CN103613013B - 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, and however because all subjectivities or objective reason still accident occur frequently, and once having an accident is exactly often serious accident.Therefore, the safe operation of tower crane focuses on detecting and taking precautions against, and content comprises tower crane equipment state, manipulation personnel state, site environment situation and most important---whether manipulate in strict accordance with safe in operation specification.Long-term engineering practice also demonstrate that, safety of tower crane runs and has no lack of scientific and reasonable safety standard and system, and primary potential safety hazard is still the implementation status of manipulation personnel.Often because some are accidental, as convenient in general idea, figure or the subjective or objective reason that to drive plan etc., does not manipulate 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, major part adopts and install various kinds of sensors on tower crane arm, comprise height sensor, air velocity transducer, load cell, rotary angle transmitter, luffing sensor, the information on arm is gathered by these sensors, data are comprehensively analyzed, infer the running state tower crane, thus accomplish the safety monitoring to tower crane.But existing technology exists following shortcoming: sensor itself exists the shake of data, there is certain distortion; Sensor very easily disturbs by external environment condition, causes data significantly distortion; Data back communication is easily disturbed.
Summary of the invention
In view of this, be necessary to provide a kind of image data to stablize, not by the tower crane cable construction safety monitoring system of external environment condition interference.
There is a need to provide a kind of image data to stablize, not by the tower crane safety monitoring during construction method of external environment condition interference.
A kind of tower crane cable construction safety monitoring system, comprises the camera, image acquisition and processing module, tower arm detection and tracking module, the tower crane construction safety judge module that are arranged on tower crane work-site, the video information that camera runs for gathering reflection tower crane, the video information that image acquisition and processing module is moved at desired target location for the tower arm of the reflection tower crane receiving the camera that is arranged on work-site and produce, obtain the site environment parameter information and camera parameter information preset, target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, and the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image, the benchmark image that tower arm detection and tracking module is used for according to prestoring judges whether have tower arm in effective target area image, when judging there is tower arm in effective target movement images, export the first default executive command to image acquisition and processing module, image acquisition and processing module is also for responding the first executive command, start with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area present image of catching, and the target area present image after carrying out distortion correction process is normalized and pretreatment to obtain effective target region present image, tower arm detection and tracking module also for obtaining the tower arm location information of tower arm in the present image of effective target region from the present image of effective target region, tower crane construction safety judge module is used for according to the demarcation information in camera parameter information, the tower arm elevation information in site environment parameter information and tower arm location information, set up the virtual borderlines between image space to cartesian space, at the coordinate figure of cartesian space, tower crane construction safety judge module judges whether tower arm enters dangerous angle according to tower arm, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
A kind of tower crane safety monitoring during construction method, comprises the steps:
Receive the video information that the tower arm of reflection tower crane that the camera that is arranged on work-site produces is moved at desired target location;
Obtain the site environment parameter information and camera parameter information preset;
Target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image;
Judge whether have tower arm in effective target area image according to the benchmark image prestored;
When judging there is tower arm in effective target area image, start 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, distortion correction process is carried out to the target area present image of catching, the target area present image after carrying out distortion correction process is normalized and pretreatment to obtain effective target region present image;
The tower arm location information of tower arm in the present image of effective target region is obtained from the present image of effective target region;
According to the demarcation information in camera parameter information, the tower arm elevation information in site environment parameter information and tower arm location information, set up the virtual borderlines between image space to cartesian space;
Judge whether tower arm enters dangerous angle according to tower arm at the coordinate figure of cartesian space, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
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, automatically give the alarm when tower arm moves to insecure area, concretely: target acquisition area image from the video information that camera obtains, line distortion of going forward side by side corrects, normalization method and pretreatment are to obtain effective target area image, judge whether have tower arm in effective target area image according to the benchmark image prestored, when judging there is tower arm in effective target area image, start 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, distortion correction normalization method and pretreatment are carried out to obtain effective target region present image to the target area present image of catching, the tower arm location information of tower arm in the present image of effective target region is obtained from 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, set up the virtual borderlines between image space to cartesian space, judge whether tower arm enters dangerous angle according to tower arm at the coordinate figure of cartesian space, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal, so when 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 better embodiment.
Accompanying drawing 2 is functional block diagram of tower arm detection and tracking module in accompanying drawing 1.
Accompanying drawing 3 is flow chart of steps of the tower crane safety monitoring during construction method of a better embodiment.
In figure: tower crane cable construction safety monitoring system 10, camera 20, load module 30, image acquisition and processing module 40, tower arm detection 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.
