame main chord 41 and a first standard section main chord 42 on the first side of the first side of the tower crane. The second monitoring camera 32 obtains second picture data including a second tower frame main chord 51 and a second standard section main chord 52 on the second side of the second side of the tower crane. Specifically, refer to Figures 1 to 3As shown, in this embodiment, located Figure 1 The central surveillance camera is the first surveillance camera 31. The first image data it acquires is from the first side of the tower crane, which is the side where the hydraulic cylinder 12 of the tower crane's frame 1 is located. The first image data acquired by the first surveillance camera 31 includes the main chord 41 of the first frame and the main chord 42 of the first standard section located on the first side of the tower crane. Figure 1 The main chord of the sleeve and the main chord of the standard section are located on the left side of the first side. Figure 2 The surveillance camera on the left is the second surveillance camera 32. The second image data it acquires is the image data from the second side of the tower crane. The second side and the first side are perpendicular to each other. Specifically, in this embodiment, the second side is... Figure 1 The left side of the tower crane. The second image data acquired by the second monitoring camera 32 includes the second main chord 51 of the second frame and the second standard section main chord 52 located on the second side of the tower crane, i.e. Figure 2 The main chord of the frame and the main chord of the standard section are located on the left side of the second side. That is, in this embodiment, the first camera group in the frame status detection system 81 acquires two sets of main chords of the frame and the standard section on two different sides of two mutually perpendicular sides of the tower crane.

[0066] Since the analysis processing module is in communication connection with the first monitoring camera group, the analysis processing module can obtain the detection picture data containing the first picture data and the second picture data obtained by the first monitoring camera group in real time. After obtaining the detection picture data obtained by the first monitoring camera group, the analysis processing module analyzes and processes the detection picture data. The analysis processing is processing the detection picture data to obtain the inclination angles of the sleeve 1 and the standard section 2 and the relative inclination angle between them. Specifically, the inclination angle of the first sleeve main chord 41 and the inclination angle of the first standard section main chord 42 can be determined according to the first picture data, then the inclination angle of the second sleeve main chord 51 and the inclination angle of the second standard section main chord 52 can be determined according to the second picture data, and finally the first relative inclination angle between the sleeve 1 and the standard section 2 can be determined according to the inclination angle of the first sleeve main chord 41 and the inclination angle of the first standard section main chord 42, and the second relative inclination angle between the sleeve 1 and the standard section 2 can be determined according to the inclination angle of the second sleeve main chord 51 and the inclination angle of the second standard section main chord 52. The processing of the first picture data and the second picture data is similar, and the order of the two can be interchanged, and after obtaining the inclination angle of the first sleeve main chord 41 and the inclination angle of the first standard section main chord 42 or the inclination angle of the second sleeve main chord 51 and the inclination angle of the second standard section main chord 52, the relative inclination angle between the main chords of the corresponding group can be directly determined. In the analysis and processing of the analysis processing module, the analysis and processing of the first picture data and the second picture data can be realized by processing the picture data according to the algorithm model in the prior art to obtain the inclination angles of the sleeve main chord and the standard section main chord. For example, taking the analysis and processing of the first picture data as an example, it can be realized by first extracting the center points of the first sleeve main chord 41 and the first standard section main chord 42 by using the gray center algorithm, then fitting the center lines of the first sleeve main chord 41 and the first standard section main chord 42 by using opencv, and finally determining the inclination angles of the first sleeve main chord 41 and the first standard section main chord 42 according to the fitted center lines. The analysis processing can also be realized by using other common methods in the prior art, such as directly calculating the inclination angles of the first sleeve main chord 41 and the first standard section main chord 42 by using the side lines, etc. In this embodiment, this will not be described in detail. Exemplarily, as shown in FIG. 16, the center points of the two objects are first extracted to obtain Figures 4 to 6 , then the center points of Figure 4 are fitted to form the center lines of the two objects to obtain Figure 5 , and finally the inclination angles of the two objects are determined according to the center lines. Figure 5 . In Figure 6 , the inclination angles of the two objects are determined according to the center lines. Figures 4 to 6In an embodiment of the first set of frame main chord 41, the calculated inclination angle is 88.11°, the inclination angle of the first standard section main chord 42 is 85.98°, and the first relative inclination angle between the first set of frame main chord 41 and the first standard section main chord 42 is 2.13°.

