KR20100037257A - Monitoring Method of Work Condition of Tower Crane Using Intelligent Imaging System - Google Patents

Abstract

PURPOSE: A task monitoring method for a tower crane using an intelligent image system is provided to offer monitoring images of blind spots for an operator cabin by regulating the tilt angle of a CCTV camera attached to the leading end of the boom of a tower crane. CONSTITUTION: A task monitoring method for a tower crane comprises the steps of: acquiring an image of work site from a CCTV camera installed on the leading end of the boom of a tower crane(S1), storing the acquired image and displaying the image on a monitor installed in an operator cabin of the tower crane(S2), selecting an automatic or manual mode(S3), searching a target object image from the image and setting a target object in case of the automatic mode(S4), moving the CCTV camera along with the moving target object and displaying the tracing image data on the display monitor(S5), and displaying the target object image data according to the manual operation of the tower crane operator in case of the manual mode.

Description

Monitoring Method of Work Condition of Tower Crane Using Intelligent Imaging System {.}

The present invention relates to a method for detecting and alerting to a dangerous state of a tower crane, and more particularly, a closed circuit television (CCTV) having a tilt control device attached to a tip of a tower crane to block a part of the work site covered by an obstacle. The present invention relates to a method for monitoring the operation status of a tower crane using an intelligent imaging system that enables the crane operator to see and prevent ground workers from the risk of an accident.

Tower cranes are installed on the ship's fleet and quay walls for port unloading, or in bulk construction and spool holding in high-rise buildings, apartment construction sites, and plant construction. It is used a lot.

1 shows an example of a tower crane to which the present invention is applied.

As referred to in this figure, the tower crane is a mast (2) formed of a truss structure on the foundation anchor (1), and the mast (2) with a hydraulic drive device using a hydraulic cylinder and a hydraulic motor on the mast (2) above Telescoping cage 3 for elevating and lowering, an cab 4 provided above the telescoping cage 3, a cat head 5 installed above the cab 4, and the head of the kit 5. A truss structure extending horizontally from the main body, and the trolley 6 and the hook 7 are installed to pull the work object M, and the hoisting device on the opposite side of the main jib 8. It is provided with a counter jib 9 to maintain the balance of the main jib (8).

These tower cranes are operated by the operator in a cab at a considerably high position from the ground, so that the overload protection device and the overload protection device operate at 105% or less of the rated load according to the 'Technical Guidelines on the Protection Measures of the Tough Crane'. It is equipped with motion limiting devices such as lowering limiting device, turning limiting device, traveling limiting device, relief limiting device, rope relaxation prevention device, jib telescoping limiting device, and performance limiting device to limit the speed of rising, lowering and rolling. .

In addition, by measuring means such as a wind vane, anemometer, tilt sensor, and the like to measure the behavior of the deformation automatically and continuously monitoring objectively, the risk of damage due to the deformation of the tower crane can be automatically detected and alarmed.

As the use of tower cranes in construction sites increases, safety accidents of tower cranes increase, so a safety alarm system is needed to prevent safety accidents of tower cranes, and the crane used most in construction sites. Has developed remarkably in the technical aspect compared to the past, but the communication system between the crane operator and other workers has not improved, and the workers still operate the crane depending on the hand signal. As a result, many accidents occur when crane operators lift materials in blind spots.

For example, as shown in Figure 1, the work is performed according to the instructions of the ground operator located within the working radius of the tower crane on the ground, there is an obstacle (O) between the cab (4) and the ground worker (H) the ground worker (H) has not been visually confirmed from the cab (4) because the operation of the ground work (H) without knowing the position to proceed with the work to lower the carrier there is a risk of safety accident.

In tower cranes used to transport equipment necessary for construction work on the construction site, tower cranes located in the cab of the high-altitude driver can check the size, location, and surrounding conditions of ground salvage, even if the field of view is not secured due to obstacles or distance from the ground. The wireless video surveillance apparatus of the tower crane which can be confirmed through the video monitor has been reported in Republic of Korea Patent Publication 10-2001-7939.

