CN103072894A - Arm support dynamic parameter detection method and system - Google Patents
Arm support dynamic parameter detection method and system Download PDFInfo
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- CN103072894A CN103072894A CN 201210578837 CN201210578837A CN103072894A CN 103072894 A CN103072894 A CN 103072894A CN 201210578837 CN201210578837 CN 201210578837 CN 201210578837 A CN201210578837 A CN 201210578837A CN 103072894 A CN103072894 A CN 103072894A
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Abstract
The invention discloses an arm support dynamic parameter detection method and a arm support dynamic parameter detection system. The method comprises the following steps: image acquisition, wherein a left camera and a right camera mounted at the arm tail part of the arm support are used for acquiring images of an cooperation mark at the arm head part of the of the arm support; coordinate calculation, receiving the image and extracting a detection point from the image, and calculating the three dimensional coordinates of the detection point in the left-camera coordinate system and a right-camera coordinate system; side bending confirmation, confirming the side bending value of the arm support according to the x-axis coordinates of the detection point in the left-camera coordinate system and the right-camera coordinate system. The method can perform dynamic detection and real-time monitoring for the variation of the side bending of the arm support in moving, so as to improve the safety of crane operation, and to avoid arm fixture accident caused by over large side bending value of the arm support.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of jib dynamical parameter method of inspection and system.
Background technology
For movable crane, the horizontal off-position of jib end in plane of rotation moves and is called side sway.The side sway of jib is to estimate the important indicator of hoisting crane lifting performance and safety performance, and side sway is crossed conference directly affects hoisting capacity, also can cause the folding arm accident to occur.At present, mainly contain the instrument measuring methods such as backguy steel ruler mensuration, theodolite/total powerstation side sway is carried out static measurement, not detection of dynamic.There are the following problems for above-mentioned method of inspection: all be the static value that adopts the method acquisition side sway of artificial reading and calculating, error is generally larger, and is subjected to the such environmental effects such as wind-force, weather also larger.
Summary of the invention
In view of this, the present invention proposes a kind of jib dynamical parameter method of inspection and system, detects in real time with the variation to the side sway of the jib in the operation process.
An aspect the invention provides a kind of jib dynamical parameter method of inspection, comprises the steps: image acquisition step, the image that the left pick up camera by being installed in jib arm afterbody and right pick up camera obtain the cooperation sign that is arranged on jib arm head section; The coordinate Calculation step, the extraction check point from described image, and calculate the three-dimensional coordinate of described check point in left camera coordinate system and right camera coordinate system; The side sway determining step is determined the side sway value of described jib according to the X-axis coordinate of described check point in described left camera coordinate system and described right camera coordinate system.
Further, above-mentioned jib dynamical parameter method of inspection also comprises: the amount of deflection determining step, and according to the Y-axis of described check point in described left camera coordinate system and described right camera coordinate system, the deflection value that the Z axis coordinate is determined described jib.
Further, above-mentioned jib dynamical parameter method of inspection also comprises: alert step surpasses in described side sway value and to send alarm message when the first preset value or described deflection value surpass the second preset value.
Further, above-mentioned jib dynamical parameter method of inspection also comprises: the motion limits step surpasses in described side sway value and to send the signal of restriction jib action when the first preset value or described deflection value surpass the second preset value.
Further, above-mentioned jib dynamical parameter method of inspection, 1/2nd of the difference of the absolute value of the absolute value of the X-axis coordinate of described check point in described left camera coordinate system and the X-axis coordinate in described right camera coordinate system is defined as the side sway value of described jib.
Further, above-mentioned jib dynamical parameter method of inspection, the current location of described check point and the distance between the position under the jib light condition in the YZ plane of described left camera coordinate system, and in the YZ plane of described right camera coordinate system described check point current location and between the position under the jib light condition, be defined as the deflection value of described jib apart from 1/2nd of sum.
