CN103359642B - Tower crane operation monitoring system and method and tower crane - Google Patents
Tower crane operation monitoring system and method and tower crane Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title abstract 2
- 230000000007 visual effect Effects 0.000 claims abstract description 43
- 230000004886 head movement Effects 0.000 claims abstract description 13
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000005192 partition Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract 1
- 239000000725 suspension Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
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Abstract
The invention discloses a tower crane operation monitoring system and method and a tower crane. The system comprises a display device used for displaying the operation scene of the tower crane. The system further comprises: head movement detection means for detecting a direction and an angle of movement of the head of the operator; and the display picture adjusting device is used for determining the visual angle change direction and angle of the display device according to the movement direction and angle of the head of the operator, and adjusting the visual angle according to the determined visual angle change direction and angle so as to enable the display picture to change along with the movement of the head of the operator. Through the technical scheme, the motion signal of the head of the operator can be used as the visual angle change control signal of the display device, when the operator operates the tower crane, the operator can correspondingly adjust the picture by changing the head posture, the picture of a work area to be checked is conveniently called, manual switching of the operator is not needed, convenience is provided for the operator, and the operation safety of the tower crane is improved.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of tower machine operation monitored control system, method and tower machine.
Background technology
Tower crane, is called for short tower machine, is a kind of construction machinery and equipment conventional in building operation.When tower machine operation, tractor driver, generally away from hoisting object, therefore, usually needs the commander of submit onself to someone's direction member to operate, to improve accuracy and the safety of operation in hoisting process.But owing to being commanded by indirect, therefore, this method inefficiency.
Tractor driver can carry out the real-time working condition of observing tower machine operation by read out instrument, to control hoisting process.But the visual angle of existing a part of read out instrument is fixing, or according to the rule change set in advance, such as, setting viewpoint is on suspension hook, and then viewpoint follows suspension hook motion.In this case, the picture that read out instrument presents take suspension hook as the picture of viewpoint.Because screen is limited, all pictures all cannot be presented on screen, therefore, operator possibly cannot check other pictures (such as, checking there is clear around this suspension hook) beyond this suspension hook.
Part read out instrument can control by operator the visual angle that view angle switch device (such as, shortcut, mouse etc.) changes read out instrument.But carry out in the process of hoist controlling operator, the both hands of operator need to hold control lever, its attention often all concentrates in the control to tower machine.If operator also needs Non-follow control view angle switch device to carry out view angle switch, this can perturbation operation person to the operation of tower machine, and inconvenient and dangerous.
Summary of the invention
The object of this invention is to provide a kind of tower machine operation monitored control system, method and tower machine, with the operation situation making operator can monitor tower machine in real time when manipulating tower machine, and the visual angle of read out instrument can be changed as required, thus display frame is adjusted to the picture wanting to see, without the need to operator's manual switchover.
To achieve these goals, the invention provides a kind of tower machine operation monitored control system, this system comprises read out instrument, for showing the working scene of described tower machine, this system also comprises: head movement detecting device, for detecting sense of motion and the angle of operator's head; Display frame setting device, for according to the sense of motion of described operator's head and angle, determine visual angle change direction and the angle of described read out instrument, and according to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making display frame follow described operator's head.
The present invention also provides a kind of tower machine comprising said system.
The present invention also provides a kind of tower machine operation method for supervising, and the method comprises: the sense of motion and the angle that detect operator's head; According to sense of motion and the angle of described operator's head, determine visual angle change direction and the angle of read out instrument, wherein said read out instrument is for showing the working scene of described tower machine; And according to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making the display frame of described read out instrument follow described operator's head.
