CN113682960B - Visualized tower crane control system and control method - Google Patents

Abstract

A visual tower crane control system and a control method relate to the technical field of building machinery control. The visual tower crane control system comprises a tower crane, a suspended object auxiliary support component, a safety monitoring component, a PC (personal computer) and a singlechip; the suspended object auxiliary support component comprises a camera A, a camera B, a camera C and a millimeter wave radar; the safety monitoring assembly comprises a laser ranging module, a flat arm deformation detection module, a tower body inclination detection module and a wind power detection module. A tower crane control method is applied to the visual tower crane control system and comprises a risk treatment method and a visual control method. According to the invention, through the combination of the millimeter wave radar and the cameras, the view field and the obstacle distribution situation around the crane are obtained, and the operator can accurately grasp the environment information of the operation site based on the images obtained by the cameras and the radar images obtained by the millimeter wave radar, so that the crane can be accurately controlled remotely in a ground control room, and the working intensity of the operator is reduced.

Description

Visual tower crane control system and control method

Technical field

The invention relates to the technical field of construction machinery control, in particular to a visual tower crane control system and a control method.

Background technique

The currently common tower crane structure is shown in Figure 3, including a tower base 11, a tower body 12, a flat arm 13, a first driving device (not shown in the figure), a trolley 15, and a second driving device (not shown in the figure). and lifting components. The tower base 11 is fixedly installed on the ground. The tower body 12 is fixedly connected to the upper end of the tower base 11 . The flat arm 13 is rotatably connected to the upper end of the tower body 12 through the first driving device. The flat arm 13 is driven by the first driving device to rotate on the horizontal plane. The flat arm 13 is bounded by the rotation connection point, and the two ends are balanced. Boom section 131 and boom section 132. The trolley 15 is movably connected to the boom section 132 of the flat arm 13 through the second driving device, and the trolley 15 makes a reciprocating linear motion along the boom section 132 of the flat arm 13 driven by the second driving device. The hanging object assembly includes a steel cable 171, a third driving device (not shown in the figure) and a hook 173. The steel cable 171 is arranged at the lower end of the trolley 15 and is associated with the trolley 15 through the third driving device. The hook is connected to the steel cable. 171 lower end, the third driving device controls the take-up or pay-out of the steel cable 171, and then controls the vertical lifting movement of the hook 173.

The tower crane driver needs to control the tower crane from a trolley at high altitude. On the one hand, there are certain safety risks for the driver when working at high altitude. The driver's spirit of working at high altitude is in a state of high tension for a long time, which is prone to fatigue; on the other hand, lifting objects Usually, the driver's visual observation, the driver's own experience analysis, and the ground personnel contacting the driver through the intercom are used to assist in lifting the object. This method is relatively extensive and primitive, and the efficiency and success rate of lifting the object are relatively high. On the other hand, there is a certain probability of misoperation when the driver controls the tower crane to perform various actions. If the driver hits an obstacle or injures someone due to misoperation, the consequences will be disastrous.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a visual tower crane control system and control method, which solves the problem that the current tower crane control method is relatively extensive and primitive, the efficiency of lifting objects is difficult to guarantee, and there are certain misoperations. A matter of probability.

The technical solution of the present invention is: a visual tower crane control system, including a tower crane; the tower crane includes a tower base, a tower body, a flat arm, a first driving device, a trolley, a second driving device and a hanging object assembly; the tower base is fixedly installed on the ground; The tower body is fixedly connected to the upper end of the tower base; the flat arm is rotatably connected to the upper end of the tower body through the first driving device. The flat arm rotates on the horizontal plane driven by the first driving device. The flat arm is bounded by the rotation connection point. The two ends are respectively the balance arm section and the lifting arm section; the trolley is movably connected to the lifting arm section of the flat arm through the second driving device, and the trolley moves along the lifting arm section of the flat arm under the driving of the second driving device. Reciprocating linear motion; the hanging object assembly includes a steel cable, a third driving device and a hook. The steel cable is set at the lower end of the trolley and is associated with the trolley through the third driving device. The hook is connected to the lower end of the steel cable and is controlled by the third driving device. The steel cable is taken up or paid out to control the vertical lifting and lowering movement of the hook;

It also includes hoisting auxiliary support components, safety monitoring components, PCs, and microcontrollers;

