CN116692705A

CN116692705A - Anti-collision monitoring method and device for group tower crane, electronic equipment and storage medium

Info

Publication number: CN116692705A
Application number: CN202310541744.3A
Authority: CN
Inventors: 康鑫; 康怀堂
Original assignee: Guangzhou Yaochi Zhizhou Technology Co ltd
Current assignee: Guangzhou Yaochi Zhizhou Technology Co ltd
Priority date: 2023-05-12
Filing date: 2023-05-12
Publication date: 2023-09-05

Abstract

The application relates to the technical field of tower cranes, in particular to a method and a device for monitoring collision prevention of a group of tower cranes, electronic equipment and a storage medium. Acquiring operation monitoring data in real time, acquiring task lists corresponding to the group tower cranes respectively, and acquiring building member attributes, wherein the task lists comprise a plurality of dispatching tasks of the group tower cranes and dispatching building members; acquiring current dispatching tasks corresponding to each tower crane in the group from the task list, and determining dispatching data of each tower crane at the current moment according to the current dispatching tasks and corresponding building member attributes; determining a task track of the group tower crane at the current moment according to the dispatching data and the operation monitoring data of the group tower crane at the current moment; determining whether the task track of the group tower crane at the current moment has a superposition position; if the collision information exists, predicting the collision information according to the dispatching data and the operation monitoring data of the tower crane generating the superposition position; and the corresponding anti-collision mode is determined according to the collision information so as to avoid collision, and the anti-collision effect of the group tower crane is improved.

Description

Anti-collision monitoring method and device for group tower crane, electronic equipment and storage medium

Technical Field

The application relates to the technical field of tower cranes, in particular to a method and a device for monitoring collision prevention of a group of tower cranes, electronic equipment and a storage medium.

Background

The tower crane is a crane for conveying various materials to a high floor during construction work, is one of common mechanical equipment on a construction site, and two or more tower cranes can be called group tower cranes. Building operations are common operation modes in daily life, different operation sites are affected by operation areas, and a large number of group tower cranes may be needed in some cases. The towers may be used for transporting materials in different directions and at different heights, and collision is likely to occur between the towers and other facilities, so that it is important to prevent the group towers from collision in the operation process.

In the related art, before the group tower cranes are installed, the installation position of each tower crane is generally designed according to the actual condition of the operation site, so that the group tower cranes do not collide with each other as much as possible, and the dispatching range covers the whole construction operation surface. However, the collision of the group tower crane is not only influenced by the installation position of the tower crane, but also the actual situation of the operation site is not constant, so that the anti-collision effect of the group tower crane is poor.

Disclosure of Invention

The application provides a group tower crane anti-collision monitoring method, a device, electronic equipment and a storage medium.

In a first aspect, the application provides a method for monitoring collision of a group tower crane, comprising the following steps:

acquiring operation monitoring data in real time, acquiring task lists corresponding to group tower cranes respectively, and acquiring building member attributes, wherein the building members are dispatching objects of the group tower cranes, and the task lists comprise a plurality of dispatching tasks corresponding to the group tower cranes respectively and the building members dispatched in each dispatching task;

acquiring current dispatching tasks of the group of tower cranes corresponding to the current time from the task list, and determining dispatching data of each tower crane at the current time according to the current dispatching tasks and corresponding building component attributes, wherein the dispatching data is corresponding dispatching data when each tower crane dispatches building components in the corresponding task list at the current time;

determining a task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment;

determining whether the task track of the group tower crane at the current moment has a superposition position;

if the overlapping position exists, predicting collision information according to the dispatching data of the tower crane generating the overlapping position and the operation monitoring data;

And determining a corresponding anti-collision mode according to the collision information so as to avoid collision.

By adopting the technical scheme, accurate dispatching data of each tower crane are obtained according to the attribute of the building component and the task list corresponding to each group of tower cranes. And then determining the task track of the group tower crane at the current moment by combining the real-time dispatching data and the real-time operation monitoring data of the group tower crane, and determining whether a superposition position exists when the group tower crane dispatches the building component or not based on the task track. If the overlapping position appears, the collision is possible, the collision information can be predicted according to the dispatching data and the operation monitoring data of the tower crane generating the overlapping position, and then the anti-collision mode is correspondingly determined. Because the operation monitoring data are continuously updated and obtained in real time, the actual condition of the construction operation site determined based on the operation monitoring data is also up to date, and the predicted collision information is more accurate and comprehensive in consideration of the dispatching data when dispatching the construction components, and the generated anti-collision mode improves the anti-collision effect of the group tower crane.

Optionally, the operation monitoring data comprises group tower crane monitoring data and environment monitoring data; the determining the task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment comprises the following steps:

Predicting the predicted positions and the predicted tracks corresponding to the building components which are assembled and transported by the group tower cranes according to the preset period according to the dispatching data of the group tower cranes at the current moment and the environment monitoring data at the current moment, wherein the predicted tracks are formed by connecting a plurality of predicted positions;

performing image analysis on the group tower crane monitoring data at the current moment according to the preset period, and determining the corresponding operation positions of the building components which are transferred by the group tower crane according to the analysis result;

when the position difference data of the predicted position of any tower crane and the corresponding operation position is larger than a preset difference threshold value, adjusting the predicted track of the tower crane according to the operation position to obtain the task track at the current moment.

By adopting the technical scheme, when the position difference data of the predicted position of any tower crane and the corresponding operation position is larger than the preset difference threshold value, the predicted track is adjusted according to the operation position analyzed by the group tower crane monitoring data at the current moment, so that the obtained task track is more in line with the actual condition of tower crane dispatching.

Optionally, the predicting collision information according to the dispatching data of the tower crane generating the superposition position and the operation monitoring data includes:

Determining a plurality of tower cranes with overlapping positions, and extracting environment monitoring data from the operation monitoring data;

acquiring installation information corresponding to each of the plurality of tower cranes, and acquiring the dispatching speed corresponding to each of the superposition moments, the length of each corresponding hoisting wire rope and the attribute of each corresponding building member from dispatching data of the plurality of tower cranes;

predicting a collision position according to the environment monitoring data, the installation information and the length of the hoisting steel wire rope;

determining risk degree information according to the dispatching speed and the building component attribute;

and predicting collision information according to the collision position and the risk degree information.