Pass through technique scheme, can using the visual angle change control signal of the motor message of operator's head as read out instrument, operator is when operating tower machine, it correspondingly can adjust picture by changing head pose, transfer the work area picture wanting to check easily, without the need to operator's manual switchover, for operator provides convenience, and add the safety of tower machine operation.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is the constructional drawing of tower machine operation monitored control system according to the embodiment of the present invention;
Fig. 2 is the schematic diagram of infrared transceiver;
Fig. 3 is the corresponding relation schematic diagram that reflecting module and head pose change;
Fig. 4 is the corresponding relation schematic diagram that the virtual coordinates of head pose and viewpoint changes; And
Fig. 5 is the diagram of circuit of tower machine operation method for supervising according to the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
Fig. 1 shows the constructional drawing of tower machine operation monitored control system according to the embodiment of the present invention.As shown in Figure 1, this system can comprise read out instrument 30, for showing the working scene of described tower machine.This system can also comprise: head movement detecting device 20, for detecting sense of motion and the angle of operator's head; Display frame setting device 10, for according to the sense of motion of described operator's head and angle, determine visual angle change direction and the angle of described read out instrument 30, and according to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making display frame follow described operator's head.
Under normal circumstances, read out instrument 30 is usual is that viewpoint shows with suspension hook, reflection suspension hook motion conditions.Pass through said system, operator not only can observe suspension hook motion by read out instrument 30, the viewpoint of read out instrument 30 can also be changed by moveable head, check some pictures around suspension hook, around suspension hook for confirmation, whether there is obstacle, such as, by head to left movement, picture adjusts left, and head moves right, picture adjusts to the right, thus ensures the safety of suspension hook motion.And operator only needs moveable head just can adjust display frame, to make a return journey manually adjustment without the need to hand being left joystick, very convenient, contribute to being primarily focused in the manipulation of tower machine operation.
The maloperation produced to prevent head movement, described head movement detecting device 20 is also for detecting the kinematic velocity of described operator's head; And described display frame setting device 10 is also for when described kinematic velocity is more than or equal to a preset value, according to visual angle described in determined visual angle change direction and angular adjustment.In this case, only have when head carries out rapid movement, just think that operator sends the control signal to picture adjustment, display frame setting device 10 adjusts according to this signal again.
Head movement detecting device 20 can be such as infrared transceiver.As shown in Figure 2, this infrared transceiver can comprise at least one reflecting module 201(such as, first reflecting module 201a, the second reflecting module 201b and the 3rd reflecting module 201c), be installed on described operator with cap on, for reflective infrared signal; And transmitting and receiving module 202, relative with at least one reflecting module 201 described, for launching infrared signal at least one reflecting module 201 described, and receive the infrared signal be reflected back by least one reflecting module 201 described.
When operator monitors in real time to tower machine operation, before it is positioned at read out instrument, therefore, can above-mentioned transmitting and receiving module 202 be settled on the display apparatus, as shown in Figure 2, and reflecting module 201a, 201b, 201c can be placed on the cap that operator wears, and the two is relative, like this, transmitting and receiving module 202 just can detect the change of three reflecting module positions in real time by infrared signal.
After the change in location detecting reflecting module 201a, 201b, 201c, the change of head pose can be parsed by the geometric relationship of correspondence, then utilize head pose to change the visual angle change controlling read out instrument 30.
Conversion between the acquisition of head posture information needs by system of axes obtains, reflecting module 201a, 201b, 201c coordinate corresponding head pose coordinate.Transmitting and receiving module 202 can record the changes in coordinates of three reflecting module.Such as, the reflecting module of definition crown center is C point, left and right reflecting module is L point and R point, a plane can be determined in 3, such space, based on the initial position of this plane, at i.e. corresponding head pose zero point, namely this plane can be mapped to the six-freedom degree pose of head in space in the change of space six degree of freedom and changes, as shown in Figure 3.
Alternatively, infrared transceiver can comprise at least one transmitter module and a receiver module.At least one transmitter module described is arranged on the cap that operator wears, and described receiver module is positioned on read out instrument.When transmitter module launches infrared signal, receiver module starts Received signal strength, and measures corresponding information, draws the change in location of transmitter module, and then obtains head pose change information.
Alternatively, infrared transceiver can be body propagated sensation sensor, utilizes body propagated sensation sensor, can directly obtain head posture information.