[0067] At the same time, in order to improve the accuracy of data detection and provide double protection for safety, the inclination sensor can also be arranged on the frame 1 and the standard section 2. The inclination sensor is in communication connection with the analysis processing module, and then the data detected by the inclination sensor is transmitted to the analysis processing module. After the first analysis processing is completed, the analysis processing module can compare the obtained result with the data detected by the inclination sensor to ensure the accuracy of the detection result.

[0068] In the above embodiment of the frame state detection system 81, the first monitoring camera 31 can be installed at the bottom of the lower working platform 11 of the frame 1, so that the detection picture data containing the frame main chord and the standard section main chord can be obtained before each jacking. Only two monitoring cameras are needed to complete the detection of the levelness of the frame 1 and the standard section 2, which can greatly reduce the number of monitoring cameras used, further reduce the cost of consumption, and reduce the amount of data processing, improve the analysis efficiency.

[0069] As another possible embodiment of the frame state detection system 81, this embodiment is similar to the embodiment shown in Figures 1 to 3 The first monitoring camera group of the frame state detection system 81 is provided with the first monitoring camera 31 and the second monitoring camera 32, and the picture positions monitored by the first monitoring camera 31 and the second monitoring camera 32 are the same as those in the embodiment shown in Figures 1 to 3 Specifically, referring to Figure 7 and Figure 8 The embodiment is similar to the embodiment shown in Figures 1 to 3The implementation method differs in that, in this implementation, among the main chords on the first side of the tower crane, a first marking strip 61 is provided on the first set of main chords 41, and a second marking strip 62 is provided on the first standard section main chord 42. Among the main chords on the second side of the tower crane, a third marking strip 63 is provided on the second set of main chords 51, and a fourth marking strip 64 is provided on the second standard section main chord 52. The marking strips can be set parallel to the corresponding main chords to directly indicate their direction, or they can be set at a certain angle to the corresponding main chords, allowing the direction of the main chords to be calculated from the preset angle difference. Preferably, the marking strips are elongated, and to make them more prominent in the image captured by the monitoring camera, a reflective coating can be provided on the surface of the marking strips.

[0070] In this embodiment, the analysis and processing performed by the analysis and processing module is related to... Figures 1 to 3 The analysis and processing performed by the analysis and processing module in the illustrated embodiment is similar. First, the tilt angles of the first marker bar 61, the second marker bar 62, the third marker bar 63, and the fourth marker bar 64 are determined. This allows the determination of the tilt angles of the first main chord 41, the first standard section main chord 42, the second main chord 51, and the second standard section main chord 52. Furthermore, the first relative tilt angle between the first main chord 41 and the first standard section main chord 42, and the second relative tilt angle between the second main chord 51 and the second standard section main chord 52 can be determined. The calculation of the tilt angles of the marker bars is similar to that of... Figures 1 to 3 In the embodiments shown, the calculation of the inclination angle of the main chord of the sleeve and the main chord of the standard section is similar, and this part will not be described in detail here.

[0071] In the above-described embodiment of the sleeve condition detection system 81, the analysis and processing of the marker strips replaces the analysis and processing of the main chord of the sleeve and the main chord of the standard section. Since the size of the marker strips is relatively small compared to the size of the main chord, the amount of computation during data processing can be reduced, while the accuracy of the analysis and processing can be improved, thus increasing the analysis efficiency.