Detailed description of the invention
As shown in Figure 1, tower crane cable construction safety monitoring system 10 comprises the camera 20, load module 30, image acquisition and processing module 40, tower arm detection and tracking module 50, the tower crane construction safety judge module 60 that are arranged on tower crane work-site.
The video information that camera 20 runs for gathering reflection tower crane.
Load module 30, for the setting operation of operation response person, produces corresponding site environment parameter information and camera parameter information.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.
The video information that image acquisition and processing module 40 is moved at desired target location for the tower arm of the reflection tower crane receiving the camera 20 that is arranged on work-site and produce, obtain the parameter information of site environment parameter information and the camera 20 preset, target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, and the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image; Image acquisition and processing module 40 is also for responding the first executive command that tower arm detection and tracking module 50 provides, start with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area present image of catching, and the target area present image after carrying out distortion correction process is normalized and pretreatment to obtain effective target region present image.
Tower arm detection and tracking module 50, for judging whether have tower arm in effective target area image according to the benchmark image prestored, when judging there is tower arm in effective target movement images, exports the first default executive command to image acquisition and processing module 40; Tower arm detection and tracking module 50 also for obtaining the tower arm location information of tower arm in the present image of effective target region from the present image of effective target region.
Tower crane construction safety judge module 60 is for according to the demarcation information in the parameter information of camera 20, the tower arm elevation information in site environment parameter information and tower arm location information, set up the virtual borderlines between image space to cartesian space, at the coordinate figure of cartesian space and the safe coordinate range value that prestores, tower crane construction safety judge module judges whether tower arm enters dangerous angle according to tower arm, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
above-mentionedimage acquisition and processing module 40, tower arm detection and tracking module 50, tower crane construction safety judge module 60 can be have the computer equipment that data go out function, or have the chip module of data-handling capacity, image acquisition and processing module 40, tower arm detection and tracking module 50, tower crane construction safety judge module 60 are electrically connected each other and realize collaborative work, and finally complete the safety monitoring during construction of tower crane.Wherein, the standard picture prestored mentioned in present embodiment is the standard model set up after applicant passes through to measure the data of tower arm proper motion, the mode setting up virtual borderlines between image space to cartesian space can be 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 determine corresponding cartesian space coordinate figure from correspondence table, the cartesian space coordinate figure found has been compared with the safe coordinate range value prestored the judgement that tower arm is positioned at safety zone, wherein, the use number of camera 20 can be determined according to actual conditions, such as, if two cameras are worked in coordination with, the motion of tower arm 360 degree is monitored, then carry out image mosaic according to the demarcation information of image key points or camera oneself, thus obtain undistorted panoramic picture, carry out adaptive setting contrast to image more afterwards.
Such as, tower arm detection and tracking module 50 run one group for complete tower crane the computer software of safety monitoring during construction function after, tower arm detection and tracking module 50 produces corresponding functional unit to realize the safety monitoring during construction of tower crane, concretely: referring to Fig. 2, tower arm detection and tracking module 50 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 first two field picture, when judging that effective target area image is 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, in effective target area image, corresponding tower arm data are searched according to tower arm data in the benchmark image prestored, when finding corresponding tower arm data in effective target area image, export the first default executive command to image acquisition and processing module 40, image acquisition and processing module 40 is for according to the first executive command, start 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 in the present image of effective target region in the effective target region present image that provides from image acquisition and processing module.
Further, tower arm detection and tracking module 50 also produces tower arm range of movement judging unit 54, tower arm range of movement judging unit 54 is when judging that the tower arm location information in the effective target region present image that former frame is caught is identical with the tower arm location information in the effective target region present image of a rear frame-grab, default second startup command and tower arm location information are supplied to tower arm detecting unit 52, tower arm detecting unit 52 is also for responding the second startup command, and whether the region decision corresponding with the tower arm location information received in the effective target region present image of again catching has tower arm data, when having judged tower arm data, first executive command is to image acquisition and processing module 40.
Further, tower arm detection and tracking module 50 also produces tower arm shadowing unit 55, tower arm shadowing unit 55 is when judging to have shelter data in the target area present image that former frame is caught, obtain shelter location information, and the 3rd startup command preset and shelter location information are supplied to tower arm detecting unit 52, tower arm detecting unit 52 is also for responding the 3rd startup command, whether the region decision corresponding with the shelter location information received in the effective target region present image of a rear frame-grab has tower arm data, when having judged tower arm data, first executive command is to image acquisition and processing module 40.Search tower arm refers to that in the benchmark image that basis prestores, tower arm data search corresponding tower arm data in the present image of effective target region, when finding corresponding tower arm data in the present image of effective target region, are judged as searching tower arm.