By adopting the technical scheme, a plurality of corresponding tower cranes are determined according to the superposition positions, then the collision positions are predicted firstly based on the installation information of the plurality of tower cranes, the lengths of the hoisting steel ropes corresponding to the tower cranes and the environment monitoring data, then the dangerous degree information is determined based on the dispatching speeds corresponding to the superposition moments and the building member attributes corresponding to the tower cranes, and then the collision information is predicted by combining the collision positions and the dangerous degree information. The collision information prediction process is clear and can be circulated, meanwhile, analysis and prediction are carried out by referring to the building component attribute corresponding to each different tower crane and different installation positions in the environment corresponding to the environment monitoring data, and the obtained collision information is more reliable.

Optionally, the determining, according to the collision information, a corresponding anti-collision mode to avoid a collision includes:

analyzing the collision information and determining a corresponding collision type;

acquiring a plurality of influence modes of the collision type;

screening the influence modes according to the dispatching data of the multiple tower cranes with the overlapping positions to obtain corresponding target influence modes;

and determining an anti-collision mode corresponding to the target influence mode so as to avoid collision.

By adopting the technical scheme, the corresponding collision type is determined by analyzing the collision information, then a plurality of influence modes corresponding to the collision type are screened, and finally the corresponding reminding mode is determined after the target influence mode is obtained through screening. The method and the device enable the determining process of the reminding mode to be more detailed and specific, and the obtained reminding mode is more reliable.

Optionally, the determining the anti-collision mode corresponding to the target influence mode includes:

determining an interval period from the current time to the coincident time;

acquiring the respective corresponding dispatching speeds of the plurality of tower cranes at the current moment, and adjusting the respective corresponding dispatching speeds of the plurality of tower cranes at the superposition moment according to the dispatching speeds and the interval time period;

Judging whether the adjusted dispatching speed avoids collision, if not, determining a task sequence and a corresponding task time interval of each tower crane from the task list corresponding to each of the plurality of tower cranes, analyzing, and determining an updated task sequence, an updated dispatching height, an updated task time interval and an updated dispatching speed;

and generating an anti-collision mode corresponding to the target influence mode according to the update task sequence, the update dispatching height, the update task time interval and the update dispatching speed.

By adopting the technical scheme, the dispatching speed at the coincident moment can be adjusted based on the dispatching speed at the current moment, when the adjusted dispatching speed cannot avoid collision, the task sequence and the like are updated by combining the task sequence and the task time interval corresponding to each of a plurality of tower cranes, and the collision avoidance modes are considered in various aspects, so that more suitable collision avoidance modes can be generated under different practical conditions.

Optionally, the determining whether the task trajectories of the group tower crane have the overlapping positions at the current moment includes:

acquiring the dispatching direction of each tower crane from the current dispatching tasks corresponding to the plurality of tower cranes;

Analyzing the current dispatching tasks corresponding to the plurality of tower cranes according to the installation information corresponding to the plurality of tower cranes, and obtaining the operation range of each tower crane in the plurality of tower cranes;

and determining whether the operation ranges corresponding to the plurality of tower cranes overlap or not according to the operation ranges corresponding to the plurality of tower cranes and the dispatching direction so as to determine whether the task track of the group of tower cranes has an overlapping position at the current moment.

By adopting the technical scheme, whether the task track is overlapped or not can be judged according to the overlapping condition of the operation range of each tower crane, so that the overlapping position is more visual and reliable.

Optionally, the method further comprises:

acquiring a plurality of dispatching tasks corresponding to each tower crane from a task list corresponding to each tower crane;

predicting a predicted track corresponding to each dispatching task according to a plurality of dispatching tasks corresponding to each tower crane, and determining the position number of the coincident position on each predicted track;

determining the tower crane corresponding to the predicted track with the largest number of positions as the tower crane to be moved;

determining the updating position of the tower crane to be moved according to the installation information corresponding to each of the plurality of tower cranes and the corresponding prediction track;

And sending the information of the tower crane to be moved and the updated position to related staff to adjust the position of the tower crane to be moved.

By adopting the technical scheme, the tower crane to be moved, which can be subjected to position adjustment, can be obtained according to the number of the positions which are overlapped on the predicted track. The position of the tower crane to be moved is adjusted to avoid frequent adjustment of the dispatching process of other tower cranes.

In a second aspect, the present application provides a collision-preventing monitoring device for a group tower crane, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring operation monitoring data in real time, acquiring task lists corresponding to group tower cranes respectively, and acquiring building member attributes, wherein the building members are dispatching objects of the group tower cranes, and the task lists comprise a plurality of dispatching tasks corresponding to the group tower cranes respectively and the building members dispatched in each dispatching task;

the dispatching data determining module is used for acquiring current dispatching tasks corresponding to the group of tower cranes at the current moment from the task list, and determining dispatching data of each tower crane at the current moment according to the current dispatching tasks and corresponding building component attributes, wherein the dispatching data is corresponding dispatching data when each tower crane is used for dispatching building components in the corresponding task list at the current moment;

The task track determining module is used for determining the task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment;

the superposition position determining module is used for determining whether the superposition position exists in the task track of the group tower crane at the current moment;

the collision information prediction module is used for predicting collision information according to the dispatching data of the tower crane generating the superposition position and the operation monitoring data when the superposition position exists;

and the anti-collision mode determining module is used for determining a corresponding anti-collision mode according to the collision information so as to avoid collision.