[0072] In some possible implementations, the overall system may also include a lifting beam positioning detection system 82. This system 82 can also acquire corresponding detection image data via a monitoring camera, and then use an analysis and processing module to perform further analysis and processing on the detection image data to confirm whether the lifting beam 13 is in the correct position. (Refer to...) Figure 9It is shown that whether the position of the jacking cross beam 13 is in place is determined by the positional relationship between the shaft head 131 on the two sides of the jacking cross beam 13 and the step groove 21 on the standard section 2. Since the position of the jacking cross beam 13 is located at the lower part of the sleeve frame 1, the part of the detection picture data related to the jacking cross beam 13 can be obtained by the first monitoring camera group. Specifically, referring to Figure 1 It is shown that the first picture data obtained by the first monitoring camera 31 in the first monitoring camera group can contain the picture of the cooperation between the shaft head 131 on one side of the jacking cross beam 13 and the step groove 21 on the standard section 2. Further, referring to Figure 1 It is shown that the fifth monitoring camera 35, i.e. Figure 1 the monitoring camera on the right side in the middle, can also be provided. The fifth monitoring camera 35 is used to obtain the fifth picture data containing the cooperation between the shaft head 131 on the other side of the jacking cross beam 13 and the step groove 21 on the standard section 2, and the fifth monitoring camera 35 is also in communication connection with the analysis processing module. Further, the position of the jacking cross beam 13 can be detected by the first monitoring camera 31 and the fifth monitoring camera 35. After the first picture data detected by the first monitoring camera 31 and the fifth picture data detected by the fifth monitoring camera 35 are analyzed by the analysis processing module, the cooperation between the shaft head 131 of the jacking cross beam 13 and the step groove 21 on the standard section 2 can be obtained, such as whether the shaft head 131 of the jacking cross beam 13 is clamped into the step groove 21 on the standard section 2. The specific method of the analysis processing module for analyzing whether the shaft head 131 of the jacking cross beam 13 is clamped into the step groove 21 on the standard section 2 according to the first picture data and the fifth picture data can be to extract the local image of the target object (the shaft head 131 of the jacking cross beam 13 and the step groove 21) by an algorithm model, and match it with the picture of the shaft head 131 clamped into the step groove 21 by the algorithm model, so as to obtain whether the shaft head 131 of the jacking cross beam 13 is clamped into the step groove 21 on the standard section 2. The algorithm model for extracting the target object can use the YOLO model and other algorithm models commonly used in the prior art, and the algorithm model for matching and identifying can use the template matching model, which will not be listed here.

[0073] In addition, in the jacking beam in place detection system 82, a surface stress sensor and a proximity switch can also be added for detection. Specifically, the surface stress sensor can be arranged on the shaft head 131 of the jacking beam 13 to detect the surface stress on the shaft head 131, so as to determine whether the shaft head 131 of the jacking beam 13 is clamped into the step groove 21 on the standard section 2. The proximity switch can also be arranged on the shaft head 131 of the jacking beam 13 to detect whether the shaft head 131 of the jacking beam 13 is in contact with other structures, so as to determine whether the shaft head 131 of the jacking beam 13 has been clamped into the step groove 21 of the standard section 2 according to the detection result. In addition, the jacking beam in place detection system 82 can further detect whether the safety pin between the jacking beam 13 and the support block step 22 has been inserted, so as to further improve the safety of the jacking process.

[0074] In some possible embodiments, a rotary lower support bolt connection detection system 83 can also be included in the overall system. The rotary lower support bolt detection system 83 can include a bolt monitoring camera group for obtaining third detection picture data including a picture of the bolt connection position between the rotary lower support 14 and the sleeve frame 1. The bolt monitoring camera group can be provided with only one monitoring camera, or can be provided with a plurality of monitoring cameras. Since the connection position between the rotary lower support 14 and the sleeve frame 1 is located at the top of the sleeve frame 1, the bolt monitoring camera group can be arranged on the upper part of the sleeve frame 1 to monitor upwardly, or arranged at the balance arm or the boom guard of the tower crane, so as to detect the bolt connection condition between the rotary lower support 14 and the sleeve frame 1 (the arrangement of the bolt monitoring camera group is not shown in the drawings). The bolt between the rotary lower support 14 and the sleeve frame 1 is provided with an intelligent early warning nut, which can emit a red light when the pre-tightening force is insufficient, so that the bolt monitoring camera group can determine the bolt connection condition by detecting the number of pre-tightening intelligent warning nuts. The bolt monitoring camera group is also in communication connection with the analysis and processing module, so that the analysis and processing module can obtain the third detection picture data obtained by the bolt monitoring camera group in real time. The analysis and processing module also analyzes the third detection picture data to obtain the number of intelligent early warning nuts and the number of pre-tightening intelligent early warning nuts as the detection result, so as to determine whether the adjacent standard sections 2 are connected stably, and to avoid safety problems during the jacking of the sleeve frame 1.

