CN103613013A - System and method for monitoring construction safety of tower crane - Google Patents
System and method for monitoring construction safety of tower crane Download PDFInfo
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Abstract
The invention provides a system for monitoring the construction safety of a tower crane. The system comprises a camera, an image acquisition and processing module, a tower arm detection and tracking module, and a tower crane construction safety judging module; a target region image is captured from video information obtained by the camera and is processed to obtain an effective target region image; when a tower arm is judged to exist in the effective target region image, a current target region image is captured in a frame-by-frame manner and is processed to obtain an effective current target region image; tower arm position information of the tower arm in the effective current target region image is obtained from the effective current target region image; a coordinate mapping from an image space to a Cartesian space is established according to camera parameter information, field environment parameter information and the tower arm position information; alarming information is judged to be output or not according to a coordinate value of the tower arm in the Cartesian space when the tower arm enters a dangerous angle; and therefore, the monitoring of the tower arm of the tower crane is realized under the condition of not using a sensor. The invention further provides a method for monitoring the construction safety of the tower crane.
Description
Technical field
The present invention relates to tower crane safety monitoring during construction technical field, particularly a kind of tower crane cable construction safety monitoring system and method.
Background technology
The safe operation of building ground tower crane is the emphasis that construction safety is taken precautions against all the time, however due to all subjectivities or objectively reason still accident occur frequently, once and to have an accident be exactly often serious accident.Therefore, the safe operation of tower crane focuses on detecting and takes precautions against, and content comprises tower crane equipment state, controls personnel state, site environment situation and most important---whether in strict accordance with safe in operation standard, control.Long-term engineering practice also confirmed, safety of tower crane moves and have no lack of scientific and reasonable safety standard and system, and primary potential safety hazard is still the personnel's that control implementation status.Often because some are accidental, as general idea, figure is convenient or it is subjective to drive plan etc. or objective reason, does not control according to safety standard requirements, causes great potential safety hazard, likely cause serious accident and cause personal property cataphoretic failure.
Existing safety of tower crane monitoring technology, most of employing installed various kinds of sensors on tower crane arm, comprise height sensor, air velocity transducer, load cell, rotary angle transmitter, luffing sensor, by these sensors, gather the information on arm, data are comprehensively analyzed, infer the running state that tower crane, thereby accomplish the safety monitoring to tower crane.Yet existing technology exists following shortcoming: sensor itself exists the shake of data, there is certain distortion; Sensor is disturbed by external environment condition very easily, causes significantly distortion of data; Data communicate back and are easily disturbed.
Summary of the invention
In view of this, be necessary to provide the tower crane cable construction safety monitoring system that a kind of image data is stable, not disturbed by external environment condition.
Also be necessary to provide a kind of tower crane safety monitoring during construction method that image data is stable, not disturbed by external environment condition.
A tower crane cable construction safety monitoring system, comprises camera, image acquisition and processing module, the detection of tower arm and the tracking module, the tower crane construction safety judge module that are arranged on tower crane work-site, and camera is for gathering the video information of reflection tower crane operation, image acquisition and processing module is arranged on the tower arm of the reflection tower crane that the camera of work-site produces at the video information of desired target location motion for receiving, obtain default site environment parameter information and camera parameter information, target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, and to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image, tower arm detects with tracking module for judging according to the benchmark image prestoring whether effective target area image has tower arm, while having tower arm in judging effective target movement images, the first executive command that output is preset is to image acquisition and processing module, image acquisition and processing module is also for responding the first executive command, beginning is with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, and to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image, tower arm detects with tracking module also for obtain the tower arm location information of tower arm the present image of effective target region from effective target region present image, tower crane construction safety judge module is used for according to the tower arm elevation information in the demarcation information of camera parameter information, site environment parameter information and tower arm location information, the coordinate mapping of foundation between from image space to cartesian space, tower crane construction safety judge module judges at the coordinate figure of cartesian space whether tower arm enters dangerous angle according to tower arm, and exports warning message to tower crane operating personal judging when tower arm enters dangerous angle.
A tower crane safety monitoring during construction method, comprises the steps:
Reception is arranged on the tower arm of the reflection tower crane that the camera of work-site produces at the video information of desired target location motion;
Obtain default site environment parameter information and camera parameter information;
Target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image;
According to the benchmark image prestoring, judge in effective target area image, whether there is tower arm;
While having tower arm in judging effective target area image, beginning is with the target area present image in mode capturing video information frame by frame, and according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image;
From the present image of effective target region, obtain the tower arm location information of tower arm in the present image of effective target region;
According to the demarcation information in camera parameter information, tower arm elevation information and tower arm location information in site environment parameter information, the coordinate mapping between setting up from image space to cartesian space;
According to tower arm, at the coordinate figure of cartesian space, judge whether tower arm enters dangerous angle, and export warning message to tower crane operating personal judging when tower arm enters dangerous angle.