The wireless video surveillance apparatus is equipped with a CCTV camera having a zoom function and a rotation function on a trolley horizontally moving on the jib of the tower crane, and a zoom function and a rotation function of the camera and a wireless video transmitter for sending an image to the monitor of the tower crane cab. Wireless control receiver to control the function of turning on / off the power of the camera, a solar panel and a power controller for supplying power to the CCTV camera on the trolley, and the camera wireless to control the CCTV camera in the cab of the tower crane. By installing a controller and a wireless video receiver for receiving video signals and a video monitor that displays the photographed subject, the tower crane driver operates the camera wireless controller to lift and rotate the CCTV camera while lifting. , Bringing its focus to the ground or away from it, For a close-up view of the edge, so as to use the rotator to adjust the position to be taken for water lifting position, size, and the circumstances determine the working condition through the image of the video monitor.

The tower crane wireless CCTV camera system is intended to create a safe working environment by allowing the crane pilot to see the work area that is difficult to observe with the naked eye so that it can be prepared from safety accidents occurring during crane work. However, during lifting, the CCTV camera does not set and track moving materials as targets, but the driver operates the wireless controller of the camera while fixedly installed in one place while operating the zoom and rotation functions of the CCTV camera wirelessly. Approach or move away, while operating the rotor up, down, left, and right to wirelessly transmit the image signal photographing the size, position and surrounding situation of the salvaged by the image to visually express on the video monitor, which is the crane There was a problem in safety because the driver had to work while adjusting the tilt angle of the camera.

The present invention is to install a CCTV that can adjust the zoom (zoom) function and the inclination angle at the tip of the boom, by using the intelligent video system to find the work area of the tower crane by itself CCTV camera can automatically track the work area It is possible to provide a method for monitoring a work condition of a tower crane that enables the driver to check the position of a ground worker covered by an obstacle such as a wall of a tower crane through a display device, thereby preventing a safety accident in advance.

The CCTV camera supports the zoom function because the zoom function is required according to the size of the work in high altitude work. The safety accident of crane work is greatly influenced by the wind, so the wind direction and the wind speed are displayed together with the anemometer.

The CCTV camera tracks the workpiece, so the workpiece always appears on the monitor, regardless of the movement of the workpiece.

Since the monitor may obstruct the driver's field of view, it is desirable to apply a foot switch to allow the monitor to move up and down, and to move the foot when the monitor needs to be moved so that the driver can control the three axes of the crane.

As a result, the tower crane driver intends to solve the problem of obstruction of vision caused by obstacles between the driver and the workpiece by using an intelligent imaging system.

The operation status monitoring method of the tower crane using the intelligent imaging system of the present invention for achieving the above object is

A first step of acquiring an image of a work site from a CCTV camera installed at a boom end of a tower crane;

A second step of storing the image acquired in the first step and displaying on the monitor installed in the tower crane driver's seat;

A third step of selecting an automatic mode and a manual mode as the second step is performed;

A fourth step of searching for an image of the target to be tracked from the image acquired in the first step and setting a target to be tracked when the automatic mode is selected in the third step;

A fifth step of the CCTV camera moving along the target to be tracked as the target to be set in the fourth step is transmitted to transmit and display the tracking image data to the display monitor of the tower crane driver's seat;

In the third step, if the automatic mode is not selected, the manual mode is selected, and according to the manual operation of the tower crane driver, the CCTV camera performs a fifth step of transmitting and displaying the image data of the target to be tracked to the display monitor. will be.

The method of setting a target to be tracked may be selected by clicking a specific object on the touch screen monitor or by selecting a target having a specific color by adjusting the color RGB.

In the process of continuously monitoring the target to be tracked as described above, the current state of the structure is calculated by comparing the data measured from the measurement means such as the meteorological observation mechanism and the tilt sensor with the initial design and analysis data of the truss structure of the tower crane. In the process of converting the angle information by the integral operation, the error of the electronic tilt sensor measurement value due to the quantization error is corrected to the set tilt value of the mechanical tilt sensor to obtain an accurate tilt value of the tower crane and It is desirable to be able to timely anticipate damage resulting from the modification and to be able to accurately signal signals such as dangers, warnings, etc., so that the operator can perform tower crane operations more safely.

