CN117533956A - Crane hoisting operation safety monitoring and early warning method and system - Google Patents

Abstract

The invention discloses a crane hoisting operation safety monitoring and early warning method and system, the scheme is ingenious in that when a crane works, image acquisition is carried out on the crane from at least two directions, then a plurality of image frames are acquired by utilizing a frame extraction mode based on acquired image data, the three-dimensional position of the crane in a working field is evaluated and determined according to acquisition information and characteristic identification positions of the same area in the image frames, meanwhile, an early warning area (working area) is set, the scheme is also used for judging whether potential safety hazards exist or not by judging fixed elements and moving elements in the working field of the crane and monitoring the distance relation between the fixed elements and the moving elements and the working area, so that emergency prompt is provided for background management personnel and field personnel.

Description

Safety monitoring and early warning method and system for crane hoisting operations

Technical field

The present invention relates to the technical field of crane safety, and in particular to a safety monitoring and early warning method and system for crane hoisting operations.

Background technique

As an important heavy object transfer tool, cranes are widely used in docks, factories, warehouses and other places where there is a large demand for goods transfer. Since the crane's working site often requires more people and vehicles to work together, cranes are often used in During the work process, real-time monitoring and early warning of people or other moving objects near them is required to avoid collisions or other dangerous accidents. Currently, the more common safety monitoring solution is to use manual means to conduct on-site or background monitoring, early warning and evacuation that may cause Crane work risks people and items. On the one hand, this method takes up human resources. On the other hand, it is difficult to trace back the on-site situation and subjective judgment is important. In this case, some researchers have proposed to deploy sensors. In order to carry out induction detection on the crane working site, due to the irregular location of objects and people in the working site where the crane is located, plus some other on-site factors (such as outdoor applications, the presence of suspended matter such as dust or water vapor will cause Interfering with the sensor) can easily lead to sensor misjudgment. Therefore, the use of sensors for auxiliary induction monitoring also has certain limitations, especially the problem of false alarms. When cranes are used in the workplace, managers often collect images. Recording, and in the scheme of using image collected data to assist on-site safety monitoring, some researchers provide early warning by directly judging the distance between the person and the crane from the image screen, and this method is mostly based on a single camera. Under such circumstances, a single image can often only reflect a two-dimensional scene, and there is a large error in judging the distance between a person and a crane or its lifting objects. Based on this, how to improve the reliability and flexibility of crane on-site safety monitoring is of great practical significance. research topic.

Contents of the invention

In view of this, the purpose of the present invention is to propose a safety monitoring and early warning method and system for crane hoisting operations that are reliable in implementation, flexible in application, and have good reference for monitoring feedback results.

In order to achieve the above technical objectives, the technical solutions adopted by the present invention are:

A safety monitoring and early warning method for crane hoisting operations, which includes:

S01. In response to the work start signal of the crane, perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data, wherein the scope of the image monitoring covers the items lifted by the crane;

S02. Obtain the image monitoring data, position and identify the area where the crane is located in the image monitoring data to determine the outline of the crane and the objects it lifts, and then set the outline preset range area as the work area;

S03. According to the work area, locate the elements outside the work area in the image monitoring data to determine the moving elements within the preset range of the working site where the crane is located, and then based on the change in the distance between the moving elements and the work area, according to the preset conditions Generate warning information and output it.

As a possible implementation mode, further, the crane described in this solution includes a gantry, a translation component, a lifting component and a load-carrying trolley. Tracks are laid out in the working site of the crane, and the tracks are located under the working areas on both sides of the gantry. On the site, the translation assembly is connected to the lower ends of both sides of the gantry and is used to cooperate with the track and drive the gantry to translate on the track. The load-carrying trolley is movably connected to the beam of the gantry. The lifting component is connected to the load-carrying trolley and is used to lift the items to be transferred; the load-carrying trolley is used to drive the lifting component to move on the beam of the gantry;

Among them, in S01, the image collection area of at least two image acquisition units covers the translation assembly, lifting assembly and load-carrying trolley of the crane, as well as the items lifted on the lifting assembly;

In addition, in this solution S01, when generating image monitoring data, the attitude data of the image acquisition unit when collecting images and the position data in the work site are also recorded in real time. The attitude data includes: shooting angle data and pitch angle data.