Optionally, the operation monitoring data comprises group tower crane monitoring data and environment monitoring data; the task track determining module is specifically configured to:

image analysis is carried out on the group tower crane monitoring data at the current moment according to the preset period, and the corresponding operation positions of the building components which are transferred by the group tower crane are determined according to the analysis result;

Optionally, the collision information prediction module is specifically configured to:

Optionally, the anti-collision mode determining module is specifically configured to:

acquiring a plurality of influence modes of the collision type;

determining an interval period from the current time to the coincident time;

Optionally, the coincidence position determining module is specifically configured to:

Optionally, the group tower crane anti-collision monitoring device further comprises a tower crane position adjusting module for:

In a third aspect, the present application provides an electronic device comprising: a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method of the first aspect.

In a fourth aspect, the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and performing the method of the first aspect.

In a fifth aspect, the present application provides a computer program product comprising: a computer program; the computer program implementing the method according to any of the first aspects when executed by a processor.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;

FIG. 2 is a flowchart of a method for monitoring collision avoidance of a group of tower cranes according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a tower crane anti-collision monitoring device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the application are described in further detail below with reference to the drawings.

At present, in order to prevent the group tower crane from collision in the operation process, the installation position of each tower crane is designed according to the actual condition of an operation site before the group tower crane is installed, so that the dispatching range of the group tower crane covers the whole building operation surface as much as possible and no collision occurs between the group tower cranes. But the tower crane may collide with the building to be completed, surrounding buildings, and even aerial wires not only due to the collision of the installation position with other tower cranes. Meanwhile, the condition on the operation site is not constant, and the collision factors cannot be completely removed when the tower crane is installed, so that the anti-collision effect is poor when the group tower crane is operated.

Based on the method and the device, the application provides a method and a device for monitoring collision prevention of a group tower crane, electronic equipment and a storage medium. And acquiring operation monitoring data, a task list corresponding to each group of tower cranes and building component attributes. And determining the dispatching data of each tower crane according to the task list and the building component attribute. Based on the task track of the group tower crane and the operation monitoring data, whether the task track of the target tower crane and the predicted track of the rest tower cranes have overlapping positions or not can be determined, if so, collision information is predicted according to the dispatching data of the tower cranes generating the overlapping positions, and then a corresponding reminding mode is determined according to the collision information so as to avoid collision.

Fig. 1 is a schematic view of an application scenario provided by the present application. On a certain building operation site, a plurality of tower cranes are installed. These include lower and higher towers. The image acquisition equipment can be installed on the tower top of the group tower crane of the construction operation building site, and meanwhile, unmanned aerial vehicles can be arranged on the construction operation building site to conduct aerial photography, so that the whole construction operation building site is monitored. The image acquisition equipment on the top of the tower crane and the operation monitoring data obtained by aerial photography of the unmanned aerial vehicle can be sent to the monitoring control equipment. In the application scenario shown in fig. 1, the method of the present application may be used for monitoring a control device. The monitoring equipment can analyze after receiving the operation monitoring data, predicts the collision information of the group tower crane by combining the obtained other information, and determines a corresponding reminding mode.

Reference may be made to the following examples for specific implementation.

Fig. 2 is a flowchart of a method for monitoring collision avoidance of a tower crane according to an embodiment of the present application, where the method of the present embodiment may be applied to a monitoring control device in the above scenario. As shown in fig. 2, the method includes:

s201, acquiring operation monitoring data in real time, acquiring task lists corresponding to the group tower cranes respectively, and acquiring building member attributes, wherein the building members are dispatching objects of the group tower cranes, and the task lists comprise a plurality of dispatching tasks corresponding to the group tower cranes respectively and the building members dispatched in each dispatching task.

The job monitoring data may be image data obtained when monitoring the entire construction job site and surrounding conditions.

The task list may include information of several dispatch tasks to be performed by the tower crane and which building elements each of the dispatch tasks is to dispatch to, where the building elements are to be dispatched to, etc. Building element attributes may include the type of building element to be used in performing the present construction operation, such as foundations, walls, posts, floors, etc., and may also include the weight and characteristics of different types of building elements, such as brittleness, bending, etc.

Before building operation, tasks of each tower crane can be distributed, a corresponding task list is generated and stored in the monitoring control equipment, and building construction attributes required by the building operation can be stored in the monitoring control equipment in advance.

Specifically, the monitoring control device can receive the operation monitoring data collected and sent by the image collecting device and the unmanned aerial vehicle in real time, can find and obtain the corresponding building member attribute according to the name label of the building operation, and can find and obtain the corresponding task list according to the number information label of each tower crane.

S202, acquiring current dispatching tasks of the group of tower cranes corresponding to the current moment from the task list, and determining dispatching data of each tower crane at the current moment according to the current dispatching tasks, the corresponding task list and the building component attributes, wherein the dispatching data are corresponding dispatching data when each tower crane dispatches the building component in the corresponding task list at the current moment.

The task list may further include a start time and an end time of different dispatch tasks, and each dispatch task may correspond to a time range for executing the task. The current dispatch task may be an ongoing dispatch task at the current time.

Specifically, which of the scheduling tasks is currently being performed can be determined according to the time range in which the current time is located. By combining the task list and the building component attributes, the weight of the building component to be dispatched by the current dispatching task can be obtained, and when the building component with the determined weight is dispatched to the corresponding position, the dispatching data of the dispatching task and the like can be carried out in the corresponding dispatching time at the dispatching speed on the basis of not influencing the integrity and the safety condition of the building component.

S203, determining the task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment.

The task track may be a movement track formed by moving the building component along with the time when the tower crane is used for transporting the building component, and may include a generated movement track and a movement track to be generated. Since there may be more than one building element to be deployed per tower, the mission trajectory may comprise a plurality of trajectories, each trajectory corresponding one-to-one to a building element.

Specifically, a task track determination model can be established, a large number of dispatching data, operation monitoring data and task tracks of tower cranes in a tower crane group in historical building operation can be input, the task track determination model is trained, and the trained task track determination model is obtained, so that the task track determination model has the capability of directly outputting the task tracks by inputting the dispatching data and the operation monitoring data of the tower cranes in the group. And then, the dispatching data of the group tower cranes at the current moment and the operation monitoring data at the current moment in the building operation are input into a trained task track determination model to obtain the task track of the group tower cranes at the current moment.