Please refer to Fig. 3, it is the tower crane safety monitoring during construction method flow diagram of a better embodiment, and this tower crane safety monitoring during construction method, comprises the steps:
Step S301, receives the video information that the tower arm of reflection tower crane that the camera that is arranged on work-site produces is moved at desired target location.
Step S302, obtains the site environment parameter information and camera parameter information preset.
Step S303, target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image.
Step S304, judges whether have tower arm in effective target area image according to the benchmark image prestored.Wherein this step is specially: judge whether effective target area image is initial first two field picture, when judging that effective target area image is the first two field picture, in effective target area image, corresponding tower arm data are searched according to tower arm data in the benchmark image prestored, when finding corresponding tower arm data in effective target area image, perform " when judging there is tower arm in target movement images, starting with the target area present image in mode capturing video information frame by frame " step.
Step S305, when judging there is tower arm in effective target area image, start 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, distortion correction process is carried out to the target area present image of catching, the target area present image after carrying out distortion correction process 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, the tower arm elevation information in site environment parameter information and tower arm location information, sets up the virtual borderlines between image space to cartesian space.
At the coordinate figure of cartesian space, step S308, judges whether tower arm enters dangerous angle according to tower arm, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
Further, above-mentioned tower crane safety monitoring during construction method is further comprising the steps of:
At the work-site of tower crane, beacon is set; Such as, can adopt " lower monitoring " mode, that is camera is installed on ground, gib arm installs beacon; Also can adopt " upper monitoring ", that is beacon is installed on ground, gib arm installs camera; Also can select " adhesion type ", that is tower body installs camera, gib arm installs beacon, and the installation of beacon is optional, installs the identification difficulty that beacon can reduce image processing algorithm, strengthens reliability.
Start the camera being arranged on work-site, and utilize camera acquisition beacon region, when searching beacon, the region captured by camera is target area.
When judging that the tower arm location information in the effective target region present image that former frame is caught is identical with the tower arm location information in the effective target region present image of a rear frame-grab, the region corresponding with the tower arm location information of previous acquisition in the effective target region present image of again catching starts to search for tower arm; When judging, in the effective target region present image that former frame is caught, there are shelter data, obtain shelter location information, the region corresponding with the shelter location information of previous acquisition in the effective target region present image of a rear frame-grab starts to search for tower arm.Search tower arm refers to that in the benchmark image that basis prestores, tower arm data search corresponding tower arm data in the present image of effective target region, when finding corresponding tower arm data in the present image of effective target region, be judged as searching tower arm, then step S305 is performed, 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 the camera, image acquisition and processing module, tower arm detection and tracking module, the tower crane construction safety judge module that are arranged on tower crane work-site, the video information that camera runs for gathering reflection tower crane, the video information that image acquisition and processing module is moved at desired target location for the tower arm of the reflection tower crane receiving the camera that is arranged on work-site and produce, obtain the site environment parameter information and camera parameter information preset, target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, and the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image, the benchmark image that tower arm detection and tracking module is used for according to prestoring judges whether have tower arm in effective target area image, when judging there is tower arm in effective target movement images, export the first default executive command to image acquisition and processing module, image acquisition and processing module is also for responding the first executive command, start with target area present image in mode capturing video information frame by frame, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area present image of catching, and the target area present image after carrying out distortion correction process is normalized and pretreatment to obtain effective target region present image, tower arm detection and tracking module also for obtaining the tower arm location information of tower arm in the present image of effective target region from the present image of effective target region, tower crane construction safety judge module is used for according to the demarcation information in camera parameter information, the tower arm elevation information in site environment parameter information and tower arm location information, set up the virtual borderlines between image space to cartesian space, at the coordinate figure of cartesian space, tower crane construction safety judge module judges whether tower arm enters dangerous angle according to tower arm, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
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 is used for the setting operation of operation response person, 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 detection and tracking module comprises judging unit, tower arm detecting unit, tower arm tracking cell, judging unit is for judging whether effective target area image is initial first two field picture, when judging that effective target area image is the first two field picture, export the first startup command to tower arm detecting unit, tower arm detecting unit is for responding the first startup command, in effective target area image, corresponding tower arm data are searched according to tower arm data in the benchmark image prestored, when finding corresponding tower arm data in effective target area image, export the first default executive command to image acquisition and processing module, image acquisition and processing module is used for according to the first executive command, start with target area present image in mode capturing video information frame by frame, tower arm tracking cell is used for obtaining the tower arm location information of tower arm in the present image of effective target region from the effective target region present image that image acquisition and processing module provides.