Above-mentioned tower crane cable construction safety monitoring system and method, by the tower arm path of motion of video monitoring real-time intelligent monitoring tower crane, when moving to non-security region, tower arm automatically gives the alarm, concretely: target acquisition area image the video information obtaining from camera, the line distortion of going forward side by side is proofreaied and correct, normalization method and pretreatment are to obtain effective target area image, according to the benchmark image prestoring, judge in effective target area image, whether there is tower arm, while having tower arm in judging effective target area image, beginning is with the target area present image in mode capturing video information frame by frame, and according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction normalization method and pretreatment to obtain effective target region present image, from the present image of effective target region, obtain the tower arm location information of tower arm in the present image of effective target region, according to the demarcation information in camera parameter information, tower arm elevation information in site environment parameter information and tower arm location information, the coordinate mapping of foundation between from image space to cartesian space, according to tower arm, at the coordinate figure of cartesian space, judge whether tower arm enters dangerous angle, and export warning message to tower crane operating personal judging when tower arm enters dangerous angle, so in the situation that not using sensor, in real time, reliably the tower arm of tower crane is monitored.
Accompanying drawing explanation
Accompanying drawing 1 is the functional block diagram of the tower crane cable construction safety monitoring system of a preferred embodiments.
Accompanying drawing 2 is that in accompanying drawing 1, tower arm detects the functional block diagram with tracking module.
Accompanying drawing 3 is flow chart of steps of the tower crane safety monitoring during construction method of a preferred embodiments.
In figure: tower crane cable construction safety monitoring system 10, camera 20, load module 30, image acquisition and processing module 40, tower arm detect and tracking module 50, judging unit 51, tower arm detecting unit 52, tower arm tracking cell 53, tower arm range of movement judging unit 54, tower arm shadowing unit 55, tower crane construction safety judge module 60, tower crane safety monitoring during construction method step S301～S308.
The specific embodiment
As shown in Figure 1, tower crane cable construction safety monitoring system 10 comprises that the camera 20, load module 30, image acquisition and processing module 40, the tower arm that are arranged on tower crane work-site detect and tracking module 50, tower crane construction safety judge module 60.
Image acquisition and processing module 40 is arranged on the tower arm of the reflection tower crane that the camera 20 of work-site produces at the video information of desired target location motion for receiving, obtain default site environment parameter information and the parameter information of camera 20, target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, and to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image; Image acquisition and processing module 40 also detects for responding tower arm the first executive command providing with tracking module 50, beginning is with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, and to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image.
Tower arm detects the benchmark image prestoring for basis with tracking module 50 and judges whether effective target area image has tower arm, and while having tower arm in judging effective target movement images, the first executive command that output is preset is to image acquisition and processing module 40; Tower arm detects with tracking module 50 also for obtain the tower arm location information of tower arm the present image of effective target region from effective target region present image.
Tower crane construction safety judge module 60 is for according to the tower arm elevation information in the demarcation information of the parameter information of camera 20, site environment parameter information and tower arm location information, the coordinate mapping of foundation between from image space to cartesian space, tower crane construction safety judge module judges at the coordinate figure of cartesian space and the safe coordinate range value that prestores whether tower arm enters dangerous angle according to tower arm, and exports warning message to tower crane operating personal judging when tower arm enters dangerous angle.
above-mentionedit can be to have the computer equipment that data go out function that image acquisition and processing module 40, tower arm detect with tracking module 50, tower crane construction safety judge module 60, or there is a chip module of data-handling capacity, image acquisition and processing module 40, tower arm detect with tracking module 50, tower crane construction safety judge module 60 and are electrically connected and have realized collaborative work each other, and finally complete the safety monitoring during construction of tower crane.Wherein, the standard picture prestoring of mentioning in present embodiment is that applicant is by measuring the standard model of setting up after the data of tower arm proper motion, the mode of the coordinate mapping of foundation between from image space to cartesian space can be to set up the corresponding table of image space and cartesian space coordinate, then according to according to the demarcation information in the parameter information of camera 20, tower arm elevation information in site environment parameter information and tower arm location information are determined corresponding cartesian space coordinate figure from correspondence table, the cartesian space coordinate figure finding and the safe coordinate range value prestoring are relatively completed to the judgement that tower arm is positioned at safety zone, wherein, the use number of camera 20 can be determined according to actual conditions, for example, if two collaborative motions to tower arm 360 degree of camera are monitored, according to the demarcation information of image key points or camera oneself, carry out Image Mosaics, thereby obtain undistorted panoramic picture, afterwards again to image being carried out to adaptive contrast ratio adjustment.