The method is by the image of the real-time shooting cooperation sign of two pick up cameras, and calculate to calculate the side sway value of jib according to the check point in the cooperation sign, can carry out detection of dynamic and Real Time Monitoring to the variation of the side sway of the jib in the motion process, with the safety of lift crane operation, avoided because the excessive folding arm accident that causes of jib side sway.Compare with the method for existing artificial reading and calculating, have high, the non-contacting advantage of accuracy of detection, and avoided the impact of the environmental factors such as wind-force, weather.
On the other hand, the invention allows for a kind of jib dynamical parameter checking system, comprising: left pick up camera, right pick up camera and treater; Wherein, left pick up camera and right pick up camera are arranged at the arm tail of described jib, are used for obtaining the image that sets in advance in the cooperation sign of described jib arm head section; Treater is connected with described right pick up camera with described left pick up camera, be used for receiving described image and extract the check point of described image, calculate the three-dimensional coordinate of described check point in left camera coordinate system and right camera coordinate system, and the side sway value of determining described jib according to the X-axis coordinate in the three-dimensional coordinate of described check point in described left camera coordinate system and described right camera coordinate system.
Further, in the above-mentioned jib dynamical parameter checking system, described treater also is used for according to Y-axis coordinate and the Z axis coordinate deflection value of determining described jib of described check point in the three-dimensional coordinate of described left camera coordinate system and described right camera coordinate system.
Further, in the above-mentioned jib dynamical parameter checking system, also comprise: annunciator, be connected with described treater, when surpassing the second preset value, the first preset value or described deflection value send alarm message for surpassing in described side sway value.
Further, in the above-mentioned jib dynamical parameter checking system, also comprise: the motion limits unit, be connected with described treater, when surpassing the second preset value, the first preset value or described deflection value send the signal of restriction jib action for surpassing in described side sway value.
Left pick up camera in this checking system and right pick up camera are installed in the afterbody of jib, finish imaging, identification and tracking to the cooperation sign of jib arm head section, intersection location to the cooperation sign, and calculate amount of deflection and the side sway of jib according to the check point in the cooperation sign, amount of deflection and side sway to jib are carried out Real Time Monitoring, with the safety of lift crane operation, avoided because jib amount of deflection and the excessive folding arm accident that causes of side sway.
Description of drawings
The accompanying drawing that consists of a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the diagram of circuit of the preferred embodiment of jib dynamical parameter method of inspection of the present invention;
Fig. 2 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the schematic diagram of cooperation sign;
Fig. 3 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the schematic diagram of world coordinate system;
Fig. 4 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the schematic diagram of camera coordinate system;
Fig. 5 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the schematic diagram of pick up camera CCD image coordinates system;
Fig. 6 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the schematic diagram of computer picture system of axes
Fig. 7 is in the preferred embodiment of jib dynamical parameter method of inspection of the present invention, the imaging schematic diagram of measured point P;
Fig. 8 is the another diagram of circuit of the preferred embodiment of jib dynamical parameter method of inspection of the present invention;
Fig. 9 is the structured flowchart of the preferred embodiment of jib dynamical parameter checking system of the present invention;
Figure 10 is in the preferred embodiment of jib dynamical parameter checking system of the present invention, and left pick up camera and right pick up camera are installed on the structural representation of jib;
Figure 11 is the another structured flowchart of the preferred embodiment of jib dynamical parameter checking system of the present invention;
Description of reference numerals:
1 left pick up camera
2 right pick up cameras
3 treaters
4 jibs
5 annunciators
6 motion limits unit
7 read out instruments
The specific embodiment
Need to prove, in the situation that do not conflict, embodiment and the feature among the embodiment among the present invention can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Referring to Fig. 1, there is shown the preferred embodiment of jib dynamical parameter method of inspection among the present invention, the method is for detection of the jib dynamical parameter in the course of the work of the construction machinery and equipments such as hoisting crane.As shown in the figure, the method comprises: image acquisition step S1, the image that the left pick up camera by being installed in jib arm afterbody and right pick up camera obtain the cooperation sign that is arranged on jib arm head section; Coordinate Calculation step S2, the extraction check point from described image, and calculate the three-dimensional coordinate of this check point in left camera coordinate system and right camera coordinate system; Side sway determining step S3 determines the side sway value of jib according to the X-axis coordinate of this check point in left camera coordinate system and right camera coordinate system.