As a better implementation option, preferably, this solution S01 includes:

S011. Arrange at least two image acquisition units in the working site of the crane, and each image acquisition unit is equipped with an electronically controlled pan/tilt that controls its acquisition direction angle and pitch angle;

S012. Multiple characteristic signs made of fluorescent material are placed on both sides of the upper and lower parts of the crane's gantry, the translation component, the hook and main body of the lifting component, the load-carrying trolley, and the lifted items, and then the image collection unit Conduct debugging so that one of the characteristic markers is located in the image collection center of the image collection unit, where the scope of image monitoring covers the items lifted by the crane;

S013. Respond to the crane's work start signal and start the electronically controlled pan/tilt and image acquisition unit;

S014. Perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data respectively.

As a better implementation option, preferably, this solution S02 includes:

S021. Acquire the image monitoring data generated by all image acquisition units in real time, and then extract frames from all image monitoring data according to the preset time point to obtain at least two image frames at the same time point;

S022. Perform crane outline positioning on at least two image frames obtained by frame extraction, and then determine the feature identifiers within the positioning outline in the image frames. Based on the feature identifiers and the crane outline, the crane and its components covered by the image collection at the preset time point are Perform contour inversion of the lifted items to generate contour data;

S023. Based on the contour data, set the working area within the preset range to determine the safe area when the crane is working.

As a better implementation option, preferably, this solution S022 includes:

S0221. Perform crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information;

S0222. Determine the feature identifier within the positioning outline from the corresponding image frame according to the positioning information, and then determine the feature identifier shared by each pair from at least two image frames;

S0223. According to the acquisition time corresponding to the image frame, obtain the attitude data and position data of the image acquisition unit corresponding to the image frame during image acquisition, and then combine the position data and attitude data of the image acquisition unit corresponding to the two image frames to determine the two images. The common features of the frames identify the three-dimensional location in the work site;

S0224. Establish a virtual three-dimensional coordinate system, generate corresponding feature marks with determined three-dimensional positions in the work site in the virtual three-dimensional coordinate system, and then combine the positioning information about the crane's outline positioning in the image frame to perform feature marks according to the preset requirements. Connections are made to achieve contour inversion of the crane and its lifted items covered by image collection at the preset time point, and generate contour data.

As a better implementation option, preferably, in this solution S03, according to the work area, when locating elements outside the work area in the image monitoring data, the fixed elements in the preset range of the working site where the crane is located are also determined, and then According to the working movement direction of the crane and the location of the fixed elements, it is judged whether interference occurs in the working movement of the crane, and then early warning information is generated and output based on the judgment results.

As a better implementation option, preferably, this solution S03 includes:

S031. According to the work area corresponding to the image frame at different time points of the image monitoring data, locate the elements in the image frame except the work area, and obtain multiple element information;

S032. Judge the information of multiple elements according to the preset requirements, and then define the positioned element as a moving element or a fixed element according to the judgment results;

S033. Based on the position change relationship of the moving element in the image monitoring data at different time points, as well as the position of the crane and the items it lifts, determine the change in distance between the moving element and the work area. When the distance between the moving element and the work area When it is less than the preset threshold, early warning information is generated and output;

S034. Based on the position of the crane and the objects it lifts in the image monitoring data at different time points, determine the movement direction of the crane and the objects being lifted, and then conduct analysis on the fixed elements in the image monitoring data that are in the direction of movement of the crane based on the direction of movement. Movement interference judgment, when there is movement interference, early warning information is generated and output.

As a better implementation option, preferably, in this solution S032, the method for judging multiple element information includes one of the following:

(1) Import the image area corresponding to the element information as an input item into the trained detection neural network to determine whether it is a fixed object or a movable object, and then define the positioned element as a moving element or movable object based on the judgment result. Fixed elements;

(2) Based on the position changes of the object corresponding to the element information in the image collection data at different time points, the positioned element is defined as a moving element or a fixed element.