For example, tower arm detects with one group of tracking module 50 operation and has been used for after the computer software of safety monitoring during construction function of tower crane, tower arm detects with tracking module 50 and produces corresponding functional unit to realize the safety monitoring during construction of tower crane, concretely: referring to Fig. 2, tower arm detects with tracking module 50 and produces judging unit 51, tower arm detecting unit 52, tower arm tracking cell 53, judging unit 51 is for judging whether effective target area image is initial the first two field picture, when judging effective target area image and be the first two field picture, export the first startup command to tower arm detecting unit 52, tower arm detecting unit 52 is for responding the first startup command, according to tower arm data in the benchmark image prestoring, in effective target area image, search corresponding tower arm data, while finding corresponding tower arm data in effective target area image, the first executive command that output is preset is to image acquisition and processing module 40, image acquisition and processing module 40 is for according to the first executive command, beginning is with target area present image in mode capturing video information frame by frame, tower arm tracking cell 53 obtains the tower arm location information of tower arm the present image of effective target region for the effective target region present image providing from image acquisition and processing module.
Further, tower arm detects with tracking module 50 and also produces tower arm range of movement judging unit 54, when tower arm location information in the effective target region present image of the tower arm location information of tower arm range of movement judging unit 54 in judging the effective target region present image that former frame catches and a rear frame-grab is identical, to preset the second startup command and tower arm location information offers tower arm detecting unit 52, tower arm detecting unit 52 is also for responding the second startup command, and whether the corresponding region decision of the tower arm location information with receiving in the effective target region present image of again catching has tower arm data, when having judged tower arm data, the first executive command is to image acquisition and processing module 40.
Further, tower arm detects with tracking module 50 and also produces tower arm shadowing unit 55, when tower arm shadowing unit 55 has shelter data in judging the target area present image that former frame catches, obtain shelter location information, and default the 3rd startup command and shelter location information are offered to tower arm detecting unit 52, tower arm detecting unit 52 is also for responding the 3rd startup command, whether the corresponding region decision of the shelter location information with receiving in the present image of the effective target region of a rear frame-grab has tower arm data, when having judged tower arm data, the first executive command is to image acquisition and processing module 40.Search tower arm refers to according to tower arm data in the benchmark image prestoring searches corresponding tower arm data in the present image of effective target region, while finding corresponding tower arm data in the present image of effective target region, is judged as and searches tower arm.
Please refer to Fig. 3, it is the tower crane safety monitoring during construction method flow diagram of a preferred embodiments, and this tower crane safety monitoring during construction method, comprises the steps:
Step S301, receives and to be arranged on the tower arm of the reflection tower crane that the camera of work-site produces at the video information of desired target location motion.
Step S302, obtains default site environment parameter information and camera parameter information.
Step S303, target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image.
Step S304, judges in effective target area image, whether there is tower arm according to the benchmark image prestoring.Wherein this step is specially: judge whether effective target area image is initial the first two field picture, when judging effective target area image and be the first two field picture, according to tower arm data in the benchmark image prestoring, in effective target area image, search corresponding tower arm data, while finding corresponding tower arm data in effective target area image, carry out " while having tower arm in judging target movement images, starting with the target area present image in mode capturing video information frame by frame " step.
Step S305, while having tower arm in judging effective target area image, beginning is with the target area present image in mode capturing video information frame by frame, and according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image.
Step S306 obtains the tower arm location information of tower arm in the present image of effective target region from the present image of effective target region.
Step S307, according to the demarcation information in camera parameter information, tower arm elevation information and tower arm location information in site environment parameter information, the coordinate mapping between setting up from image space to cartesian space.
Step S308, judges at the coordinate figure of cartesian space whether tower arm enters dangerous angle according to tower arm, and exports warning message to tower crane operating personal judging when tower arm enters dangerous angle.
Further, above-mentioned tower crane safety monitoring during construction method is further comprising the steps of:
Work-site at tower crane arranges beacon; For example, can adopt " lower monitoring " mode, that is camera is installed, gib arm installation beacon in ground; Also can adopt " upper monitoring ", that is beacon is installed, gib arm installation camera in ground; Also can select " adhesion type ", that is tower body installation camera, gib arm is installed beacon, and the installation of beacon is optional, and the identification difficulty that beacon can reduce image processing algorithm is installed, and strengthens reliability.