The hoisting auxiliary support components include camera A, camera B, camera C and millimeter wave radar; camera A is installed on the tower body, which is used to obtain ground and air views around the tower body; camera B is installed on the lower end of the boom section. It is used to obtain the field of view of the lower area of the boom section. The camera C is installed at the lower end of the trolley, which is used to obtain the field of view of the hook and directly below the hook. The millimeter wave radar is installed at the lower end of the boom section, which is used to obtain the view. The distribution of obstacles in the lower area of the boom section;

The safety monitoring components include a laser ranging module, a flat arm deformation detection module, a tower tilt detection module and a wind detection module; two laser ranging modules are installed on the opposite side walls of the flat arm crane arm section. The light emitting direction of the ranging module is parallel to the boom section and extends to the end of the boom section. It is used to detect whether there are obstacles on the rotation path of the boom section; the flat arm deformation detection module is installed on the boom The lower end of the section is used to detect the degree of bending deformation of the boom section; the tower body tilt detection module is installed on the tower body, which is used to detect the degree of bending deformation of the tower body; the wind force detection module is installed on the tower body and/or the flat arm , which is used to detect wind level;

The PC is connected to camera A, camera B, camera C, and millimeter-wave radar respectively, and is used to visually display the images acquired by camera A, camera B, and camera C and the radar data acquired by the millimeter-wave radar;

The signal input end of the single-chip computer is connected to the laser ranging module, the flat arm deformation detection module, the tower tilt detection module, and the wind detection module. The signal output end of the single-chip computer is connected to the first driving device, the second driving device, and the third driving device. Device and PC communication connection.

A further technical solution of the present invention is: the PC also includes a fast frame grabber and an image edge calculation module; the fast frame grabber is communicated with camera A, camera B, and camera C respectively to capture camera A, camera B, and camera C. For each frame of the video image captured by C; the image edge calculation module communicates with the fast frame grabber to perform object outline stroke processing on the frames extracted by the fast frame grabber.

The technical solution of the present invention is: a tower crane control method, applied to the above-mentioned visual tower crane control system, including a risk disposal method and a visual control method;

The visual manipulation method is as follows:

a. Obtain the ground and air views around the lifted object through camera A and camera B, obtain the view of the hook and directly below the hook through camera C, and obtain the radar map of the distribution of obstacles around the suspended object through millimeter wave radar. ;

b. The detection ranges of camera A, camera B, camera C, and millimeter wave radar are all cone-shaped. The vertex of the cone is the location of camera A, camera B, camera C, and millimeter wave radar. The cone shape The angle between the center line of and the horizontal plane is the detection angle; then, the detection angle of camera A is greater than the detection angle of camera B, the detection angle of camera C is 90°, the detection angle of millimeter wave radar is the same as the detection angle of camera A same;

c. The images captured by Camera A, Camera B, and Camera C, as well as the radar images obtained by millimeter-wave radar, are displayed in real time in different areas of a monitor connected to the PC, or on multiple monitors connected to the PC. Display separately;

Risk management methods are as follows:

a. Use the wind detection module to detect the wind level around the tower crane in real time, and the detection results are transmitted to the PC through the microcontroller; when the wind strength is greater than level 6, the PC will issue an early warning, prompting the operator to stop operating the tower crane; when the wind strength is greater than level 8, The single-chip microcomputer directly controls the first driving device, the second driving device and the third driving device of the tower crane to stop running, so that the tower crane stops running;

b. Use the tower tilt detection module to detect the inclination angle of the tower in real time. Define the inclination angle as the angle between the tower body and the vertical plane, and set it to r. When the tower crane is unloaded, r is 0°; when the range of r is When -0.2°＜r＜0.2°, the inclination angle of the tower is within the safe value range; when r≥1° or r≤-1°, the single-chip computer directly controls the first driving device, the second driving device, and the third driving device of the tower crane. The three drive devices stop running, causing the tower crane to stop running; when -1°<r≤-0.2° or 0.2°≤r<1°, the PC will issue an early warning to prompt the operator to stop the tower crane operation;

c. Detect the bending deformation degree of the boom section in real time through the flat arm deformation detection module. The flat arm deformation detection module is a pressure sensor. The pressure sensor is installed at the lower end of the middle part of the boom section. The distance from the end of the boom section is 1/3 of the total length of the boom section. The alarm threshold and shutdown threshold are set through the microcontroller. The alarm threshold is smaller than the shutdown threshold. When the tower crane is unloaded, the boom section only bends downward under its own weight. When the tower crane is When transporting objects, the bending deformation of the lifting arm section increases under the combined action of the lifted object and its own weight, and the pressure exerted on the pressure sensor also increases accordingly, and the detection value of the pressure sensor also increases accordingly;