Left pick up camera and the right pick up camera of the present embodiment by being arranged in jib arm afterbody carries out imaging to the cooperation sign that is arranged in jib arm head section.Wherein, the cooperation sign is the group mark point with obvious imaging features, can install or be attached directly to by simple rack the arm head section of jib, is mainly pick up camera the sign that is easy to identify is provided, and provides relative position constraint as the controlling point for measuring to calculate.During implementation, the cooperation sign can be the figure shown in Figure 2 that is formed by Visible Light Characteristics or infrared LED lamp, certainly, also can be other figure that is easy to identify.Wherein, check point can be any point in this cooperation sign.
The below is elaborated to the detailed process of calculating the jib side sway by the check point in the cooperation sign:
Whole measurement system in the present embodiment is comprised of four system of axess,, is respectively: large-scale coordinate measurement machine system of axes (world coordinate system) O to shown in Figure 6 such as Fig. 3
WX
WY
WZ
W, camera coordinate system O
SX
SY
SZ
S, pick up camera CCD image coordinates is O
PX
PY
PWith computer picture system of axes O
1X
1Y
1As shown in figure 10, the origin of coordinates of camera coordinate system is the principal point of camera lens object lens, and Z axis is optical axis direction, and X-axis is positioned on the line of principal point of camera lens object lens of left pick up camera and right pick up camera, and Y-axis is vertical with X-axis; Pick up camera CCD image coordinates system is based upon on the imaging surface of CCD device, and its initial point is made as the upper left corner in rectangle image planes zone, (X
P0, Y
P0) be the intersection point of lens axis and CCD image planes, the i.e. coordinate of CCD image plane center; The computer picture establishment of coordinate system is on computer screen, and its initial point is made as the upper left corner in shown rectangular image zone, (X
10, Y
10) be and (X
P0, Y
P0) the corresponding CCD image plane center coordinate in the computer picture system of axes.
Referring to Fig. 7, establishing the coordinate of check point P in the coordinate measurement machine system of axes is (x
W, y
W, z
W), the coordinate in camera coordinate system is (x
C, y
C, z
C), the coordinate in CCD image coordinates system is (x
P, y
P), the coordinate in the computer picture system of axes is (x
1, y
1).
If the scaled factor of directions X is Kx, the pixel spacing on the CCD image planes on directions X and the Y-direction is respectively S
XAnd S
YO
LAnd O
RBe respectively the principal point of the object lens of left pick up camera and right pick up camera, b is the distance between OL and the OR, O ' L and O ' R are respectively the center of left pick up camera and right pick up camera CCD image planes, P ' L and P ' R are respectively the P point at the point of position, pick up camera left and right sides CCD image planes, u is the distance (object distance) that OL and OR are wired to P and order, and v is the distance (image distance) that OL and OR are wired to pick up camera CCD image planes.
If x
PLAnd x
PRRepresent respectively the X-axis coordinate (origin of coordinates be taken as CCD image plane center) of P point in position, pick up camera left and right sides CCD image coordinates system, x
PL+ x
PRThe parallax that is equivalent to P point directions X in position, pick up camera left and right sides CCD image coordinates system, corresponding x
1LAnd x
1RBe respectively the X-axis coordinate (origin of coordinates be taken as image image plane center) of P point in the position computer image coordinate system of the pick up camera left and right sides.The three-dimensional coordinate of P point in left camera coordinate system can be calculated as:
The three-dimensional coordinate of P point in right camera coordinate system can be calculated as:
The side sway value L of this jib then
1For: 1/2nd of the difference of the absolute value of the absolute value of the X-axis coordinate of check point P in left camera coordinate system and the X-axis coordinate in right camera coordinate system, that is: L
1=|| x
CL|-| x
CR||/2
Need to prove, above-mentioned * number representative in various be multiplication sign.