S204, determining whether the task track of the group tower crane at the current moment has a superposition position.

Specifically, a job model for scaling the construction job site in equal proportion may be pre-established. And scaling and displaying the task track of the group tower crane in equal proportion in the operation model, and checking whether a point of coincidence exists at the current moment so as to determine whether the task track of the group tower crane at the current moment has a coincidence position.

S205, if the overlapping position exists, collision information is predicted according to the dispatching data and the operation monitoring data of the tower crane generating the overlapping position.

The collision information may include what object the tower may collide with, e.g., with other towers, with overhead wires, with newly added equipment on the construction work site, etc. It may also include where the collision may be, for example, the trolley of a tower crane and the tower body of another tower crane, the wire rope of a tower crane and the trolley of another tower crane, the wire rope of a tower crane and the overhead wires, etc.

Specifically, if the overlapping position exists, the corresponding tower crane can be determined according to the source of the task track of the overlapping position. The position of the various components of the tower crane at the location of the overlap, such as where the boom has been moved, the length of the hoisting wire, etc., can then be obtained by analyzing the operational monitoring data. The deployment data can then be combined to predict what tower is likely to be a collision, what is likely to be a collision, and collision information that may be composed of influences such as a building element being impacted when a collision occurs.

S206, determining a corresponding anti-collision mode according to the collision information so as to avoid collision.

The anti-collision mode may include an anti-collision alert mode and a corresponding anti-collision treatment mode. The anti-collision reminding mode can comprise a reminding mode for a tower crane driver, a reminding mode for a span worker and a reminding mode for other staff. The anti-collision processing method may be a processing method that is adopted when it is predicted that a collision is likely to occur at a certain time, and the collision at that time can be avoided by performing the processing method.

Is a means for alerting workers in a construction work site. The method can include a mode of reminding a worker of adjusting the tower crane operation, and also can include a mode of reminding the worker of adjusting the tower crane position.

The collision information database can be pre-established and used for storing reminding modes under different collision conditions. The collision information database can take different collision information as tags, and the reminding mode is correspondingly stored under the tags.

Specifically, the keyword of the collision information obtained in step S205 may be extracted, and then the keyword is matched with the collision information tag in the collision information database, so as to determine a corresponding reminding mode.

According to the embodiment, accurate dispatching data of each tower crane are obtained according to the building member attribute and the task list corresponding to each group of tower cranes. And then determining the task track of the group tower crane at the current moment by combining the real-time dispatching data and the real-time operation monitoring data of the group tower crane, and determining whether a superposition position exists when the group tower crane dispatches the building component or not based on the task track. If the overlapping position appears, the collision is possible, the collision information can be predicted according to the dispatching data and the operation monitoring data of the tower crane generating the overlapping position, and then the anti-collision mode is correspondingly determined. Because the operation monitoring data are continuously updated and obtained in real time, the actual condition of the construction operation site determined based on the operation monitoring data is also up to date, and the predicted collision information is more accurate and comprehensive in consideration of the dispatching data when dispatching the construction components, and the generated anti-collision mode improves the anti-collision effect of the group tower crane.

In some embodiments, the job monitoring data may include group tower crane monitoring data and environmental monitoring data; the position difference data can be obtained by analyzing the predicted track of the building component which is transferred by the group tower crane at the current moment and the monitoring data of the group tower crane, and the task track at the current moment is obtained by adjusting the predicted track based on the position difference data. Specifically, according to the dispatching data of the group tower cranes at the current moment and the environment monitoring data at the current moment, the corresponding predicted positions and predicted tracks of the building components dispatched by the group tower cranes are predicted according to a preset period, and the predicted tracks are formed by connecting a plurality of predicted positions; image analysis is carried out on the group tower crane monitoring data at the current moment according to a preset period, and the corresponding operation positions of the building components which are transferred by the group tower crane are determined according to the analysis result; when the position difference data of the predicted position of any tower crane and the corresponding operation position is larger than a preset difference threshold value, the predicted track of the tower crane is adjusted according to the operation position, and the task track at the current moment is obtained.

The job monitoring data may include group tower crane monitoring data and environmental monitoring data. The group tower crane monitoring data may be image data including a working process of the group tower crane, and the environment monitoring data may include monitoring data of staff on a construction work site, monitoring data of a building to be completed corresponding to the present work, surrounding building monitoring data, monitoring data of surrounding roads, monitoring data of an aerial wire, and the like.

The preset period can be used for representing the frequency of analyzing the positions of building components which are transferred by the group tower crane, and can also represent the frequency of carrying out image analysis on the group tower crane monitoring data, for example, the position of the building components is predicted every 30s, so as to obtain a plurality of predicted positions. The predicted trajectory may be a trajectory formed by a connection of several predicted positions. The operation positions corresponding to the building components which are transferred by the group tower crane can be actual positions obtained according to monitoring.

The position difference data may be a distance difference between the predicted position and the work position. The preset variance threshold may be used to indicate a threshold at which the predicted trajectory deviates by a distance that may result in a collision.

Specifically, a tracking model to be trained can be established, and a large number of images (including images of building components of tower crane dispatching) corresponding to the environmental monitoring data are input into the tracking model to be trained. The to-be-trained tracking model can take a building component which is transferred by the tower crane as a tracking target, and takes the tower crane and the corresponding building component as a label to extract the characteristics of the image, so that the to-be-trained tracking model is used for model training. Training is carried out based on a large number of images, and the obtained tracking model has the function of inputting environment monitoring data and then outputting the positions of building components which are transferred by the tower crane. And connecting the obtained positions to form an existing track, and then combining the historical dispatching data to determine the whole predicted track corresponding to the obtained existing track and a plurality of predicted positions on the track. And then, carrying out image analysis on the group tower crane monitoring data to obtain the corresponding operation positions of the building components which are transferred by the group tower crane after each preset period is finished. When the distance difference between the predicted position of any tower crane and the corresponding operation position is larger than a preset difference threshold, the predicted position of the corresponding moment on the predicted track is adjusted according to the actual operation position, and the task track at the current moment is obtained.