Set the detection value of the pressure sensor to F. When 0＜F＜a, the bending deformation of the boom section is within the safe range. When a≤F＜b, the PC will issue an early warning to remind the operator to stop the tower crane operation. When F≥b, the microcontroller performs the following controls at the same time: 1. Control the first driving device to stop running, so that the flat arm stops rotating; 2. Control the action of the second driving device to move the car away from the end of the boom section limit position to reduce the bending deformation of the boom section; 3. Control the action of the third driving device to lower the hook and return the lifted object to the ground;

d. Use the laser ranging module to detect whether there are obstacles on the rotation path of the boom section. Set the inherent distance between the laser ranging module and the end of the boom section to s, and the ranging value of the laser ranging module to h. When h>s, it means that there are no obstacles on the rotation path of the boom section; when h≤s, it means that there are obstacles on the rotation path of the boom section;

Two laser ranging modules start ranging at the same time, and the laser ranging module with a relatively small ranging value at the same time point is used as the basis for judgment; when h>s+p, it means that the boom section will not collide during rotation. to the obstacle; when h ≤ s + p, it means that the boom section has the risk of hitting the obstacle during rotation, and the single-chip microcomputer controls the first driving device to stop running, causing the flat arm to stop rotating;

p is the safety distance, ranging from 0.1 to 0.5m.

A further technical solution of the present invention is: the fast frame grabber captures the frames in the images captured by camera A, camera B, and camera C, and then performs object outline stroke processing on the frames through the image edge calculation module, and finally uses the PC The display of the computer presents the picture after the object outline stroke processing; the object outline stroke processing uses the shape of the object in the picture or the color threshold change in the picture as a constraint.

Compared with the prior art, the present invention has the following advantages:

1. Through the combination of millimeter wave radar and multiple cameras, the field of view and the distribution of obstacles around the pendant are obtained. Based on the image obtained by the camera and the radar map obtained by the millimeter wave radar, the operator can accurately locate the material and grasp the work site. Environmental information can be used to control the tower crane remotely and accurately in the ground control room, reducing the operator's work intensity.

2. Monitor the operating status information and external environment information of the tower crane through the safety monitoring component, and establish a complete set of risk warning and disposal processes to help operators understand the status information of the tower crane in real time and ensure the safe operation of the tower crane, which greatly Improves the safety of tower crane operations.

The present invention will be further described below in conjunction with the figures and examples.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic diagram of the communication connection relationship of various components of the present invention;

Figure 3 is a schematic diagram of the existing tower crane structure.

Legend: tower base 11; tower body 12; flat arm 13; balance arm section 131; lifting arm section 132; first driving device 14; trolley 15; second driving device 16; steel cable 171; third driving device 172 ; Hook 173; Camera A21; Camera B22; Camera C23; Millimeter wave radar 24; Laser ranging module 31; Flat arm deformation detection module 32; Tower tilt detection module 33; Wind detection module 34; PC 4; Fast frame Grabber 41; image edge calculation module 42; microcontroller 5.

Detailed ways

Example 1:

As shown in Figure 1-2, the visual tower crane control system includes the tower crane, auxiliary support components for hoisting objects, safety monitoring components, PCs, and microcontrollers.

The tower crane includes a tower base 11, a tower body 12, a flat arm 13, a first driving device 14, a trolley 15, a second driving device 16 and a hanging object assembly. The tower base 11 is fixedly installed on the ground. The tower body 12 is fixedly connected to the upper end of the tower base 11 . The flat arm 13 is rotatably connected to the upper end of the tower body 12 through the first driving device 14. The flat arm 13 is driven by the first driving device 14 to rotate on the horizontal plane. The flat arm 13 is bounded by the rotation connection point, and the two ends are respectively They are the balance arm section 131 and the lifting arm section 132. The trolley 15 is movably connected to the boom section 132 of the flat arm 13 through the second driving device 16 . The trolley 15 makes a reciprocating linear motion along the boom section 132 of the flat arm 13 driven by the second driving device 16 . The hanging object assembly includes a steel cable 171, a third driving device 172 and a hook 173. The steel cable 171 is arranged at the lower end of the trolley 15 and is associated with the trolley 15 through the third driving device 172. The hook 173 is connected to the lower end of the steel cable 171 and passes through The third driving device 172 controls the take-up or pay-out of the steel cable 171, and then controls the vertical lifting movement of the hook 173.