[0075] In some possible embodiments, a climbing shoe to position detection system 84 can also be included in the overall system. The climbing shoe to position detection system 84 can include a climbing shoe monitoring camera group for acquiring fourth detection picture data including each climbing shoe 15 on the sleeve frame 1 and the support block step 22 on the standard section 2. The climbing shoe monitoring camera group can be provided with only one monitoring camera or multiple monitoring cameras, which can be arranged below the upper working platform on the upper part of the sleeve frame 1 to monitor the cooperation between the support block step 22 on the standard section 2 located on the upper part of the sleeve frame 1 and the climbing shoe 15 located on the upper part of the sleeve frame 1 (the arrangement of the climbing shoe monitoring camera group is not shown in the drawings). Figure 3 and Figure 10 As shown in Figs. 15 and 16, since the cooperation between the climbing shoe 15 and the support block step 22 needs to be confirmed before the oil cylinder 12 is retracted, the detection of the climbing shoe to position detection system 84 is mainly before the retraction of the oil cylinder 12 in the jacking process. The climbing shoe monitoring camera group is also in communication connection with the analysis processing module, so that the analysis processing module can acquire the fourth detection picture data acquired by the climbing shoe monitoring camera group in real time. The analysis processing module also analyzes the fourth detection picture data to obtain the relative position condition between each climbing shoe 15 on the sleeve frame 1 and the support block step 22 as a detection result, such as whether the climbing shoe 15 is in abutting cooperation with the support block step 22.

[0076] The detection judgment system 85 is connected with the oil cylinder 12 of the sleeve frame 1 to control the locking or unlocking of the oil cylinder 12. The detection judgment system 85 can be composed of the analysis processing module or formed by another separately provided industrial computer. Figure 11 The principle block diagram of the intelligent safety detection system of the tower crane jacking in an embodiment of the present application is schematically shown, and specifically, in this embodiment, the overall system is additionally arranged with the jacking cross beam to position detection system 82, the rotating lower support bolt connection detection system 83 and the climbing shoe to position detection system 84, and the detection judgment system 85 needs to acquire the detection results of the sleeve frame state detection system 81, the jacking cross beam to position detection system 82, the rotating lower support bolt connection detection system 83 and the climbing shoe to position detection system 84. In the embodiment of the detection judgment system 85 composed of the analysis processing module, since the detection results of the above-mentioned systems are all located in the analysis processing module, the detection results of the above-mentioned systems can be directly acquired. In the embodiment of the detection judgment system 85 formed by another separately provided industrial computer, the detection judgment system 85 needs to be in communication connection with the analysis processing module to acquire the detection results of the above-mentioned systems obtained by the analysis processing module. After the detection results of the systems are acquired, whether each part meets the standard is judged according to the corresponding detection results, and the oil cylinder 12 is unlocked to confirm that the tower crane jacking is allowed only when the detection results of the systems all meet the standard.

[0077] Specifically, when judging whether the detection result of the sleeve state detection system 81 meets the standard, the inclination angle of the sleeve 1, the inclination angle of the standard section 2, and the relative inclination angle of the two in the sleeve state detection system 81 can be compared with the preset fault-tolerant inclination angle. If the relative inclination angle is less than the fault-tolerant inclination angle, it is considered to meet the standard. The specific fault-tolerant inclination angle can include a relative inclination angle fault-tolerant value and a main chord inclination angle fault-tolerant value. The size of the relative inclination angle fault-tolerant value can be specifically set to ±1.5°, and the size of the main chord inclination angle fault-tolerant value can be specifically set to 90±3°. When calculating the inclination angles of the sleeve main chord and the standard section main chord of multiple groups, and the relative inclination angles of the sleeve 1 and the standard section 2 of multiple groups, the inclination angle of each group of sleeve main chord and standard section main chord should be compared with the main chord inclination angle fault-tolerant value, and the relative inclination angle of each group of sleeve 1 and standard section 2 should be compared with the relative inclination angle fault-tolerant value. Only when each group of inclination angle data meets the requirements, it is considered to meet the standard.