In some implementations, the connection may be performed across several locations obtained above to form an existing track as a track corresponding to the job location.

According to the method and the device, when the position difference data of the predicted position of any tower crane and the corresponding operation position is larger than the preset difference threshold, the predicted track is adjusted according to the operation position analyzed by the group tower crane monitoring data at the current moment, so that the obtained task track is more in line with the actual condition of tower crane dispatching.

In some embodiments, the installation information of the tower crane with the overlapping position and the information such as the dispatching speed can be obtained to predict or determine the collision position and the risk degree information, and finally the collision information is predicted. Specifically, a plurality of tower cranes with overlapping positions are determined, and environment monitoring data are extracted from operation monitoring data; acquiring installation information corresponding to each of a plurality of tower cranes, and acquiring the dispatching speed corresponding to each of the superposition time, the length of each corresponding hoisting wire rope and the attribute of each corresponding building member from dispatching data of the plurality of tower cranes; predicting a collision position according to the environment monitoring data, the installation information and the length of the hoisting steel wire rope; determining dangerous degree information according to the dispatching speed and the building component attribute; and predicting collision information according to the collision position and the risk degree information.

The installation information may include the location where the tower is installed at the construction work site, the nature of the tower itself, the type of tower, etc. The properties of the tower crane itself may include data such as total tower crane height, climbing frame height, maximum load carrying capacity of the load trolley, maximum extension of the hoist rope, etc. The tower crane types may include high tower (high tower crane), low tower (low tower crane), or main tower, guest tower, etc. The deployment speed may be the speed of movement of the building elements being tower-lifted at the moment of coincidence. The risk level information may include building element damage information, other equipment damage information, tower crane affected conditions, and the like. The installation information may be stored in the monitoring control device. The dispatch data may include the speed of the tower crane at the moment of coincidence, the length of the wire rope therein, and the properties of the building elements.

Specifically, when there is a superposition position, a plurality of tower cranes with superposition positions can be identified by a plurality of task trajectories of the building components in the above embodiment, and meanwhile, environmental monitoring data in the operation monitoring data can be extracted. Corresponding installation information can be obtained in the monitoring control equipment according to tower crane numbers of the plurality of tower cranes. And then acquiring the respective corresponding dispatching speed, the respective corresponding hoisting wire rope length and the respective corresponding building member attribute at the superposition moment from the dispatching data of the tower cranes. And then, carrying out image analysis on the environment monitoring data based on the installation information of the plurality of tower cranes and the length of the hoisting steel wire rope, and determining what collision the plurality of tower cranes possibly collide with and where the collision position is. Then, a risk degree information determining model can be established, a large number of historical dispatching speeds, building member attributes of tower crane dispatching and finally generated risk conditions (risk degree information) can be input for training, and the trained risk degree information determining model has the capability of inputting the dispatching speeds and the building member attributes and directly outputting the risk degree information corresponding to each of a plurality of collision positions. And then, the dispatching speeds of the multiple tower cranes at the overlapping moment and the corresponding building member attributes are input into the trained risk degree information determining model one by one so as to output multiple risk degree information corresponding to the multiple tower cranes. Then, according to the collision position of the tower crane, the collision information corresponding to the collision position can be searched in various dangerous degree information.

According to the method, a plurality of corresponding tower cranes are determined according to the superposition positions, then the collision positions are predicted firstly based on installation information of the plurality of tower cranes, the lengths of hoisting steel ropes corresponding to the tower cranes and environment monitoring data, then dangerous degree information is determined based on the dispatching speeds corresponding to the superposition moments and the building member attributes corresponding to the tower cranes, and then the collision information is predicted by combining the collision positions and the dangerous degree information. The collision information prediction process is clear and can be circulated, meanwhile, analysis and prediction are carried out by referring to the building component attribute corresponding to each different tower crane and different installation positions in the environment corresponding to the environment monitoring data, and the obtained collision information is more reliable.

In some embodiments, the collision type may be obtained by analyzing the collision information, and the corresponding anti-collision manner may be further obtained. Specifically, collision information is analyzed, and a corresponding collision type is determined; acquiring a plurality of influence modes of the collision type; screening a plurality of influence modes according to the dispatching data of a plurality of tower cranes with overlapping positions to obtain corresponding target influence modes; and determining an anti-collision mode corresponding to the target influence mode so as to avoid collision.

The collision type may include a type of collision between the towers, a type of collision between the towers and surrounding buildings or facilities, or a type of collision more finely to a position of collision between the towers, a type of collision between the towers and surrounding buildings or facilities. The impact pattern may correspond to the type of collision, and may indicate what position of what device may be affected after the collision, what kind of impact is generated, and the like. When a lifting wire rope of a tower crane collides with a building component which is transferred by another tower crane, the building component can be unstable in transfer and have the risk of falling. The target influence mode can be an influence mode which is obtained by screening according to the dispatching data of the tower crane and accords with the condition of the tower crane.

In some implementations, several impact patterns corresponding to different collision types may be stored in the collision information database. Meanwhile, reminding modes corresponding to different influence modes can be correspondingly stored in the collision information database. The collision information can be analyzed to determine the positions of the tower crane and the collision, so that the corresponding collision type can be matched. Several impact modes corresponding to the collision type can then be looked up in the collision information database. And then, the dispatching data of a plurality of tower cranes with overlapping positions can be used as labels to screen a plurality of influence modes. For example, the dispatch speed of a tower crane is a, and the impact mode of collision with the dispatch speed a can be searched correspondingly. Screening to obtain a target influence mode, and searching an anti-collision mode corresponding to the target influence mode in a collision information database to avoid collision.