The auxiliary support components for hoisting objects include camera A21, camera B22, camera C23 and millimeter wave radar 24. Camera A21 is installed on the tower body 12, which is used to obtain the field of view of the ground and the air around the tower body 12. Camera B22 is installed on the lower end of the boom section 132, which is used to obtain the field of view of the lower area of the boom section 132. The camera C23 is installed at the lower end of the trolley 15, and is used to obtain the view of the hook 173 and directly below the hook 173. The millimeter wave radar 24 is installed at the lower end of the boom section 132 and is used to obtain the distribution of obstacles in the lower area of the boom section 132 .

The safety monitoring component includes a laser ranging module 31, a flat arm deformation detection module 32, a tower tilt detection module 33 and a wind detection module 34. The two laser ranging modules 31 are respectively installed on the opposite side walls of the boom section 132 of the flat arm 13. The light emitting directions of the two laser ranging modules 31 are parallel to the boom section 132 and toward the boom section. 132 extends at the end and is used to detect whether there is an obstacle on the rotation path of the boom section 132 . The flat arm deformation detection module 32 is installed at the lower end of the boom section 132 and is used to detect the degree of bending deformation of the boom section 132 . The tower body tilt detection module 33 is installed on the tower body 12 and is used to detect the bending deformation degree of the tower body 12 . The wind detection module 34 is installed on the tower body 12 and is used to detect the wind level.

The PC 4 is connected to the camera A21, the camera B22, the camera C23, and the millimeter wave radar 24 respectively, and is used to visually display the images acquired by the camera A21, the camera B22, and the camera C23 and the radar data acquired by the millimeter wave radar 24.

The signal input end of the single-chip microcomputer 5 is communicatively connected to the laser ranging module 31, the flat arm deformation detection module 32, the tower tilt detection module 33, and the wind detection module 34. The signal output end of the single-chip microcomputer 5 is respectively connected to the first driving device 14 and the first driving device 14. The second driving device 16, the third driving device 172 and the PC 4 are connected through communication. The single-chip microcomputer 5 is communicatively connected to the first driving device 14, the second driving device 16, and the third driving device 172 for controlling the operating status of the tower crane. The single-chip microcomputer 5 is communicatively connected to the PC 4 for storing the monitoring data obtained by the safety monitoring component on the PC. Visual display on machine 4.

Preferably, camera A21, camera B22, and camera C23 all use web cameras with built-in 4G modules.

Preferably, the PC 4 includes a fast frame grabber 41 and an image edge calculation module 42. The PC 4 communicates with the camera A21, the camera B22, and the camera C23 through the fast frame grabber 41, respectively, to capture the camera A21, the camera B22, and the camera C23. Each frame in the video image captured by camera C23. The image edge calculation module 42 is communicatively connected with the fast frame grabber 41 to perform object outline stroke processing on the frames extracted by the fast frame grabber 41 .

Preferably, the model of the fast frame grabber 41 is IMPERX_VCE-CLEX01, and the model of the image edge computing module 42 is NVIDIA JETSON TX2.

Preferably, the model of the microcontroller 5 is stm32f103zet6.

A tower crane control method, applied to the above-mentioned visual tower crane control system, includes a risk treatment method and a visual control method.

The visual manipulation method is as follows:

a. Obtain the ground and air views around the lifted object through camera A21 and camera B22, obtain the view of hook 173 and directly below the hook 173 through camera C23, and obtain the distribution of obstacles around the suspended object through millimeter wave radar. Radar chart.

b. The detection ranges of camera A21, camera B22, camera C23, and millimeter wave radar 24 are all cone-shaped, and the apex of the cone is the location of camera A21, camera B22, camera C23, and millimeter wave radar 24. The angle between the center line of the cone and the horizontal plane is the detection angle; then, the detection angle of camera A21 is greater than the detection angle of camera B22, the detection angle of camera C23 is 90°, and the detection angle of millimeter wave radar 24 is the same as that of camera A21 The detection angle is the same.

c. The images captured by camera A21, camera B22, and camera C23, as well as the radar map obtained by millimeter wave radar 24, are displayed in real time on different areas of a monitor connected to PC 4, or on multiple monitors connected to PC 4. displayed separately on each monitor.