[0078] When judging whether the detection result of the jacking cross beam in-place detection system 82 meets the standard, it can be confirmed whether the shaft heads 131 at both ends of the jacking cross beam 13 have been clamped into the step grooves 21 of the standard section 2. If the shaft heads 131 at both ends of the jacking cross beam 13 have been clamped into the step grooves 21 of the standard section 2, it is considered to meet the standard. In addition, it is also detected whether the safety pin between the jacking cross beam 13 and the support block step 22 has been inserted into the climbing claw in-place detection system 84. The detection result meeting the standard also includes that the safety pin between the jacking cross beam 13 and the support block step 22 has been inserted.

[0079] When judging whether the detection result of the rotating lower support bolt connection detection system 83 meets the standard, it can be confirmed whether the number of detected intelligent early warning nuts is sufficient and whether the intelligent early warning nuts are in a pre-tightening state. If the number of detected intelligent early warning nuts is sufficient and the intelligent early warning nuts are in a pre-tightening state, it is considered to meet the standard.

[0080] When judging whether the detection result of the climbing claw in-place detection system 84 meets the standard, it can be confirmed whether each climbing claw 15 on the sleeve 1 is in abutting cooperation with the support block step 22. If each climbing claw 15 on the sleeve 1 is in abutting cooperation with the support block step 22, it is considered to meet the standard. Among them, for the detection result of the climbing claw in-place detection system 84, the detection result of the climbing claw in-place detection system 84 can be ignored before the extension of the oil cylinder 12 in the jacking process, and the detection result of the climbing claw in-place detection system 84 needs to meet the standard in the detection judgment before the retraction of the oil cylinder 12.

[0081] When the detection results of the sleeve frame state detection system 81, the jacking cross beam in place detection system 82, the rotary lower support bolt connection detection system 83 and the climbing claw in place detection system 84 all meet the standard, the detection judgment system 85 will unlock the oil cylinder 12 at this time, so that the tower crane can be jacked up. The detection judgment system 85 is connected with the oil cylinder 12 of the sleeve frame 1, so as to lock or unlock the oil cylinder 12 through electric control, and when there is a detection result that does not meet the standard, the tower crane driver cannot start the oil cylinder 12 to jack up the sleeve frame 1, only when all the detection results meet the standard, the oil cylinder 12 is unlocked, and the tower crane driver can start the oil cylinder 12 to jack up the sleeve frame 1, which provides safety guarantee for the whole jacking process.

[0082] In the above detection systems, the monitoring camera can be set as an intelligent cloud platform camera, which can be connected with the analysis processing module to control and adjust the shooting range of the monitoring camera, so as to reduce the number of monitoring cameras. The pixel requirement of the monitoring camera is not less than 4 million pixels, so as to ensure the accuracy of the detection result obtained from the obtained detection picture data.