Need to prove; in the present embodiment; by P point X-axis coordinate and its three-dimensional coordinate in camera coordinate system of the X-axis coordinate Calculation in the computer picture system of axes in CCD image coordinates system; in fact; to those skilled in the art, the method for the known three-dimensional coordinate of other calculating P point in camera coordinate system also should be within protection scope of the present invention.
In the present embodiment, by two pick up cameras that are positioned at the arm afterbody cooperation sign that is positioned at arm head section is carried out imaging, location, and the coordinate of the check point in the computering cooperation sign in camera coordinate system, and the side sway of calculating jib according to this three-dimensional coordinate.The method is by the real-time shooting of two pick up cameras, can realize the real-time measurement to the jib side sway, can carry out detection of dynamic and Real Time Monitoring to the variation of the side sway of the jib in the motion process, with the safety of lift crane operation, avoided because the excessive folding arm accident that causes of jib side sway.Compare with the method for existing artificial reading and calculating, have high, the non-contacting advantage of accuracy of detection, and avoided the impact of the environmental factors such as wind-force, weather.
In the jib operation process, the distortion of jib end in the luffing plane is called amount of deflection, amount of deflection is the same with side sway, it also is the important indicator of estimating hoisting crane lifting performance and safety performance, amount of deflection is crossed conference directly affects hoisting capacity, also can cause the folding arm accident to occur, at present, the method of measurement of amount of deflection is the same with side sway, also be mainly by backguy steel ruler mensuration, the instrument measuring methods such as theodolite/total powerstation carry out static measurement to amount of deflection, do not have detection of dynamic, but the method that adopts artificial reading and calculating obtains the static value of amount of deflection, and general error is larger, in order to address this problem, above-described embodiment also comprises: the amount of deflection determining step, according to the Y-axis of check point in left camera coordinate system and right camera coordinate system, the Z axis coordinate is determined the deflection value of this jib.
Particularly, the deflection value L of jib
2For: the current location of check point P and the distance between the position under the jib light condition in the YZ plane of left camera coordinate system, and in the YZ plane of right camera coordinate system the current location of check point P and between the position under the jib light condition apart from 1/2nd of sum, that is:
In above-mentioned, y
L0, z
L0Be respectively jib in the situation that do not bear Y-axis coordinate and Z axis coordinate in the left camera coordinate system of check point P of vertical direction load (being under the light condition) test;
y
R0, z
R0Be respectively jib in the situation that do not bear Y-axis coordinate and Z axis coordinate in the right camera coordinate system of check point P of vertical direction load (being under the light condition) test.
Can find out, can realize real-time measurement to the jib amount of deflection by the method, can carry out detection of dynamic and Real Time Monitoring is carried out in the variation of the amount of deflection of jib in the crane job process the amount of deflection of the jib in the motion process, compare with the method for existing artificial reading and calculating, have high, the non-contacting advantage of accuracy of detection, and avoided the impact of the environmental factors such as wind-force, weather.
In order in time to notify the staff when the side sway of jib or amount of deflection surpass preset value, above-described embodiment can also comprise: alert step surpasses in the side sway value and to send alarm message when the first preset value or deflection value surpass the second preset value.During implementation, can report to the police by buzzer phone, indicator lamp etc.
For when the side sway of jib and amount of deflection surpass preset value, in time stop jib to continue action, above-described embodiment can also comprise: the motion limits step, surpass in the side sway value and to send the signal of restriction jib action when the first preset value or deflection value surpass the second preset value, so that jib in time stops action, prevent the generation of dangerous situation.Particularly, when the side sway value surpasses the first preset value or deflection value and surpasses the second preset value, can send to the controller of control jib action and cease and desist order, prevent that jib from continuing action.