In other implementations, the anti-collision alert may be an alert that the treatment regimen is sent to the corresponding staff member. Each tower crane can be correspondingly provided with a task list, and each task at different moments, the starting time of the task, the working time interval and the like can be included in the task list. When the collision between the tower crane A and the tower crane B at the overlapping moment is predicted, the tasks corresponding to the tower crane A and the tower crane B at the overlapping moment can be acquired. Assume that tower crane a performs task A1 at the moment of coincidence and tower crane B performs task B2 at the moment of coincidence. By means of the task information of the tower crane a, it can be known that the tower crane a is very stressed in tasks today, and that a lot of tasks are to be executed immediately after the end of the task A1, whereas the tower crane B is only provided with tasks B1 and B2 today. At the moment, the tower crane B can be controlled to stop waiting, the task B2 is continued after the building component which is transferred by the tower crane A passes through the overlapping position, and the tower crane A driver and the tower crane B driver which are correspondingly sent by the anti-collision mode can be used for avoiding collision.

According to the method, the corresponding collision type is determined by analyzing the collision information, then a plurality of influence modes corresponding to the collision type are screened, and finally, a corresponding reminding mode is determined after the target influence mode is obtained through screening. The method and the device enable the determining process of the reminding mode to be more detailed and specific, and the obtained reminding mode is more reliable.

In some embodiments, the dispatching speed of the tower cranes at the moment of superposition can be adjusted, and if the adjusted dispatching speed cannot avoid collision, an anti-collision mode corresponding to the target influence mode can be generated according to the task sequence and the task time interval of each tower crane. Specifically, determining an interval period from the current time to the coincident time; acquiring the respective corresponding dispatching speeds of the plurality of tower cranes at the current moment, and adjusting the respective corresponding dispatching speeds of the plurality of tower cranes at the coinciding moment according to the dispatching speeds and the interval time; judging whether the adjusted dispatching speed avoids collision, if not, determining the task sequence and the corresponding task time interval of each tower crane from the task list corresponding to each tower crane, analyzing, and determining the update task sequence, the update dispatching height, the update task time interval and the update dispatching speed; and generating an anti-collision mode corresponding to the target influence mode according to the update task sequence, the update dispatching height, the update task time interval and the update dispatching speed.

The current time in this embodiment may be a time when the existence of the coincidence position is predicted. The task sequence may be a sequence of completing each of the dispatch tasks, and the task time interval may be a time interval corresponding to a start time to an end time of each of the dispatch tasks, and the task time interval may be set according to data of historical work. The updated task sequence may be an updated and adjusted task sequence, and the updated dispatch height, the updated task time interval, and the updated dispatch speed may be an updated and adjusted dispatch height, task time interval, and dispatch speed, respectively.

Specifically, the interval period may be obtained by making a difference between the current time and the coincident time. And then determining the positions of the building components corresponding to the current moment and the last predicted moment through image analysis, and then determining the dispatching speed of the current moment. The final speed which can be increased or decreased to the coincident moment when no collision occurs can be determined according to the dispatching speed and the interval period at the current moment. The dispatching speed at the moment of coincidence can be changed to reach the final speed by means of speed reduction or speed acceleration, then the operation monitoring data can be analyzed to determine whether the dispatching speed after the moment of coincidence is adjusted can avoid collision, if the dispatching speed after the adjustment still cannot avoid collision, the task sequence of each tower crane and the corresponding task time interval can be determined from the task list corresponding to each tower crane to analyze, how to adjust the dispatching speed, adjust the dispatching height, adjust the sequence of one or more dispatching tasks in each tower crane and the task time interval executed by each dispatching task, and an anti-collision mode corresponding to the target influence mode is generated based on the task sequence and the task time interval. The update task sequence, update dispatch height, update task time interval and update dispatch speed when no collision occurs can be determined by adjusting the dispatch speed, dispatch height, task sequence and task time interval in the job model in the above embodiment and simulating the dispatch process.

In some implementations, if collision can be avoided by adjusting the dispatching speed, the tower crane with the dispatching speed adjusted and the dispatching speed adjusted correspondingly are directly sent to corresponding staff in an anti-collision mode.

According to the method, the dispatching speed at the coincident moment can be adjusted based on the dispatching speed at the current moment, when the adjusted dispatching speed cannot avoid collision, the task sequence and the like are updated by combining the task sequence and the task time interval corresponding to each of the plurality of tower cranes, and the collision avoidance mode is considered in various aspects, so that more suitable collision avoidance modes can be generated under different practical conditions.

In some embodiments, whether the task trails of the group tower cranes have coincident positions can be determined through the operation range and the dispatching direction of each tower crane. Specifically, the dispatching direction of each tower crane is obtained from the current dispatching tasks corresponding to each of the plurality of tower cranes; according to the installation information corresponding to each of the plurality of tower cranes, analyzing the current dispatching task corresponding to each of the plurality of tower cranes to obtain the operation range of each of the plurality of tower cranes; and determining whether the operation ranges corresponding to the plurality of tower cranes overlap or not according to the operation ranges corresponding to the plurality of tower cranes and the dispatching direction so as to determine whether the task track of the group of tower cranes at the current moment overlaps or not.

The operation range may be an area size covered by the boom of the tower crane moving in the air when the tower crane transfers the building member to be transferred from the placement position to the target site when each transferring task in the task list is executed, so each tower crane may include a plurality of operation ranges, and each operation range may correspond to each transferring task.

Specifically, the dispatching direction of each tower crane may be obtained from the current dispatching tasks corresponding to each of the plurality of tower cranes. The height and the length of the crane boom when the plurality of tower cranes execute the current dispatching task can be obtained from the monitoring control equipment, and then the operation range taking each tower crane as the center can be obtained by combining the installation information corresponding to each of the plurality of tower cranes. The operation model in the above embodiment may be displayed with an equal proportion of each operation range at the current time, and it may be checked whether or not the operation ranges corresponding to the plurality of towers overlap. If so, analyzing whether the dispatching directions of the tower cranes with the superposition are consistent, and if not, indicating that the task tracks of the tower cranes in the group at the current moment have superposition positions; if the collision is uniform, collision can be avoided by reducing the speed of transferring a certain tower crane, and at this time, collision prevention information such as an adjustment speed can be directly generated without being a case where a superposition position exists.