Risk management methods are as follows:

a. The wind power level around the tower crane is detected in real time through the wind detection module 34, and the detection result is transmitted to the PC 4 through the single-chip microcomputer 5; when the wind power is greater than level 6, the PC 4 issues an early warning to prompt the operator to stop the tower crane operation; when the wind power is greater than At level 8, the single-chip microcomputer 5 directly controls the first driving device 14, the second driving device 16, and the third driving device 172 of the tower crane to stop running, causing the tower crane to stop running.

b. The inclination angle of the tower body 12 is detected in real time through the tower body inclination detection module 33. The inclination angle is defined as the angle between the tower body 12 and the vertical plane, and is set to r. The tower crane is unloaded (that is, no objects are hoisted on the hook 173). In this case, r is 0°; when the range of r is -0.2°<r<0.2°, the inclination angle of the tower 12 is within the safe value range; when r≥1° or r≤-1°, the single-chip microcomputer 5 Directly control the first driving device 14, the second driving device 16 and the third driving device 172 of the tower crane to stop running, so that the tower crane stops running; when -1°<r≤-0.2° or 0.2°≤r<1°, PC Machine 4 issues an early warning (alarm information is displayed on the monitor connected to the PC), prompting the operator to stop the tower crane operation.

c. Detect the bending deformation degree of the boom section 132 in real time through the flat arm deformation detection module 32. The flat arm deformation detection module 32 is a pressure sensor. The pressure sensor is installed at the lower end of the middle part of the boom section 132, away from the boom section. The end distance of 132 is 1/3 of the total length of the boom section 132. The alarm threshold and shutdown threshold are set through the single-chip microcomputer 5. The alarm threshold is smaller than the shutdown threshold. When the tower crane is unloaded, the boom section 132 only generates directional force under its own weight. When the tower crane lifts an object, the bending deformation of the boom section 132 increases under the combined action of the lifted object and its own weight, and the pressure exerted on the pressure sensor also increases accordingly, and the detection value of the pressure sensor also increased accordingly;

Set the detection value of the pressure sensor to F. When 0＜F＜a, the bending deformation of the boom section is within the safe range. When a≤F＜b, the PC will issue an early warning to remind the operator to stop the tower crane operation. When F≥b, the microcontroller executes the following controls at the same time: 1. Control the first driving device 14 to stop running, so that the flat arm 13 stops rotating; 2. Control the action of the second driving device 16 to move the trolley 15 away from the starting point. The extreme position of the end of the boom section 132 to reduce the bending deformation of the boom section 132; 3. Control the action of the third driving device 172 to lower the hook 173 and put the hoisted object back on the ground;

When the tower crane lifts objects with the maximum weight it is allowed to lift, the pressure on the pressure sensor is the shutdown threshold; when the tower crane lifts 80% of the maximum weight it is allowed to lift, the pressure on the pressure sensor is the alarm threshold.

d. Use the laser ranging module 31 to detect whether there are obstacles on the rotation path of the boom section 132. Set the inherent distance between the laser ranging module 31 and the end of the boom section 132 to s. The measurement of the laser ranging module 31 The distance value is h. When h>s, it means that there are no obstacles on the rotation path of the boom section 132. When h≤s, it means that there are obstacles on the rotation path of the boom section 132;

The two laser ranging modules 31 start ranging at the same time, and the laser ranging module 31 with a relatively small ranging value at the same time point is used as the judgment standard; when h>s+p, it means that the boom section 132 is in the process of rotation will not hit obstacles; when h≤s+p, it means that there is a risk of hitting obstacles during the rotation of the boom section 132, then the single-chip microcomputer 5 controls the first driving device 14 to stop running, so that the flat arm 13 Stop rotating; p is the safety distance, ranging from 0.1 to 0.5m.