Start and be arranged on the camera of work-site, and utilize camera acquisition beacon region, when searching beacon, the captured region of camera is target area.
When the tower arm location information in judging the effective target region present image that former frame catches is identical with tower arm location information in the effective target region present image of a rear frame-grab, the corresponding region of the tower arm location information with last time obtaining in the effective target region present image of again catching starts to search for tower arm; While thering are shelter data in judging the effective target region present image that former frame catches, obtain shelter location information, the corresponding region of the shelter location information with last time obtaining in the present image of the effective target region of a rear frame-grab starts to search for tower arm.Search tower arm refers to according to tower arm data in the benchmark image prestoring searches corresponding tower arm data in the present image of effective target region, while finding corresponding tower arm data in the present image of effective target region, be judged as and search tower arm, then perform step S305, so to complete detection of dynamic and the tracking of tower arm.
Claims (10)
1. a tower crane cable construction safety monitoring system, it is characterized in that: comprise camera, image acquisition and processing module, the detection of tower arm and the tracking module, the tower crane construction safety judge module that are arranged on tower crane work-site, camera is for gathering the video information of reflection tower crane operation, image acquisition and processing module is arranged on the tower arm of the reflection tower crane that the camera of work-site produces at the video information of desired target location motion for receiving, obtain default site environment parameter information and camera parameter information, target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, and to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image, tower arm detects with tracking module for judging according to the benchmark image prestoring whether effective target area image has tower arm, while having tower arm in judging effective target movement images, the first executive command that output is preset is to image acquisition and processing module, image acquisition and processing module is also for responding the first executive command, beginning is with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, and to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image, tower arm detects with tracking module also for obtain the tower arm location information of tower arm the present image of effective target region from effective target region present image, tower crane construction safety judge module is used for according to the tower arm elevation information in the demarcation information of camera parameter information, site environment parameter information and tower arm location information, the coordinate mapping of foundation between from image space to cartesian space, tower crane construction safety judge module judges at the coordinate figure of cartesian space whether tower arm enters dangerous angle according to tower arm, and exports warning message to tower crane operating personal judging when tower arm enters dangerous angle.
2. tower crane cable construction safety monitoring system according to claim 1, is characterized in that: camera parameter information comprises lens focus, resolution, frame per second, picture format, light exposure; Site environment parameter information comprises tower crane arm height, weather conditions, camera and tower crane relative angle, picture control region, night on daytime.
3. tower crane cable construction safety monitoring system according to claim 1, it is characterized in that: tower crane cable construction safety monitoring system also comprises load module, load module, for operation response person's setting operation, produces corresponding site environment parameter information and camera parameter information.
4. tower crane cable construction safety monitoring system according to claim 3, it is characterized in that: tower arm detects with tracking module and comprises judging unit, tower arm detecting unit, tower arm tracking cell, judging unit is used for judging whether effective target area image is initial the first two field picture, when judging effective target area image and be the first two field picture, export the first startup command to tower arm detecting unit, tower arm detecting unit is used for responding the first startup command, according to tower arm data in the benchmark image prestoring, in effective target area image, search corresponding tower arm data, while finding corresponding tower arm data in effective target area image, the first executive command that output is preset is to image acquisition and processing module, image acquisition and processing module is used for according to the first executive command, beginning is with target area present image in mode capturing video information frame by frame, tower arm tracking cell obtains the tower arm location information of tower arm the present image of effective target region for the effective target region present image providing from image acquisition and processing module.
5. tower crane cable construction safety monitoring system according to claim 4, it is characterized in that: tower arm detects with tracking module and also comprises tower arm range of movement judging unit, when tower arm location information in the effective target region present image of the tower arm location information of tower arm range of movement judging unit in judging the effective target region present image that former frame catches and a rear frame-grab is identical, to preset the second startup command and tower arm location information offers tower arm detecting unit, tower arm detecting unit is also for responding the second startup command, and whether the corresponding region decision of the tower arm location information with receiving in the effective target region present image of again catching has tower arm data, when having judged tower arm data, the first executive command is to image acquisition and processing module.