[0083] In addition, a portable mounting bracket can be arranged between the monitoring camera and the sleeve frame 1 to realize detachable connection between the monitoring camera and the sleeve frame 1. Specifically, the portable mounting bracket can include a connecting rod 71 detachably connected with the monitoring camera, a rod sleeve 72 slidably sleeved on the connecting rod 71, and a first clamping structure for fixing the rod sleeve 72 on the sleeve frame 1. The rod sleeve 72 is further provided with a second clamping structure for fixing the position of the rod sleeve 72 and the connecting rod 71. In this way, the rod sleeve 72 of the portable mounting bracket can be detachably fixed on the sleeve frame 1 through the first clamping structure, and the monitoring camera can be detachably mounted on the connecting rod 71, and the connecting rod 71 and the rod sleeve 72 are slidably connected and fixed through the second clamping structure, so that the monitoring camera can adjust its position along the length direction of the connecting rod 71 to adjust the detection picture data obtained by the monitoring camera. For example, as shown in Figure 12 Figure 12 ​In the shown embodiment, the connecting rod 71 of the portable mounting support is a round rod, one end of the connecting rod 71 is connected with the monitoring camera through a bolt, the rod sleeve 72 is sleeved on the connecting rod 71, the second clamping structure is provided as a first screw 73 penetrating through the rod sleeve 72, and the relative fixation between the rod sleeve 72 and the connecting rod 71 is realized by screwing the first screw 73 to abut against the connecting rod 71. The first clamping structure provided on the rod sleeve 72 comprises first and second clamping plates arranged in parallel, and the first screw 74 is provided on the first clamping plate in a penetrating manner. During installation, the first and second clamping plates are arranged on both sides of the frame of the sleeve frame 1, and the second screw 74 is screwed to abut against the frame of the sleeve frame 1, so that the monitoring camera is detachably mounted on the sleeve frame 1.

[0084] The intelligent safety detection system for tower crane jacking of the utility model can comprehensively detect the links and parts between the sleeve frame 1 and the standard section 2 that will affect the jacking safety during the jacking process of the tower crane through multiple systems in all directions, including the position of the jacking cross beam 13, the bolt connection between the sleeve frame 1 and the rotary lower support 14, the cooperation between the climbing claw 15 and the support block step 22, and the levelness of the overall sleeve frame 1 and the standard section 2. At the same time, when detecting the levelness of the overall sleeve frame 1, the leveling relationship between the sleeve frame 1 and the standard section 2 is detected by the monitoring camera (the first monitoring camera group) detachably mounted on the sleeve frame 1 in combination with the inclination angle calculation algorithm, so as to replace the manual naked-eye observation mode for judgment, and since the monitoring camera can be detachably mounted on the sleeve frame 1, it is not necessary to further add structures to the standard section 2, so that the cost can be effectively reduced, and the detachable installation between the monitoring camera and the sleeve frame 1 can enable the monitoring camera to be repeatedly used in various tower crane jacking systems, without the need to re-pair the communication of the system due to replacement of the monitoring camera, and the monitoring camera can be detached after completing the jacking, so as to avoid damage to the monitoring camera when the sleeve frame 1 is stored.

[0085] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent safety detection system for tower crane jacking, characterized in that: include The frame status detection system is used to detect the tilt angle of the frame, the tilt angle of the standard section, and the relative tilt angle between the two. It includes a first monitoring camera group and an analysis and processing module. The first monitoring camera group is communicatively connected to the analysis and processing module. The first monitoring camera group is used to acquire detection image data and is detachably mounted on the frame. The analysis and processing module is used to analyze and process the detection image data acquired by the first monitoring camera group to obtain the tilt angle of the frame, the tilt angle of the standard section, and the relative tilt angle between the frame and the standard section. The detection and judgment system is connected to the hydraulic cylinder on the sleeve frame and is used to lock or unlock the hydraulic cylinder based on the detection results of the sleeve frame status detection system.

2. The intelligent safety detection system for tower crane jacking according to claim 1, characterized in that: The first surveillance camera group includes a first surveillance camera and a second surveillance camera. The detection image data acquired by the first monitoring camera includes first image data of the first frame main chord and the first standard section main chord located on the first side of the tower crane. The detection image data acquired by the second monitoring camera includes second image data containing the second main chord of the second frame and the second standard section main chord located on the second side of the tower crane, wherein the first side and the second side are mutually perpendicular.

3. The intelligent safety detection system for tower crane jacking according to claim 1, characterized in that: The main chord of the frame is equipped with a marking strip, and the first surveillance camera group includes a first surveillance camera and a second surveillance camera. The detection image data acquired by the first monitoring camera includes first image data containing a first marking strip on the first main chord of the first frame on the first side of the tower crane and a second marking strip on the first standard section main chord on the first side, wherein the first marking strip is parallel to the first main chord of the first frame and the second marking strip is parallel to the first standard section main chord; The detection image data acquired by the second monitoring camera includes second image data containing a third marking strip on the main chord of the second frame on the second side of the tower crane and a fourth marking strip on the main chord of the second standard section on the second side, wherein the third marking strip is parallel to the main chord of the second frame and the fourth marking strip is parallel to the main chord of the second standard section.