Based on the above, the present invention also provides a safety monitoring and early warning system for crane hoisting operations, which includes:

There are multiple image acquisition units, which are connected to an electronically controlled pan/tilt, and are used to image monitor the crane from at least two directions and generate image monitoring data, wherein the scope of the image monitoring covers items lifted by the crane;

The work control unit is used to respond to the work start signal of the crane and control at least two image acquisition units to monitor the crane from at least two directions;

The outline positioning unit is used to obtain image monitoring data, position and identify the area where the crane is located in the image monitoring data, to determine the outline of the crane and its lifting objects, and then set the outline preset range area as the work area; it is also used Based on the work area, elements outside the work area in the image monitoring data are positioned to determine the moving elements within the preset range of the working site where the crane is located;

A data processing unit is used to generate and output early warning information according to preset conditions based on changes in the distance between the moving element and the work area.

Based on the above, the present invention also provides a computer-readable storage medium. The storage medium stores at least one instruction, at least a program, a code set or an instruction set. The at least one instruction, at least a program, code The set or instruction set is loaded and executed by the processor to implement the safety monitoring and early warning method for crane hoisting operations as described above.

Using the above technical solution, compared with the existing technology, the present invention has the following beneficial effects: This solution ingeniously collects images of the crane from at least two directions when it is working, and then based on the collected images Data, using frame extraction method to obtain multiple image frames, based on the collection information and feature identification position of the same area in the image frame, evaluate and determine the three-dimensional position of the crane in the work site, and at the same time set the early warning area (work area) This program also determines whether there are any safety hazards by judging the fixed elements and mobile elements in the crane working site, and at the same time, monitoring the distance between them and the work area, so as to provide emergency tips for back-end managers and on-site personnel. In terms of application implementation, this solution does not rely on the assistance of other sensors. At the same time, it has the advantages of flexible use and reliable implementation, and can provide safety monitoring and early warning for cranes working in docks, cargo distribution centers or warehouses.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flow diagram of one implementation of the solution method of the present invention;

Figure 2 is one of the simplified implementation status schematic diagrams of the application and implementation of the solution of the present invention, in which the diagram shows four image acquisition units collecting images of the crane from different angles;

Figure 3 is a schematic flow diagram of one specific example of implementation of step S01 of the solution method of the present invention;

Figure 4 is a schematic flow diagram of one specific example of implementation of step S02 of the method of the present invention;

Figure 5 is a brief schematic diagram of the principle of inferring image acquisition posture information corresponding to the location of other feature marks through image frames in the solution method of the present invention;

Figure 6 is a schematic flowchart of a specific example implementation of S022 in the solution method of the present invention;

Figure 7 is a schematic diagram of the principle of determining the three-dimensional spatial position of common feature points in an image frame through two image acquisition units in the solution method of the present invention;

Figure 8 is a brief outline gesture diagram generated by connecting feature marks in a virtual three-dimensional coordinate system in the solution method of the present invention;

Figure 9 is a schematic diagram of unit module connection of the solution system of the present invention.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and examples. It is particularly pointed out that the following examples are only used to illustrate the present invention, but do not limit the scope of the present invention. Similarly, the following embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

As shown in Figure 1, this embodiment proposes a safety monitoring and early warning method for crane hoisting operations, which includes:

S01. In response to the work start signal of the crane, perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data, wherein the scope of the image monitoring covers the items lifted by the crane;

S02. Obtain the image monitoring data, position and identify the area where the crane is located in the image monitoring data to determine the outline of the crane and the objects it lifts, and then set the outline preset range area as the work area;

S03. According to the work area, locate the elements outside the work area in the image monitoring data to determine the moving elements within the preset range of the working site where the crane is located, and then based on the change in the distance between the moving elements and the work area, according to the preset conditions Generate warning information and output it.