5. tower crane cable construction safety monitoring system according to claim 4, it is characterized in that: tower arm detection and tracking module also comprises tower arm range of movement judging unit, tower arm range of movement judging unit is when judging that the tower arm location information in the effective target region present image that former frame is caught is identical with the tower arm location information in the effective target region present image of a rear frame-grab, default second startup command and tower arm location information are supplied to tower arm detecting unit, tower arm detecting unit is also for responding the second startup command, and whether the region decision corresponding with the tower arm location information received in the effective target region present image of again catching has tower arm data, when having judged tower arm data, 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 detection and tracking module also comprises tower arm shadowing unit, tower arm shadowing unit is when judging to have shelter data in the target area present image that former frame is caught, obtain shelter location information, and the 3rd startup command preset and shelter location information are supplied to tower arm detecting unit, tower arm detecting unit is also for responding the 3rd startup command, whether the region decision corresponding with the shelter location information received in the effective target region present image of a rear frame-grab has tower arm data, when having judged tower arm data, first executive command is to image acquisition and processing module.
7. a tower crane safety monitoring during construction method, comprises the steps:
Receive the video information that the tower arm of reflection tower crane that the camera that is arranged on work-site produces is moved at desired target location;
Obtain the site environment parameter information and camera parameter information preset;
Target acquisition area image from the video information obtained, according to site environment parameter information and camera parameter information, distortion correction process is carried out to the target area image of catching, the target area image after carrying out distortion correction process is normalized and pretreatment to obtain effective target area image;
Judge whether have tower arm in effective target area image according to the benchmark image prestored;
When judging there is tower arm in effective target area image, start 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, distortion correction process is carried out to the target area present image of catching, the target area present image after carrying out distortion correction process is normalized and pretreatment to obtain effective target region present image;
The tower arm location information of tower arm in the present image of effective target region is obtained from the present image of effective target region;
According to the demarcation information in camera parameter information, the tower arm elevation information in site environment parameter information and tower arm location information, set up the virtual borderlines between image space to cartesian space;
Judge whether tower arm enters dangerous angle according to tower arm at the coordinate figure of cartesian space, and export warning message when judging that tower arm enters dangerous angle to tower crane operating personal.
8. tower crane safety monitoring during construction method according to claim 7, is characterized in that, " judging whether have tower arm in effective target area image according to the benchmark image prestored " step is specially:
Judge whether effective target area image is initial first two field picture, when judging that effective target area image is the first two field picture, in effective target area image, corresponding tower arm data are searched according to tower arm data in the benchmark image prestored, when finding corresponding tower arm data in effective target area image, perform " when judging there is tower arm in 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 judging that the tower arm location information in the effective target region present image that former frame is caught is identical with the tower arm location information in the effective target region present image of a rear frame-grab, the region corresponding with the tower arm location information of previous acquisition in the effective target region present image of again catching starts to search for tower arm.
10. the tower crane safety monitoring during construction method according to claim 7 or 9, it is characterized in that, further comprising the steps of: when judging, in the effective target region present image that former frame is caught, there are shelter data, obtain shelter location information, the region corresponding with the shelter location information of previous acquisition in the effective target region present image of a rear frame-grab starts to search for tower arm.
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| CN201473235U (en) * | 2009-07-24 | 2010-05-19 | 金陵科技学院 | Stereoscopic visual security alarming system used for tower crane |
| CN101955130A (en) * | 2010-09-08 | 2011-01-26 | 西安理工大学 | Tower crane video monitoring system with automatic tracking and zooming functions and monitoring method |
| CN102862915A (en) * | 2011-07-08 | 2013-01-09 | 株式会社多田野 | Performance line display unit |
| EP2604569A3 (en) * | 2011-12-13 | 2013-08-21 | Trimble Navigation Limited | RFID for location of the load on a tower crane |
| CN102515044A (en) * | 2012-01-04 | 2012-06-27 | 杭州鸿泉数字设备有限公司 | Device for realizing security of image-monitoring and anti-collision integrated tower crane |
| CN102795547A (en) * | 2012-08-31 | 2012-11-28 | 中国人民解放军国防科学技术大学 | Real-time photographic measuring method of position and swing angle of lifting hook of crane |
| CN103072894A (en) * | 2012-12-27 | 2013-05-01 | 三一重工股份有限公司 | Arm support dynamic parameter detection method and system |
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