4. The intelligent safety detection system for tower crane jacking according to claim 2, characterized in that: Also includes The lifting beam positioning detection system is used to detect whether the lifting beam is in position. It consists of a first monitoring camera, a fifth monitoring camera, and an analysis and processing module. The first image data acquired by the first monitoring camera also includes the shaft head on one side of the lifting beam and the step groove on the standard section. The fifth monitoring camera is detachably mounted on the frame and is used to acquire the fifth image data including the shaft head on the other side of the lifting beam and the step groove on the standard section. The analysis and processing module is also used to analyze and process the first image data acquired by the first monitoring camera and the fifth image data acquired by the fifth monitoring camera to obtain the relative position between the lifting beam and the standard section. The detection and judgment system is configured to lock or unlock the hydraulic cylinder based on the detection results of the frame status detection system and the lifting beam positioning detection system.

5. The intelligent safety detection system for tower crane jacking according to claim 4, characterized in that: The bolts between the sleeve and the lower slewing support are equipped with intelligent early warning nuts, and the overall system also includes... The application discloses a slewing lower support bolt connection detection system which is used for detecting whether bolts between a sleeve frame and a slewing lower support are installed in place. The bolt monitoring camera group and the analysis processing module are in communication connection and detachably arranged on the sleeve frame, are used for acquiring third detection picture data containing intelligent early warning nuts of the sleeve frame and the slewing lower support, and the analysis processing module is further used for analyzing and processing the acquired third detection picture data to obtain the pre-tightening quantity condition of the intelligent early warning nuts on the slewing lower support. The detection judgment system is arranged to be used for locking or unlocking the oil cylinder according to the detection results of the sleeve frame state detection system, the jacking beam in place detection system and the slewing lower support bolt connection detection system.

6. The intelligent safety detection system for tower crane jacking up according to claim 5, characterized in that: Further comprising A climbing claw in place detection system which is used for detecting whether the climbing claw and the support block step are in place when the oil cylinder is retracted, and is composed of a climbing claw monitoring camera group and an analysis processing module. The climbing claw monitoring camera group and the analysis processing module are in communication connection and detachably arranged on the sleeve frame, are used for acquiring fourth detection picture data containing the support block step on the climbing claw and the standard section, and the analysis processing module is further used for analyzing and processing the acquired fourth detection picture data to obtain the relative position condition between the climbing claw and the support block step on the standard section. The detection judgment system is arranged to be used for locking or unlocking the oil cylinder according to the detection results of the sleeve frame state detection system, the jacking beam in place detection system, the slewing lower support bolt connection detection system and the climbing claw in place detection system.

7. The intelligent safety detection system for tower crane jacking up according to claim 1, characterized in that: The detection judgment system is the analysis processing module.

8. The intelligent safety detection system for tower crane jacking according to any one of claims 1 to 7, characterized in that: The first monitoring camera group is arranged at the bottom of the lower working platform of the sleeve frame, and each monitoring camera is an intelligent holder camera.

9. The intelligent safety detection system for tower crane jacking according to any one of claims 1 to 7, characterized in that: The monitoring camera is detachably arranged on the sleeve frame through a portable mounting bracket, the portable mounting bracket comprises a connecting rod which is detachably connected with the monitoring camera, a rod sleeve which is sleeved on the connecting rod, and a first clamping structure which is used for fixing the rod sleeve on the sleeve frame, and a second clamping structure which is used for fixing the position of the rod sleeve and the connecting rod is further arranged on the rod sleeve.

10. The intelligent safety detection system for tower crane jacking up according to claim 9, characterized in that: The first clamping structure comprises first and second clamping plates which are arranged in parallel, and a second screw is arranged through the first clamping plate. The second clamping structure comprises a first screw which is arranged through the rod sleeve and is in screw connection with the rod sleeve.

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