Preferably, after the fast frame grabber 41 grabs the frames in the image captured by the camera A21, the camera B22, and the camera C23, it then performs object outline stroke processing on the frame through the image edge calculation module 42, and finally presents it through the monitor of the PC. The picture after object contour stroke processing; the object contour stroke processing uses the shape of the object in the picture or the color threshold change in the picture as a constraint condition.

Claims (4)

1. The visual tower crane control system comprises a tower crane; the tower crane comprises a tower foundation, a tower body, a flat arm, a first driving device, a trolley, a second driving device and a suspended object component; the tower footing is fixedly arranged on the ground; the tower body is fixedly connected to the upper end of the tower foundation; the flat arm is rotatably connected to the upper end of the tower body through a first driving device, the flat arm rotates on a horizontal plane under the driving of the first driving device, the flat arm is bounded by a rotation connection point, and the two ends of the flat arm are respectively a balance arm section and a crane arm section; the trolley is movably connected to the lifting arm section of the flat arm through a second driving device, and is driven by the second driving device to do reciprocating linear motion along the lifting arm section of the flat arm; the lifting assembly comprises a steel cable, a third driving device and a lifting hook, wherein the steel cable is arranged at the lower end of the trolley and is associated with the trolley through the third driving device, the lifting hook is connected at the lower end of the steel cable, and the wire winding or the wire releasing of the steel cable is controlled through the third driving device so as to control the lifting hook to vertically lift;

the intelligent crane is characterized by further comprising a crane auxiliary supporting component, a safety monitoring component, a PC and a singlechip;

the suspended object auxiliary support component comprises a camera A, a camera B, a camera C and a millimeter wave radar; the camera A is arranged on the tower body and used for acquiring the ground and aerial vision around the tower body, the camera B is arranged at the lower end of the crane arm section and used for acquiring the vision of the lower area of the crane arm section, and the camera C is arranged at the lower end of the trolley and used for acquiring the vision of the lifting hook and the position right below the lifting hook; the millimeter wave radar is arranged at the lower end of the crane arm section and is used for acquiring the obstacle distribution condition of the lower area of the crane arm section;

the safety monitoring assembly comprises a laser ranging module, a flat arm deformation detection module, a tower body inclination detection module and a wind power detection module; the two laser ranging modules are respectively arranged on two opposite side walls of the boom section of the flat arm, the light emission directions of the two laser ranging modules are parallel to the boom section and extend towards the tail end of the boom section, and the two laser ranging modules are used for detecting whether a barrier exists on the rotating path of the boom section; the flat arm deformation detection module is arranged at the lower end of the lifting arm section and is used for detecting the bending deformation degree of the lifting arm section; the tower body inclination detection module is arranged on the tower body and is used for detecting the bending deformation degree of the tower body; the wind power detection module is arranged on the tower body and is used for detecting the wind power level;

the PC is respectively in communication connection with the camera A, the camera B, the camera C and the millimeter wave radar, and is used for visually displaying images acquired by the camera A, the camera B and the camera C and radar data acquired by the millimeter wave radar;

the signal input end of the singlechip is respectively in communication connection with the laser ranging module, the flat arm deformation detection module, the tower body inclination detection module and the wind power detection module, and the signal output end of the singlechip is respectively in communication connection with the first driving device, the second driving device, the third driving device and the PC.

2. The visual tower crane control system of claim 1, wherein: the PC also comprises a fast frame grabber and an image edge calculation module; the quick frame grabber is respectively connected with the camera A, the camera B and the camera C in a communication way so as to capture each frame in video images shot by the camera A, the camera B and the camera C; the image edge calculation module is in communication connection with the rapid frame grabber so as to carry out object contour tracing on the frame pictures extracted by the rapid frame grabber.