After determining head movement information, need this movable information to be mapped in the visual angle change (also can be the virtual coordinates of viewpoint) of read out instrument 30.In tower machine operation monitored control system, the viewpoint of read out instrument 30 is locked on suspension hook all the time, as screen center's point.Head movement information need be superimposed upon in eye coordinates change, as shown in XOZ plane in Fig. 4.E point (representing the center of head part) position can constantly change, and most of situation can not at co-ordinate zero point.If head rotates forward θ around Y-axis, viewpoint will shift to C1+ point by C1 point, in order to ensure unification and the stability of movement, the movement of definition viewpoint, always around initial point center, can calculate the coordinate of C1+ point thus according to C1 point coordinate and θ angle gauge by geometric relationship, the eye coordinates namely after change, in like manner, if head is around Y-axis contrarotation θ, viewpoint will shift to C1-point by C1 point, can be calculated the coordinate of C1-point by geometric relationship according to C1 point coordinate and-θ angle gauge.If rotate θ around Z axis, then as shown in XOY plane in Fig. 4 (example shown is that viewpoint is just in the situation of initial point).Calculate head around the method for the postrotational eye coordinates of X-axis and principle the same, just repeat no more herein.
Thus, after the direction detecting head movement and angle, the viewpoint coordinate in three dimensions after change can be calculated, also the visual angle change direction corresponding with the eye coordinates after this change and angle is just drawn, then, according to the picture of this visual angle change direction and angle adjustment display device 30, transfer to the position wanting to watch to make viewpoint.After finishing watching the working environment picture wanting to check, head can be revert to initial position, read out instrument 30 also adjusts picture thereupon, and viewpoint is fallen back on suspension hook.
Can set the proportionate relationship between the angle of head change and the angle of visual angle change, this is determined by operator.If operator wants, with less head movement angle, to make the visual angle of read out instrument 30 carry out larger adjustment, it is slightly little that this ratio can set by it; On the contrary, if operator wants to make the visual angle of read out instrument 30 carry out less adjustment, it is slightly large that this ratio can set by it.
Thus, in tower machine operation monitored control system, directly can be controlled the change at visual angle by head change, substantially increase the alerting ability of operator's operation, it just need can see object at any angle by moveable head, very convenient, and adds accuracy and the safety of hoist controlling.
In read out instrument 30, the tower machine operative scenario of display can be set up according to site environment parameter.Such as, above-mentioned monitored control system can also comprise environment information acquisition device 50, for gathering the environmental information of described tower machine; And model apparatus for establishing 40, for setting up the working scene model of described tower machine according to described environmental information, to show in described read out instrument 30.
Environmental information is mainly divided three classes: three-dimensional scene models, multi-sensor information and partition information, and the collection of three category informations is all completed by environment information acquisition device 50.Wherein, the foundation of three-dimensional scene models by manually drawing elementary version according to construction drawing, and slowly upgrades according to construction speed; Sensor information mainly comprises sitework machinery, workmen, tower machine lift hook position information and workyard wind direction wind-force information; Partition information mainly refer to workyard is divided into safety zone, hazardous location, lifting start region and lifting four, object region part.Finally, three category informations combine by model apparatus for establishing 40, set up the dummy model that can reflect tower machine real operating environments, and are presented in read out instrument 30.
Fig. 5 is tower machine operation method for supervising according to the embodiment of the present invention.As shown in Figure 5, the method can comprise: step 501, detects sense of motion and the angle of operator's head; Step 502, according to sense of motion and the angle of described operator's head, determine visual angle change direction and the angle of read out instrument, wherein said read out instrument is for showing the working scene of described tower machine; And step 503, according to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making the display frame of described read out instrument follow described operator's head.
After adjustment picture, can carry out step 504, judge whether to arrive the picture wanting to watch, if not, then turn back to step 501 and continue head movable information; Otherwise, carry out step 505, judges whether operation terminates, if determination operation does not terminate, then turns back to step 501 and continues head movable information, until operation terminates.
In addition, although not shown in Figure 5, described method can also comprise: the kinematic velocity detecting described operator's head; And when described kinematic velocity is more than or equal to a preset value, according to visual angle described in determined visual angle change direction and angular adjustment.
Described method can also comprise: the environmental information gathering described tower machine; And set up the working scene model of described tower machine according to described environmental information, to show in described read out instrument.