Below in conjunction with Fig. 8 above-mentioned method of inspection is more specifically illustrated:
At first, respectively the cooperation sign is carried out imaging by left pick up camera and right pick up camera, treater receives this image and this image is processed, extract the cooperation sign in the double image machine image, and the cooperation sign is carried out intersection locate, extract its check point, calculate the three-dimensional coordinate of check point in left camera coordinate system and right camera coordinate system, and according to the side sway of the X-axis coordinate Calculation jib in this three-dimensional coordinate, amount of deflection according to the Y-axis coordinate in this three-dimensional coordinate and this jib of Z axis coordinate Calculation, when side sway greater than the first preset value or amount of deflection during greater than the second preset value, restriction jib action, and send alarm message, when side sway less than or equal to the first preset value or amount of deflection during less than or equal to the second preset value, jib is not done any restriction, allow the jib action.
Referring to Fig. 9, also show the preferred embodiment of jib dynamical parameter checking system among the figure.This system is for detection of the side sway of jib in operation process.As shown in the figure, this checking system comprises: left pick up camera 1, right pick up camera 2 and treater 3.
Wherein, left pick up camera 1 and right pick up camera 2 all are arranged at the arm tail of jib, are used for obtaining the image that sets in advance in the cooperation sign of jib arm head section; Treater 3 is connected with right pick up camera 2 with left pick up camera 1, be used for receiving this check point and calculating this check point at the three-dimensional coordinate of left camera coordinate system and right camera coordinate system, and the side sway value of determining this jib according to the X-axis coordinate in the three-dimensional coordinate of this check point in left camera coordinate system and right camera coordinate system.
Particularly, referring to Figure 10, left pick up camera 1 and right pick up camera 2 are arranged at the both sides of the arm tail of jib 4, the cooperation sign is arranged on the arm head 41 of jib 4, the cooperation sign is the group mark point with obvious imaging features, can install or be attached directly to by simple rack arm head 41 places of jib, be mainly left pick up camera 1 and right pick up camera 2 sign that is easy to identify is provided, provide relative position constraint as the measured point for measuring to calculate.During implementation, the cooperation sign can be the figure shown in Figure 2 that is formed by Visible Light Characteristics or infrared LED lamp, and treater can be DSP etc., and check point can be any point in the cooperation sign.
The cooperation sign that left pick up camera 1 and right pick up camera 2 will photograph sends to treater 3, treater 3 receives the image of cooperation sign, and from this image, extract check point, and the three-dimensional coordinate of the check point in the computering cooperation sign in the system of axes of left pick up camera 1 and right pick up camera 2, and according to the side sway of this jib 4 of X-axis coordinate Calculation in this three-dimensional coordinate.Its concrete computation process gets final product with reference to said method embodiment, and the present invention does not repeat them here.
For jib, amount of deflection is the same with side sway, all are important indicators of estimating hoisting crane lifting performance and safety performance, so, treater 3 in above-described embodiment also is used for according to Y-axis coordinate and the Z axis coordinate amount of deflection of determining jib 4 of this check point in the three-dimensional coordinate of left camera coordinate system and right camera coordinate system, its concrete computation process reference method embodiment gets final product, and the present invention is not giving unnecessary details again.
Referring to Figure 11, in order when side sway or jib surpass preset value, in time to remind the staff, can also make further improvements above-described embodiment: set up annunciator 5.Wherein, annunciator 5 is connected with treater 3, sends alarm message when the first preset value or deflection value surpass the second preset value for surpassing in the side sway value.During implementation, annunciator can be buzzer phone or indicator lamp.
Continuation is referring to Figure 11, for when the side sway of jib 4 and amount of deflection surpass preset value, in time stop jib 4 to continue action, above-described embodiment can also comprise motion limits unit 6, be connected with treater 3, send the signal of restriction jib action when the first preset value or deflection value surpass the second preset value for surpassing in the side sway value.Particularly, this motion limits unit 6 can be a controller, its input end is connected with treater 3, mouth can be connected with the controller that is used for the action of control jib, when side sway surpassed the first preset value or amount of deflection and surpasses the second preset value, treater 3 sent the motion limits signal to motion limits unit 6, after motion limits unit 6 receives these motion limits signals, movement controller to jib 4 sends the signal that stops jib 4 actions, continues action to stop jib 4.
Continuation can be understood side sway and the amount of deflection of jib 4 referring to Figure 11 in real time in order to make the staff, and the various embodiments described above can also comprise: read out instrument 7, be connected with treater 3, and be used for showing in real time side sway value and the deflection value of jib 4.