Among them, Figure 2 shows a brief implementation status diagram when the solution of this embodiment is applied and implemented. The diagram shows four image acquisition units collecting images of the crane from different angles; since the image acquisition units are deployed Finally, its position can be relatively fixed, or it can follow the movement of the crane. When the image acquisition unit needs to follow the crane for translation, based on the starting point of streamlining the structure, its layout may need to be close to the crane (if it is from a distance) If it is installed at a different location, it may be necessary to install many synchronous moving parts. If it is relatively close, it can be directly connected to the crane) to facilitate the installation of synchronously moving auxiliary parts. When the image acquisition unit moves with the crane, the image acquisition unit may vibrate. If there are other problems such as the inability to capture stable images, if the installation position is fixed, the image acquisition unit can be controlled through an electronically controlled pan/tilt to collect images, so that the image acquisition unit can be placed relatively far away to ensure that it is as far away as possible. It is possible to collect images of the crane and information within the preset range of the crane for subsequent safety monitoring.

It should be noted that the implementation diagram shown in Figure 2 is a solution under better conditions, that is, there are image acquisition units on both sides of the crane for image collection. In this case, as long as the range covered by the image collection is The scope that needs to be monitored can better determine the three-dimensional position of the crane. The greater the number of image acquisition units, the richer the information collected, and the more helpful it is for monitoring.

Based on the laws of geometry, when the coordinates of a point in space are known, if you want to determine the second point, you need to know at least the relative position of the two. If it is calculated based on the data generated by the image acquisition unit, it is easy to do so. Most of the information obtained only lies in the position information, direction angle and pitch angle of the image acquisition unit when collecting images. Therefore, if you want to determine the three-dimensional position of the second point in space, there is still a lack of other estimated information, so there is only one known When you want to calculate a second point, most of the time you just need to determine the direction and approximate position of the second point relative to the first point. When introducing another second known point, you can directly use the relative position of the two known points. The direction angle and pitch angle of the third point to be determined and the three-dimensional coordinate positions of the two known points are used to establish a ray. The intersection of the two rays is the coordinate of the third point in space (as shown in Figure 7) , Therefore, in this solution, when performing image collection, at least two image collection units are required to perform image monitoring on the crane from at least two directions and generate image monitoring data, where the scope of the image monitoring covers the items lifted by the crane; In this way, the three-dimensional position of the image overlapping area can be determined with the help of the image detection data generated by the two.

Referring also to Figure 2, in terms of the program implementation object, as a possible implementation, further, the crane described in this program includes a gantry, a translation component, a lifting component and a load-carrying trolley, and a track is laid out in the working site of the crane. The track is located on the working site below both sides of the gantry. The translation assembly is connected to the lower ends of both sides of the gantry and is used to cooperate with the track and drive the gantry to move in orbit. The load-carrying trolley is movable. Ground is connected to the beam of the gantry, the lifting component is connected to the load-carrying trolley, and is used to lift the items to be transferred; the load-carrying trolley is used to drive the lifting component to move on the beam of the gantry;

Among them, in S01, the image collection area of at least two image acquisition units covers the translation assembly, lifting assembly and load-carrying trolley of the crane, as well as the items lifted on the lifting assembly;

In addition, in this solution S01, when generating image monitoring data, the attitude data of the image acquisition unit when collecting images and the position data in the work site are also recorded in real time. The attitude data includes: shooting angle data and pitch angle data.

As shown in Figure 3, in terms of hardware and basic preparation, as a better implementation choice, preferably, this solution S01 includes:

S011. Arrange at least two image acquisition units in the working site of the crane, and each image acquisition unit is equipped with an electronically controlled pan/tilt that controls its acquisition direction angle and pitch angle. The attitude data can be calculated based on the electronically controlled pan/tilt. Carry out auxiliary collection;

S012. Multiple characteristic signs made of fluorescent material are placed on both sides of the upper and lower parts of the crane's gantry, the translation component, the hook and main body of the lifting component, the load-carrying trolley, and the lifted items, and then the image collection unit Conduct debugging so that one of the characteristic markers is located in the image collection center of the image collection unit, where the scope of image monitoring covers the items lifted by the crane;

S013. Respond to the crane's work start signal and start the electronically controlled pan/tilt and image acquisition unit;

S014. Perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data respectively.