According to the embodiment, whether the task track is overlapped or not can be judged according to the overlapping condition of the operation range of each tower crane, so that the overlapping position is more visual and reliable.

In some embodiments, the tower crane frequently influencing the operation of other tower cranes can be determined as the tower crane to be moved by determining the number of positions of the coincident positions on each predicted track, and then the tower crane to be moved can be moved to the updated position. Specifically, a plurality of corresponding dispatching tasks are obtained from task lists corresponding to the tower cranes respectively; predicting a predicted track corresponding to each dispatching task according to a plurality of dispatching tasks corresponding to each tower crane, and determining the number of positions of the coincident positions on each predicted track; determining the tower crane corresponding to the predicted track with the largest number of positions as the tower crane to be moved; determining the updating position of the tower crane to be moved according to the installation information corresponding to each of the plurality of tower cranes and the corresponding prediction track; and sending the information of the tower crane to be moved and the updated position to related staff to adjust the position of the tower crane to be moved.

Specifically, a plurality of dispatching tasks to be executed by each tower crane may be obtained from task lists corresponding to the plurality of tower cranes, and then, with reference to the above embodiment, a predicted track of each dispatching task of each tower crane may be predicted by a job model. And then checking the positions and the number of the positions, which are overlapped by different predicted tracks at the same moment, on the operation model, and comparing the positions to obtain the tower crane with the most number of the positions to which the predicted tracks belong, so that the problem of the installation position of the tower crane can be represented, the work of other tower cranes can be influenced frequently, and the tower crane is taken as the tower crane to be moved. And then, the predicted track of the tower crane to be moved at different positions can be simulated on the operation model, and the position with the least number of positions overlapped with other predicted tracks is taken as the updated position. And then the current installation position and the updated position of the movable tower crane are sent to related staff to adjust the position of the tower crane to be moved.

According to the method and the device for obtaining the tower crane to be moved, the position of the tower crane to be moved can be adjusted according to the number of the positions which are overlapped on the predicted track. The position of the tower crane to be moved is adjusted to avoid frequent adjustment of the dispatching process of other tower cranes.

In other embodiments, if the reminding mode in the anti-collision mode is an operator reminding mode, an operator determining model may be established, and a large number of interval periods, the dispatching speed at the current moment, the dispatching speed at the overlapping moment and operators corresponding to the reminding reception in the history operation process are input into the operator determining model to perform training, so that the operator determining model has the capability of inputting the interval periods, the dispatching speed at the current moment and the dispatching speed corresponding to the overlapping moment of the multiple towers, and directly outputting the operators corresponding to the reminding reception. When the staff is a span, the speed adjustment scheme can be obtained by the adjustment data corresponding to the superposition time and the adjusted adjustment speeds corresponding to the superposition time of the multiple tower cranes, the collision can be avoided when the speed is adjusted to, and the corresponding reminding information is generated and sent to the mobile equipment of the span worker. If the operator is a tower crane driver, the operation habits of the tower crane drivers of the plurality of tower cranes can be obtained from the monitoring control equipment, then the operation habits of other tower crane drivers can be searched, the optimized operation habits are checked, and a corresponding operation optimization mode is generated based on the optimized operation habits and is sent to the mobile equipment of the tower crane corresponding to the tower crane driver for display.

The span worker is a tower crane commander, and can mainly engage ground staff in preparing a lifting appliance to bind the hanging hook for unhooking and unloading when lifting the building components, and the span worker is also used as a command task in most cases. The reminding information can be text and/or voice information for reminding the driver to conduct command. The operation habit can be the driving habit that a tower crane driver controls the movement of a boom, the lifting speed of a building component after being lifted on a lifting hook and the like. The operation optimization mode may be a mode of avoiding collision through optimization of operation habits, and may include lowering lifting speeds of the lifting hooks and the load-carrying trolleys, and the like. The operation habits corresponding to the historical operation conditions of different tower crane drivers can be extracted and stored in the monitoring control equipment. The operator may be provided with a mobile device that interacts with the supervisory control device, which may be fixed to the operator's arm. The mobile equipment of the span worker can emit sound and display information, a tower crane driver can have two mobile equipment, besides being carried about, the mobile equipment can be fixed on a corresponding tower crane, and the mobile equipment fixed on the tower crane can be provided with a larger display device for displaying information. The method can match a more accurate reminding mode for different predicted collision conditions, and improves the anti-collision effect.

Fig. 3 is a schematic structural diagram of a tower crane anti-collision monitoring device according to an embodiment of the present application, and as shown in fig. 3, a tower crane anti-collision monitoring device 300 according to the present embodiment includes: an acquisition module 301, a dispatch data determination module 302, a task trajectory determination module 303, a coincidence position determination module 304, a collision information prediction module 305, and a collision avoidance mode determination module 306.

The acquisition module 301 is configured to acquire operation monitoring data in real time, acquire task lists corresponding to group tower cranes, and acquire properties of building components, where the building components are transportation objects of the group tower cranes, and the task list includes a plurality of transportation tasks corresponding to the group tower cranes and the building components transported in each transportation task;

the dispatching data determining module 302 is configured to obtain, from the task list, current dispatching tasks corresponding to each of the group of tower cranes at a current time, and determine dispatching data of each of the tower cranes at the current time according to the current dispatching tasks and corresponding building member attributes, where the dispatching data is corresponding dispatching data when each of the tower cranes dispatches building members in the corresponding task list at the current time;

the task track determining module 303 is configured to determine a task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment;

The coincidence position determining module 304 is configured to determine whether a task track of the group tower crane at the current moment has a coincidence position;

a collision information prediction module 305, configured to predict collision information according to the dispatching data and the operation monitoring data of the tower crane generating the overlapping position when the overlapping position exists;

the anti-collision mode determining module 306 is configured to determine a corresponding anti-collision mode according to the collision information so as to avoid a collision.