Thus, by tower machine operation monitored control system provided by the invention, method and tower machine, can using the visual angle change control signal of the motor message of operator's head as read out instrument, operator is when operating tower machine, it correspondingly can adjust picture by changing head pose, transfers the work area picture wanting to check easily, without the need to operator's manual switchover, for operator provides convenience, and add the safety of tower machine operation.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (8)
1. a tower machine operation monitored control system, this system comprises read out instrument, and for showing the working scene of described tower machine, it is characterized in that, this system also comprises:
Head movement detecting device, for detecting sense of motion and the angle of operator's head;
Display frame setting device, for according to the sense of motion of described operator's head and angle, determine visual angle change direction and the angle of described read out instrument, and according to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making display frame follow described operator's head;
Wherein said head movement detecting device is infrared transceiver, and described infrared transceiver comprises three reflecting module determining a plane, be installed on described operator with cap on, for reflective infrared signal; And transmitting and receiving module, relative with described three reflecting module, for launching infrared signal to described three reflecting module, and receive the infrared signal be reflected back by described three reflecting module.
2. system according to claim 1, is characterized in that,
Described head movement detecting device is also for detecting the kinematic velocity of described operator's head; And
Described display frame setting device also for when described kinematic velocity is more than or equal to a preset value, according to visual angle described in determined visual angle change direction and angular adjustment.
3. system according to claim 1, is characterized in that, this system also comprises:
Environment information acquisition device, for gathering the environmental information of described tower machine; And
Model apparatus for establishing, for setting up the working scene model of described tower machine according to described environmental information, to show in described read out instrument.
4. system according to claim 3, it is characterized in that, described environmental information comprise following at least one: the three-dimensional scene models of workyard, the partition information of workyard, tower machine location information, workmen's location information, lift hook position information, hang object location information, wind-force wind speed information.
5. one kind comprises the tower machine of the system in claim 1-4 described in arbitrary claim.
6., for a tower machine operation method for supervising for the tower machine operation monitored control system described in claim any one of claim 1-4, it is characterized in that, the method comprises:
Detect sense of motion and the angle of operator's head;
According to sense of motion and the angle of described operator's head, determine visual angle change direction and the angle of read out instrument, wherein said read out instrument is for showing the working scene of described tower machine; And
According to visual angle described in determined visual angle change direction and angular adjustment, with the motion change making the display frame of described read out instrument follow described operator's head.
7. method according to claim 6, is characterized in that, the method also comprises:
Detect the kinematic velocity of described operator's head; And
When described kinematic velocity is more than or equal to a preset value, according to visual angle described in determined visual angle change direction and angular adjustment.
8. method according to claim 6, is characterized in that, the method also comprises:
Gather the environmental information of described tower machine; And
The working scene model of described tower machine is set up, to show in described read out instrument according to described environmental information.
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| CN201310322778.XA CN103359642B (en) | 2013-07-29 | 2013-07-29 | Tower crane operation monitoring system and method and tower crane |
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| EP3353630B1 (en) * | 2015-09-24 | 2021-05-26 | Tobii AB | Eye-tracking enabled wearable devices |
| US20170169533A1 (en) * | 2015-12-15 | 2017-06-15 | Corvex Connected Safety Inc. | Worn personal protective equipment compliance system |
| CN105867619B (en) * | 2016-03-28 | 2019-02-05 | 联想(北京)有限公司 | A kind of information processing method and electronic equipment |
| CN106131483A (en) * | 2016-06-24 | 2016-11-16 | 宇龙计算机通信科技(深圳)有限公司 | A kind of method for inspecting based on virtual reality and relevant device, system |
| CN106909218B (en) * | 2017-02-08 | 2020-06-09 | 惠州Tcl移动通信有限公司 | Terminal display control method and system based on user behaviors |
| JP2019156533A (en) * | 2018-03-09 | 2019-09-19 | 株式会社タダノ | crane |
| CN110054099B (en) * | 2019-05-15 | 2020-05-05 | 长沙海川自动化设备有限公司 | Tower crane anti-collision display control method, control device, control system and storage medium |
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