As shown in Figure 4, as a better implementation option, preferably, this solution S02 includes:

S021. Acquire the image monitoring data generated by all image acquisition units in real time, and then extract frames from all image monitoring data according to the preset time point to obtain at least two image frames at the same time point;

S022. Perform crane outline positioning on at least two image frames obtained by frame extraction, and then determine the feature identifiers within the positioning outline in the image frames. Based on the feature identifiers and the crane outline, the crane and its components covered by the image collection at the preset time point are Perform contour inversion of the lifted items to generate contour data;

S023. Based on the contour data, set the working area within the preset range to determine the safe area when the crane is working.

As shown in Figure 5, when an image frame with multiple feature identifiers is extracted from the image monitoring data, it can be determined that the status data of the image collection has a more direct relationship with the center point M of the image frame, that is, the The posture data at the corresponding time point of the image frame is the corresponding posture data when point M is at the center of the picture. By establishing the data vector between M and other points, the state data when moving other points to the center of the picture can be inferred, thus The attitude data of the image acquisition unit when all the feature markers in the image frame move to the center of the picture can be obtained, and then combined with the position information of the image acquisition unit, the rays established with the corresponding data of other image frames can be established through the aforementioned method of establishing rays. The intersection situation is used to determine the position of the common feature points of the two image frames in space (as shown in Figure 7).

As shown in Figure 6, as a better implementation choice in the estimation of contour data, preferably, this solution S022 includes:

S0221. Perform crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information;

S0222. Determine the feature identifier within the positioning outline from the corresponding image frame according to the positioning information, and then determine the feature identifier shared by each pair from at least two image frames;

S0223. According to the acquisition time corresponding to the image frame, obtain the attitude data and position data of the image acquisition unit corresponding to the image frame during image acquisition, and then combine the position data and attitude data of the image acquisition unit corresponding to the two image frames to determine the two images. The common features of the frames identify the three-dimensional location in the work site;

S0224. Establish a virtual three-dimensional coordinate system, generate corresponding feature marks with determined three-dimensional positions in the work site in the virtual three-dimensional coordinate system, and then combine the positioning information about the crane's outline positioning in the image frame to perform feature marks according to the preset requirements. Connections are made to realize the contour inversion of the crane and its lifted items covered by the image collection at the preset time point, and generate contour data (as shown in Figure 8).

Because there are not only some movable elements in the work site, but also some fixed objects that may interfere with the work of the crane. As a better implementation option, preferably, in this solution S03, according to the work area, when locating elements outside the work area in the image monitoring data, the fixed elements in the preset range of the working site where the crane is located are also determined, and then According to the working movement direction of the crane and the location of the fixed elements, it is judged whether interference occurs in the working movement of the crane, and then early warning information is generated and output based on the judgment results.

As for the judgment of moving elements and fixed elements, as a better implementation choice, preferably, this solution S03 includes:

S031. According to the work area corresponding to the image frame at different time points of the image monitoring data, locate the elements in the image frame except the work area, and obtain multiple element information;

S032. Judge the information of multiple elements according to the preset requirements, and then define the positioned element as a moving element or a fixed element according to the judgment results;

S033. Based on the position change relationship of the moving element in the image monitoring data at different time points, as well as the position of the crane and the items it lifts, determine the change in distance between the moving element and the work area. When the distance between the moving element and the work area When it is less than the preset threshold, early warning information is generated and output;

S034. Based on the position of the crane and the objects it lifts in the image monitoring data at different time points, determine the movement direction of the crane and the objects being lifted, and then conduct analysis on the fixed elements in the image monitoring data that are in the direction of movement of the crane based on the direction of movement. Movement interference judgment, when there is movement interference, early warning information is generated and output.