According to the present invention by changing the inclination angle of the CCTV camera attached to the tip of the tower crane boom, the tower crane driver can check the invisible part of the driver's seat by obstacles through the monitor installed in the driver's seat to safely transport and Can descend and protect the safety and facilities of ground workers.

An embodiment of the present invention will be described with reference to the accompanying drawings.

The configuration of the control program that implements the risk detection alarm method of the tower crane using the intelligent imaging system of the present invention is a universal communication module (initialization, termination, writing, reading) / wind direction anemometer, pan tilt sensor board communication module / camera pan tilt Communication module related to device operation / Camera Pan Tilt It consists of communication module related to device operation.

The interface of the display monitor consists of a dialog box / dialog bar / module for displaying information.

Various dialog boxes consist of Pan Tilt, Zoom In, Origin Move Control Panel / Warning Message Box when the selected object is not the color to track / Warning Message Box when the object to be tracked is lost.

The dialog bar consists of various operation buttons / buttons for displaying wind speed, wind direction and tilt information.

The various information display modules include a wind direction display module, a tilt display module, a wind speed display module, and an image processing and camera control algorithm.

2 illustrates an example of a screen on which the intelligent video system and the risk detection alarm method of the present invention are displayed on a monitor.

Referring to this figure, as a graphical user interface associated with an intelligent imaging system, a manual control panel 20 including an enlargement, reduction button, a target setting button, and a camera setting button is disposed at a lower portion of the display area, and a selected target display unit ( 30) is arranged.

In addition, the weather information display unit 40 and the structure information display unit 50 are continuously disposed under the target display unit 30 as a graphic user interface for a risk detection alarm.

The weather information display unit 40 can confirm the wind speed and the wind direction by numerical data, and graphically displays the display of the wind speed and the wind direction.

The structure display information unit 50 can confirm the bending angle and the breaking warning angle by numerical data, and graphically displays the bending angle display.

3 shows a working state diagram in which the CCTV camera 10 is installed at the tip of the main jib 8 according to the present invention.

The CCTV camera 10 is provided with an inclination angle adjusting device (not shown) driven by the control algorithm of the present invention, and the obstacles by the intelligent vision system that can automatically track the object to which the CCTV camera 10 is set. The image of the location hidden by the display is displayed on the monitor provided in the driver's seat of the tower crane, so that the tower crane driver can immediately check it, thereby preventing accidents at the construction site.

The CCTV camera 10 is provided with an inclination angle adjusting device (not shown) driven by the control algorithm of the present invention, and the obstacles by the intelligent vision system that can automatically track the object to which the CCTV camera 10 is set. It is possible to prevent the accident at the construction site by allowing the tower crane driver to check the image of the place covered by the monitor in the driver's seat of the tower crane.

Look at step by step the process of the present invention is implemented.

First, a video of the initial operation is acquired by a CCTV camera and displayed in the tower crane cab 4 (Step 1, S1).

The movement of CCTV cameras is automatic mode and manual mode, and the driver of the tower crane cab 4 can select the automatic mode and the manual mode at any time while the intelligent vision system is driven.

Zoom in and zoom out of CCTV cameras are provided in both manual and automatic modes.

When the object to be tracked does not appear on the initial screen, when the camera setting mode is clicked on the manual control panel 20 of the display screen, the camera may be moved in the manual mode according to the driver's operation. In such a camera setting mode, not only the image zoom control (Zoom / Wide / Tele) but also the tilt angle and pan angle of the camera can be adjusted.

This is because the tower crane driver operates the wireless controller of the CCTV camera 10 to watch the image transmitted to the monitor while the zoom function and the rotation function of the CCTV camera move the focus to the ground, move away from the ground, or adjust the inclination angle. The surroundings of (O) and the worker (H) can be checked.