6. tower crane cable construction safety monitoring system according to claim 5, it is characterized in that: tower arm detects with tracking module and also comprises tower arm shadowing unit, when tower arm shadowing unit has shelter data in judging the target area present image that former frame catches, obtain shelter location information, and default the 3rd startup command and shelter location information are offered to tower arm detecting unit, tower arm detecting unit is also for responding the 3rd startup command, whether the corresponding region decision of the shelter location information with receiving in the present image of the effective target region of a rear frame-grab has tower arm data, when having judged tower arm data, the first executive command is to image acquisition and processing module.
7. a tower crane safety monitoring during construction method, comprises the steps:
Reception is arranged on the tower arm of the reflection tower crane that the camera of work-site produces at the video information of desired target location motion;
Obtain default site environment parameter information and camera parameter information;
Target acquisition area image from the video information obtaining, according to site environment parameter information and camera parameter information, the target area image of catching is carried out to distortion correction processing, to carry out that target area image after distortion correction processing is normalized and pretreatment to obtain effective target area image;
According to the benchmark image prestoring, judge in effective target area image, whether there is tower arm;
While having tower arm in judging effective target area image, beginning is with the target area present image in mode capturing video information frame by frame, and according to site environment parameter information and camera parameter information, the target area present image of catching is carried out to distortion correction processing, to carry out that target area present image after distortion correction processing is normalized and pretreatment to obtain effective target region present image;
From the present image of effective target region, obtain the tower arm location information of tower arm in the present image of effective target region;
According to the demarcation information in camera parameter information, tower arm elevation information and tower arm location information in site environment parameter information, the coordinate mapping between setting up from image space to cartesian space;
According to tower arm, at the coordinate figure of cartesian space, judge whether tower arm enters dangerous angle, and export warning message to tower crane operating personal judging when tower arm enters dangerous angle.
8. tower crane safety monitoring during construction method according to claim 7, is characterized in that, " judging whether there is tower arm in effective target area image according to the benchmark image prestoring " step is specially:
Judge whether effective target area image is initial the first two field picture, when judging effective target area image and be the first two field picture, according to tower arm data in the benchmark image prestoring, in effective target area image, search corresponding tower arm data, while finding corresponding tower arm data in effective target area image, carry out " while having tower arm in judging target movement images, starting with the target area present image in mode capturing video information frame by frame " step.
9. tower crane safety monitoring during construction method according to claim 7, it is characterized in that, further comprising the steps of: when the tower arm location information in judging the effective target region present image that former frame catches is identical with tower arm location information in the effective target region present image of a rear frame-grab, the corresponding region of the tower arm location information with last time obtaining in the effective target region present image of again catching starts to search for tower arm.
10. according to the tower crane safety monitoring during construction method described in claim 7 or 9, it is characterized in that, further comprising the steps of: while thering are shelter data in judging the effective target region present image that former frame catches, obtain shelter location information, the corresponding region of the shelter location information with last time obtaining in the present image of the effective target region of a rear frame-grab starts to search for tower arm.
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| CN108298430A (en) * | 2018-02-06 | 2018-07-20 | 张恒春 | A kind of intelligent tower crane and the construction process using the tower crane |
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| CN110138409A (en) * | 2019-05-30 | 2019-08-16 | 郑州金居建筑科技有限公司 | Intelligent tower crane runs deflection calibration system |
| CN110589687B (en) * | 2019-09-25 | 2022-02-11 | 三一汽车起重机械有限公司 | Crane hook monitoring device, crane hook monitoring system, crane hook control device and storage medium |
| CN110589687A (en) * | 2019-09-25 | 2019-12-20 | 三一汽车起重机械有限公司 | Crane hook monitoring device, crane hook monitoring system, crane hook control device and storage medium |
| CN112903026A (en) * | 2021-02-25 | 2021-06-04 | 南京翰氜信息科技有限公司 | Engineering safety remote online monitoring system based on machine vision and artificial intelligence |
| CN113247788A (en) * | 2021-06-01 | 2021-08-13 | 新乡职业技术学院 | Crane based on projection light self-alignment control |
| CN113239911A (en) * | 2021-07-12 | 2021-08-10 | 杭州大杰智能传动科技有限公司 | Unmanned intelligent tower crane visual scene analysis method and device |
| CN113255626A (en) * | 2021-07-14 | 2021-08-13 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane structure state detection method and device based on scanned image analysis |
| CN113255626B (en) * | 2021-07-14 | 2021-12-03 | 杭州大杰智能传动科技有限公司 | Intelligent tower crane structure state detection method and device based on scanned image analysis |
| CN114893669A (en) * | 2022-05-26 | 2022-08-12 | 江苏省建筑工程集团有限公司 | Monitoring device and monitoring method applied to installation of tower crane attachment device |
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