3. A tower crane control method applied to the visual tower crane control system of claim 2, comprising a risk handling method and a visual control method;

the visual control method comprises the following steps:

a. the method comprises the steps of obtaining the ground and aerial view of the periphery of a hung object through a camera A and a camera B, obtaining the view of a lifting hook and the view under the lifting hook through a camera C, and obtaining a radar map of the obstacle distribution condition of the periphery of the hung object through a millimeter wave radar;

b. the detection ranges of the camera A, the camera B, the camera C and the millimeter wave radar are all conical, the vertex of the cone is the position of the camera A, the camera B, the camera C and the millimeter wave radar, and the included angle formed by the central line of the cone and the horizontal plane is the detection angle; if the detection angle of the camera A is larger than that of the camera B, the detection angle of the camera C is 90 degrees, and the detection angle of the millimeter wave radar is the same as that of the camera A;

c. the camera A, the camera B and the camera C shoot images, and the radar image obtained by the millimeter wave radar are displayed in real time in different areas of one display connected with the PC or are respectively displayed on a plurality of displays connected with the PC;

the risk treatment method is as follows:

a. the wind power level around the tower crane is detected in real time through the wind power detection module, and the detection result is transmitted to the PC through the singlechip; when the wind power is greater than 6 levels, a PC machine gives an early warning to prompt an operator to stop the operation of the tower crane; when the wind power is greater than 8 levels, the single chip microcomputer directly controls the first driving device, the second driving device and the third driving device of the tower crane to stop running, so that the tower crane stops running;

b. the inclination angle of the tower body is detected in real time through the tower body inclination detection module, the inclination angle is defined as an included angle formed by the tower body and a vertical plane, and is set as r, and the r is 0 degree under the condition that the tower crane is empty; when r is within the range of-0.2 degrees and less than 0.2 degrees, the inclination angle of the tower body is within the range of a safety value; when r is more than or equal to 1 degrees or r is less than or equal to-1 degrees, the first driving device, the second driving device and the third driving device of the tower crane are directly controlled by the singlechip to stop running, so that the tower crane stops running; when r is less than or equal to-1 degrees and less than or equal to-0.2 degrees or r is less than or equal to 0.2 degrees and less than or equal to 1 degrees, the PC sends out early warning to prompt operators to stop the operation of the tower crane;

c. the bending deformation degree of the crane arm section is detected in real time through a flat arm deformation detection module, the flat arm deformation detection module is a pressure sensor, the pressure sensor is arranged at the lower end of the middle part of the crane arm section, the distance from the tail end of the crane arm section is 1/3 of the total length of the crane arm section, an alarm threshold value and a stop threshold value are set through a singlechip, and the alarm threshold value is smaller than the stop threshold value; when the tower crane is empty, the crane arm section only generates downward bending deformation under the self weight, when the tower crane lifts an object, the bending deformation degree of the crane arm section is increased under the combined action of the lifted object and the self weight, the pressure applied to the pressure sensor is correspondingly increased, and the detection value of the pressure sensor is correspondingly increased;

setting the detection value of the pressure sensor as F, when F is more than 0 and less than a, the bending deformation degree of the crane arm section is in a safety range, when a is less than or equal to F and less than b, sending out early warning by the PC machine, reminding an operator to stop the operation of the tower crane, and when F is more than or equal to b, simultaneously executing the following control by the singlechip: 1. controlling the first driving device to stop running, so that the flat arm stops rotating; 2. controlling the second driving device to act, and moving the trolley to a limit position far away from the tail end of the crane arm section so as to lighten the bending deformation degree of the crane arm section; 3. controlling the third driving device to act, so that the lifting hook is lowered, and the hung object is put back on the ground;

d. detecting whether a blocking object exists on a rotating path of the crane arm section through a laser ranging module, setting the inherent distance between the laser ranging module and the tail end of the crane arm section as s, setting the ranging value of the laser ranging module as h, indicating that the blocking object does not exist on the rotating path of the crane arm section when h is more than s, and indicating that the blocking object exists on the rotating path of the crane arm section when h is less than or equal to s;

the two laser ranging modules start ranging at the same time, and the laser ranging module with a relatively smaller ranging value at the same time point is used as a judging reference; when h is more than s+p, the crane arm section does not collide with an obstacle in the rotating process; when h is less than or equal to s+p, indicating that the boom section has risk of bumping into an obstacle in the rotating process, controlling the first driving device to stop running by the singlechip to stop rotating the flat arm;

p is a safe distance, and the value range is 0.1-0.5 m.

4. A tower crane control method as claimed in claim 3, wherein: capturing frame pictures in images by a camera A, a camera B and a camera C by a rapid frame grabber, carrying out object contour tracing on the frame pictures by an image edge calculation module, and finally presenting the pictures subjected to the object contour tracing by a display of a PC; the object contour tracing process takes the shape of an object in a picture or the color threshold change in the picture as a constraint condition.