Therefore, if the target does not appear in the image, the target can be found by adjusting only the tilt angle. At first, after installing the CCTV camera on the tower crane, most of the construction lasts about a year, so the direction of the camera may be distorted due to wind or other factors in the process. At this time, the CCTV installed at the end of the main jib (8) Since the direction of the camera 10 is also distorted, the direction of the CCTV camera 10 can be modified by using the pan angle adjustment button.

Even through this process, if the angle of the camera is not easily adjusted, the home button can be used. The home button is a button for initializing the CCTV cameras. It is always set so that the CCTV cameras are facing 45 degrees to the ground in the direction of the crane driver.

In addition, the wind direction, wind speed, and tilt of the crane for determining the dangerous situation according to the behavior of the tower crane are also provided in the manual mode and the automatic mode, respectively.

When the automatic mode is selected in the third step S3, the object tracking program can track the target set by the CCTV camera 10 by an intelligent imaging system.

The fourth step (S4) of setting the target to be tracked is to find the largest tracking object among similar images by comparing the right vertical row calculation, the left vertical row calculation, and the lower horizontal row calculation.

For example, the red value of the RGB value of the image can be recognized as a target about 10% larger than the G or B value (brightness value 30), and the size is based on 100 pixel area of 10 pixels horizontally and vertically. It can be based on how.

And if the area is less than the effective tracking is not reliable, it is preferable to track using the zoom function of the CCTV camera. In this case, the tracking target can always be set to recognize only what is inside the center 1/2 of the horizontal plane of the image, and to track the largest object when there are several similar objects.

The tracking algorithm of the object determines that the tracking target image obtained by filtering is not the target if the area of the tracking target image is less than a predetermined level. And even if the target is not found in the entire video, it does not immediately output a message that the target is lost, and acquires the video again to find the target. While repeating this process, if the CCTV camera does not move and does not find the target for a certain number of times, preferably about 20 times, it outputs a message that the target cannot be found.

In addition, the method of setting the target to be tracked may be selected by a mouse click among objects displayed on the monitor provided in the cab of the tower crane, or the target may be selected by preparing the monitor with a touch screen.

Preferably said target to be tracked is designated with a hook 7 for moving the work object M. Since the hook 7 for moving the work object M is always accompanied with the work object M, the CCTV camera 10 can always acquire an image around the worker H covered by the obstacle O.

The tracked image is transmitted to the monitor provided in the tower crane cab 4 so that the driver can check it, so that the work can be safely performed.

Observing the surrounding image of the operator H placed in the blind spot, the driver of the tower crane driver can select the automatic mode and the manual mode at any time.

1 is a view showing a working state of a conventional tower crane

2 is a view showing a monitor screen in which the present invention is implemented.

Figure 3 is a view showing the operating state of the tower crane to which the present invention is applied

4 is a flow chart of the present invention

Claims (4)

A first step of acquiring an image of a work site from a CCTV camera installed at a boom end of a tower crane; A second step of storing the image acquired in the first step and displaying on the monitor installed in the tower crane driver's seat; A third step of selecting an automatic mode and a manual mode as the second step is performed; A fourth step of searching for an image of the target to be tracked from the image acquired in the first step and setting a target to be tracked when the automatic mode is selected in the third step; A fifth step of transmitting the tracking image data to the display monitor of the tower crane driver's seat by moving the CCTV camera along the target to be tracked as the target to be set in step 4 moves;  And if the automatic mode is not the automatic mode in the third step, the CCTV camera transmits the image data of the target to be tracked to the display monitor for display according to the manual operation of the tower crane driver. Monitoring method of work situation of tower crane using intelligent imaging system. The method of claim 1, wherein the setting of the target to be tracked selects a specific object on the touch screen monitor. The method of claim 1, wherein the setting of the target to be tracked adjusts the color RGB to select an object having a specific color. The method of claim 1, wherein the movement of the CCTV camera is selected from an automatic mode and a manual mode.

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