Optionally, the operation monitoring data includes group tower crane monitoring data and environment monitoring data; the task trajectory determination module 303 is specifically configured to:

according to the dispatching data of the group tower cranes at the current moment and the environment monitoring data at the current moment, predicting the corresponding predicted positions and predicted tracks of the building components dispatched by the group tower cranes according to a preset period, wherein the predicted tracks are formed by connecting a plurality of predicted positions;

image analysis is carried out on the group tower crane monitoring data at the current moment according to a preset period, and the corresponding operation positions of the building components which are transferred by the group tower crane are determined according to the analysis result;

when the position difference data of the predicted position of any tower crane and the corresponding operation position is larger than a preset difference threshold value, the predicted track of the tower crane is adjusted according to the operation position, and the task track at the current moment is obtained.

Optionally, the collision information prediction module 305 is specifically configured to:

acquiring installation information corresponding to each of a plurality of tower cranes, and acquiring the dispatching speed corresponding to each of the superposition time, the length of each corresponding hoisting wire rope and the attribute of each corresponding building member from dispatching data of the plurality of tower cranes;

determining dangerous degree information according to the dispatching speed and the building component attribute;

Optionally, the anti-collision mode determining module 306 is specifically configured to:

analyzing collision information and determining a corresponding collision type;

acquiring a plurality of influence modes of the collision type;

screening a plurality of influence modes according to the dispatching data of a plurality of tower cranes with overlapping positions to obtain corresponding target influence modes;

determining an interval period from the current time to the coincident time;

Acquiring the respective corresponding dispatching speeds of the plurality of tower cranes at the current moment, and adjusting the respective corresponding dispatching speeds of the plurality of tower cranes at the coinciding moment according to the dispatching speeds and the interval time;

judging whether the adjusted dispatching speed avoids collision, if not, determining the task sequence and the corresponding task time interval of each tower crane from the task list corresponding to each tower crane, analyzing, and determining the update task sequence, the update dispatching height, the update task time interval and the update dispatching speed;

Optionally, the coincident position determining module 304 is specifically configured to:

according to the installation information corresponding to each of the plurality of tower cranes, analyzing the current dispatching task corresponding to each of the plurality of tower cranes to obtain the operation range of each of the plurality of tower cranes;

and determining whether the operation ranges corresponding to the plurality of tower cranes overlap or not according to the operation ranges corresponding to the plurality of tower cranes and the dispatching direction so as to determine whether the task track of the group of tower cranes at the current moment overlaps or not.

Optionally, the tower crane collision preventing monitoring apparatus 300 further includes a tower crane position adjusting module 307 for:

predicting a predicted track corresponding to each dispatching task according to a plurality of dispatching tasks corresponding to each tower crane, and determining the number of positions of the coincident positions on each predicted track;

The apparatus of this embodiment may be used to perform the method of any of the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be described herein again.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application, as shown in fig. 4, an electronic device 400 of the present embodiment may include: a memory 401 and a processor 402.

The memory 401 has stored thereon a computer program that can be loaded by the processor 402 and that performs the methods of the above-described embodiments.

Wherein the processor 402 is coupled to the memory 401, e.g. via a bus.

Optionally, the electronic device 400 may also include a transceiver. It should be noted that, in practical applications, the transceiver is not limited to one, and the structure of the electronic device 400 is not limited to the embodiment of the present application.

The processor 402 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules and circuits described in connection with this disclosure. The processor 602 may also be a combination that performs computing functions, such as including one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

A bus may include a path that communicates information between the components. The bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

Memory 401 may be, but is not limited to, a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory ), a CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The memory 401 is used for storing application program codes for executing the inventive arrangements and is controlled to be executed by the processor 402. The processor 402 is configured to execute the application code stored in the memory 401 to implement what is shown in the foregoing method embodiment.

Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 4 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the application.

The electronic device of the present embodiment may be used to execute the method of any of the foregoing embodiments, and its implementation principle and technical effects are similar, and will not be described herein.

The present application also provides a computer-readable storage medium storing a computer program capable of being loaded by a processor and executing the method in the above embodiments.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Claims

1. The anti-collision monitoring method for the group tower crane is characterized by comprising the following steps of:

2. The method of claim 1, wherein the job monitoring data includes group tower monitoring data and environmental monitoring data; the determining the task track of the group tower crane at the current moment according to the dispatching data of the group tower crane at the current moment and the operation monitoring data at the current moment comprises the following steps:

3. The method of claim 2, wherein predicting collision information based on the operational data of the tower crane generating the coincident location and the job monitoring data comprises:

4. A method according to claim 3, wherein said determining a corresponding collision avoidance mode based on said collision information to avoid a collision comprises:

acquiring a plurality of influence modes of the collision type;

5. The method of claim 4, wherein determining the anti-collision mode corresponding to the target impact mode comprises:

determining an interval period from the current time to the coincident time;

Judging whether the adjusted dispatching speed avoids collision, if not, determining a task sequence and a corresponding task time interval of each tower crane from the task list corresponding to each tower crane, analyzing, and determining an updated task sequence, an updated dispatching height, an updated task time interval and an updated dispatching speed;

6. A method according to claim 3, wherein determining whether there is a coincidence position in the task trajectories of the group tower crane at the current moment comprises:

7. The method according to claim 4 or 5, further comprising:

8. Anti-collision monitoring device for a group tower crane, which is characterized by comprising:

9. An electronic device, comprising: a memory and a processor;

the memory is used for storing program instructions;

The processor is configured to call and execute the program instructions in the memory, and perform the method for monitoring collision of a group tower crane according to any one of claims 1 to 7.

10. A computer-readable storage medium, wherein the computer-readable storage medium has a computer program stored therein; the computer program, when executed by a processor, implements a method for monitoring collision of a group tower crane according to any one of claims 1 to 7.