Can find out by above-described embodiment, left pick up camera in this checking system and right pick up camera are installed in the afterbody of jib, finish imaging, identification and tracking to the cooperation sign of jib arm head section, intersection location to the cooperation sign, and calculate amount of deflection and the side sway of jib according to the check point in the cooperation sign, amount of deflection and side sway to jib are carried out Real Time Monitoring, with the safety of lift crane operation, have avoided because jib amount of deflection and the excessive folding arm accident that causes of side sway.
Because the checking system among the present invention is similar to the method for inspection principle, so relevant part can cross-reference.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a jib dynamical parameter method of inspection is characterized in that, comprises the steps:
Image acquisition step, the image that the left pick up camera by being installed in jib arm afterbody and right pick up camera obtain the cooperation sign that is arranged on jib arm head section;
The coordinate Calculation step, the extraction check point from described image, and calculate the three-dimensional coordinate of described check point in left camera coordinate system and right camera coordinate system;
The side sway determining step is determined the side sway value of described jib according to the X-axis coordinate of described check point in described left camera coordinate system and described right camera coordinate system.
2. jib dynamical parameter method of inspection according to claim 1 is characterized in that, also comprises:
The amount of deflection determining step is according to the Y-axis of described check point in described left camera coordinate system and described right camera coordinate system, the deflection value that the Z axis coordinate is determined described jib.
3. jib dynamical parameter method of inspection according to claim 2 is characterized in that, also comprises:
Alert step surpasses in described side sway value and to send alarm message when the first preset value or described deflection value surpass the second preset value.
4. jib dynamical parameter method of inspection according to claim 2 is characterized in that, also comprises:
The motion limits step surpasses in described side sway value and to send the signal of restriction jib action when the first preset value or described deflection value surpass the second preset value.
5. jib dynamical parameter method of inspection according to claim 1, it is characterized in that, 1/2nd of the difference of the absolute value of the X-axis coordinate of described check point in described left camera coordinate system and the absolute value of X-axis coordinate in described right camera coordinate system is defined as the side sway value of described jib.
6. jib dynamical parameter method of inspection according to claim 2, it is characterized in that, the current location of described check point and the distance between the position under the jib light condition in the YZ plane of described left camera coordinate system, and in the YZ plane of described right camera coordinate system described check point current location and between the position under the jib light condition, be defined as the deflection value of described jib apart from 1/2nd of sum.
7. a jib dynamical parameter checking system is characterized in that, comprising:
Left pick up camera (1) and right pick up camera (2) are arranged at the arm tail of described jib (4), are used for obtaining the image that sets in advance in the cooperation sign of described jib arm head section;
Treater (3), be connected with described right pick up camera (2) with described left pick up camera (1), be used for receiving described image and extract the check point of described image, calculate the three-dimensional coordinate of described check point in left camera coordinate system and right camera coordinate system, and the side sway value of determining described jib according to the X-axis coordinate in the three-dimensional coordinate of described check point in described left camera coordinate system and described right camera coordinate system.
8. jib dynamical parameter checking system according to claim 7, it is characterized in that, described treater (3) also is used for according to Y-axis coordinate and the Z axis coordinate deflection value of determining described jib of described check point in the three-dimensional coordinate of described left camera coordinate system and described right camera coordinate system.
9. jib dynamical parameter checking system according to claim 8 is characterized in that, also comprises:
Annunciator (5) is connected with described treater (3), sends alarm message when the first preset value or described deflection value surpass the second preset value for surpassing in described side sway value.
10. jib dynamical parameter checking system according to claim 8 is characterized in that, also comprises:
Motion limits unit (6) is connected with described treater (3), sends the signal of restriction jib action when the first preset value or described deflection value surpass the second preset value for surpassing in described side sway value.
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| CN104528527A (en) * | 2014-12-10 | 2015-04-22 | 中联重科股份有限公司 | Deflection detection system, method and device for engineering machinery suspension arm and engineering machinery |
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