Regarding the screening of element information, as a better implementation option, preferably, in this solution S032, the method for judging multiple element information includes one of the following:

(1) Import the image area corresponding to the element information as an input item into the trained detection neural network to determine whether it is a fixed object or a movable object, and then define the positioned element as a moving element or movable object based on the judgment result. Fixed elements; among them, the main principle of using detection neural network for auxiliary detection is to judge the category of the object corresponding to the element information, for example, marking objects that can be moved at any time, such as people, vehicles, etc., with moving elements, packaging boxes, buildings By constructing a fixed element mark and then importing it into the neural network to train until convergence, you can obtain a detection neural network for evaluating whether the object to be detected is a fixed element or a moving element. There are already many documents on other detailed principles of neural networks. disclosure, which will not be described in detail here.

(2) Based on the position changes of the object corresponding to the element information in the image collection data at different time points, the positioned element is defined as a moving element or a fixed element.

As shown in Figure 9, based on the above, this embodiment also provides a safety monitoring and early warning system for crane hoisting operations, which includes:

There are multiple image acquisition units, which are connected to an electronically controlled pan/tilt, and are used to image monitor the crane from at least two directions and generate image monitoring data, wherein the scope of the image monitoring covers items lifted by the crane;

The work control unit is used to respond to the work start signal of the crane and control at least two image acquisition units to monitor the crane from at least two directions;

The outline positioning unit is used to obtain image monitoring data, position and identify the area where the crane is located in the image monitoring data, to determine the outline of the crane and its lifting objects, and then set the outline preset range area as the work area, and also use Based on the work area, elements outside the work area in the image monitoring data are positioned to determine the moving elements within the preset range of the working site where the crane is located;

A data processing unit is used to generate and output early warning information according to preset conditions based on changes in the distance between the moving element and the work area.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

Integrated units may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

The above descriptions are only some embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made by using the description and drawings of the present invention, or directly or indirectly used in other related The technical fields are all equally included in the scope of patent protection of the present invention.

Claims (10)

1. A safety monitoring and early warning method for crane hoisting operations, characterized in that it includes: S01. In response to the work start signal of the crane, perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data, wherein the scope of the image monitoring covers the items lifted by the crane; S02. Obtain the image monitoring data, position and identify the area where the crane is located in the image monitoring data to determine the outline of the crane and the objects it lifts, and then set the outline preset range area as the work area; S03. According to the work area, locate the elements outside the work area in the image monitoring data to determine the moving elements within the preset range of the working site where the crane is located, and then based on the change in the distance between the moving elements and the work area, according to the preset conditions Generate warning information and output it. 2. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 1, wherein the crane includes a gantry, a translation component, a lifting component and a load-carrying trolley, and a track is arranged in the working site of the crane. The track is located on the working site below both sides of the gantry. The translation assembly is connected to the lower ends of both sides of the gantry and is used to cooperate with the track and drive the gantry to move in orbit. The load-carrying trolley is movably connected. On the beam of the gantry, the lifting component is connected to the load-carrying trolley and is used to lift the items to be transferred; the load-carrying trolley is used to drive the lifting component to move on the beam of the gantry; Among them, in S01, the image collection area of at least two image acquisition units covers the translation assembly, lifting assembly and load-carrying trolley of the crane, as well as the items lifted on the lifting assembly; When generating image monitoring data, the attitude data of the image acquisition unit when collecting images and the position data in the work site are also recorded in real time. The attitude data includes: shooting angle data and pitch angle data. 3. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 2, characterized in that S01 includes: S011. Arrange at least two image acquisition units in the working site of the crane, and each image acquisition unit is equipped with an electronically controlled pan/tilt that controls its acquisition direction angle and pitch angle; S012. Multiple characteristic signs made of fluorescent material are placed on both sides of the upper and lower parts of the crane's gantry, the translation component, the hook and main body of the lifting component, the load-carrying trolley, and the lifted items, and then the image collection unit Conduct debugging so that one of the characteristic markers is located in the image collection center of the image collection unit, where the scope of image monitoring covers the items lifted by the crane; S013. Respond to the crane's work start signal and start the electronically controlled pan/tilt and image acquisition unit; S014. Perform image monitoring on the crane from at least two directions through at least two image acquisition units, and generate image monitoring data respectively. 4. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 3, characterized in that S02 includes: S021. Acquire the image monitoring data generated by all image acquisition units in real time, and then extract frames from all image monitoring data according to the preset time point to obtain at least two image frames at the same time point; S022. Perform crane outline positioning on at least two image frames obtained by frame extraction, and then determine the feature identifiers within the positioning outline in the image frames. Based on the feature identifiers and the crane outline, the crane and its components covered by the image collection at the preset time point are Perform contour inversion of the lifted items to generate contour data; S023. Based on the contour data, set the working area within the preset range to determine the safe area when the crane is working. 5. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 4, characterized in that S022 includes: S0221. Perform crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information; S0222. Determine the feature identifier within the positioning outline from the corresponding image frame according to the positioning information, and then determine the feature identifier shared by each pair from at least two image frames; S0223. According to the acquisition time corresponding to the image frame, obtain the attitude data and position data of the image acquisition unit corresponding to the image frame during image acquisition, and then combine the position data and attitude data of the image acquisition unit corresponding to the two image frames to determine the two images. The common features of the frames identify the three-dimensional location in the work site; S0224. Establish a virtual three-dimensional coordinate system, generate corresponding feature marks with determined three-dimensional positions in the work site in the virtual three-dimensional coordinate system, and then combine the positioning information about the crane's outline positioning in the image frame to perform feature marks according to the preset requirements. Connections are made to achieve contour inversion of the crane and its lifted items covered by image collection at the preset time point, and generate contour data. 6. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 5, characterized in that in S03, when locating elements outside the work area in the image monitoring data according to the work area, the pre-warning of the working site where the crane is located is also determined. Set the fixed elements of the range, and then judge whether interference occurs in the working movement of the crane based on the working movement direction of the crane and the location of the fixed elements, and then generate and output early warning information based on the judgment results. 7. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 6, characterized in that S03 includes: S031. According to the work area corresponding to the image frame at different time points of the image monitoring data, locate the elements in the image frame except the work area to obtain multiple element information; S032. Judge the information of multiple elements according to the preset requirements, and then define the positioned element as a moving element or a fixed element according to the judgment results; S033. Based on the position change relationship of the moving element in the image monitoring data at different time points, as well as the position of the crane and the items it lifts, determine the change in distance between the moving element and the work area. When the distance between the moving element and the work area When it is less than the preset threshold, early warning information is generated and output; S034. Based on the position of the crane and the objects it lifts in the image monitoring data at different time points, determine the movement direction of the crane and the objects being lifted, and then conduct analysis on the fixed elements in the image monitoring data that are in the direction of movement of the crane based on the direction of movement. Movement interference judgment, when there is movement interference, early warning information is generated and output. 8. The safety monitoring and early warning method for crane hoisting operations as claimed in claim 7, characterized in that in S032, the method for judging multiple element information includes one of the following: (1) Import the image area corresponding to the element information as an input item into the trained detection neural network to determine whether it is a fixed object or a movable object, and then define the positioned element as a moving element or movable object based on the judgment result. Fixed elements; (2) According to the position changes of the object corresponding to the element information in the image collection data at different time points, the positioned element is defined as a moving element or a fixed element. 9. A safety monitoring and early warning system for crane hoisting operations, which is characterized in that it includes: There are multiple image acquisition units, which are connected to an electronically controlled pan/tilt, and are used to image monitor the crane from at least two directions and generate image monitoring data, wherein the scope of the image monitoring covers items lifted by the crane; The work control unit is used to respond to the work start signal of the crane and control at least two image acquisition units to perform image monitoring of the crane from at least two directions; The outline positioning unit is used to obtain image monitoring data, position and identify the area where the crane is located in the image monitoring data, to determine the outline of the crane and the objects it lifts, and then set the outline preset range area as the work area; it is also used Based on the work area, elements outside the work area in the image monitoring data are positioned to determine the moving elements within the preset range of the working site where the crane is located; A data processing unit is used to generate and output early warning information according to preset conditions based on changes in the distance between the moving element and the work area. 10. A computer-readable storage medium, characterized in that: the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, at least one program, or code set Or the instruction set is loaded and executed by the processor to implement the safety monitoring and early warning method for crane hoisting operations as described in one of claims 1 to 8.