CN105600693A - Monitoring system of tower crane - Google Patents
Monitoring system of tower crane Download PDFInfo
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- CN105600693A CN105600693A CN201610151625.7A CN201610151625A CN105600693A CN 105600693 A CN105600693 A CN 105600693A CN 201610151625 A CN201610151625 A CN 201610151625A CN 105600693 A CN105600693 A CN 105600693A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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Abstract
The invention provides a monitoring system of a tower crane. The monitoring system comprises an image acquisition unit, an image processing computing unit and an alarm unit, wherein the image acquisition unit comprises a first camera arranged at the position of a driving cabin, a second camera arranged at the tail end of a tower boom and two reference scales arranged in front of the visual fields of the two cameras respectively; the image processing computing unit selects a hook image shot by the camera from images acquired by the image acquisition unit as a computing image, acquires a straight connection line between the bottom end of the hook in the computed image and the center of a lens of the corresponding camera and the scale, through which the straight connection line or an extension line of the straight connection line passes, of the corresponding reference scale in the image, and computing the actual height parameter and amplitude parameter of the hook at the current position relative to the tower boom by taking a corresponding calculation basis as a criterion; and the alarm unit is connected with the image processing computing unit. According to the monitoring system, a driver can intuitively know the current operating condition of the tower crane; therefore, the potential safety hazard of operating of the tower crane is reduced.
Description
Technical field
The present invention relates to construction site derrick crane safe operation technical field, being specifically related to one can hang derrick craneThe monitoring system of the derrick crane that hook operating state is monitored.
Background technology
Derrick crane is weight lifting haulage equipment conventional in architectural engineering, is called for short tower machine (also claiming tower crane), swing arm dressAt the revolving crane on towering tower body top, working space is large, is mainly used in the vertical and level of material in housing constructionThe installation of conveying and building element.
Derrick crane at work, is generally to monitor by signalman's gesture, semaphore, intercom or closed-circuit televisionIts running environment. Monitor by way of closed-circuit television the one or more cameras of general employing and take running environment situation, and straightConnect to be transferred on video wall or display screen and watch for driver. But adopt many because video wall or display screen are generalPiece screen splicing forms, and there is no direct relation (being a just local environment of every screen display) between each picture,Make driver need to watch polylith screen could determine ruuning situation and the surrounding environment of current tower crane. As can be seen here, thisThere is following familiar lacunas in mode:
One, directly perceived not, fail to provide the quantization parameter of the current running status of tower crane, cannot allow the driver can be intuitivelyThe ruuning situation of assessment tower crane, have very large potential safety hazard, such as suspension hook is at tower for the shallow driver of experienceOn arm, moved and far exceeded safe range, suspension hook moves the too high altitude range etc. that exceeded on tower arm;
Two, alarm cannot be carried out,, in the time that tower crane operation exceeds safe range, alarm signal can not be provided to carry in timeAwake driver notes the driving of tower crane, makes driver easily ignore some dangerous situations.
Certainly, in prior art, also there is the every operational factor that adopts the mode of sensor to gather derrick crane, but useAfter a period of time, because depletion sensor can bring error, affect the normal work of derrick crane.
Summary of the invention
For existing deficiency in prior art, the invention provides a kind of monitoring system of derrick crane, it is by figurePicture collecting unit, image are processed the cooperation of computing unit and alarm unit, make driver can intuitively recognize that tower crane is currentRuuning situation, to reduce the potential safety hazard of tower crane operation.
For achieving the above object, the present invention has adopted following technical scheme:
A monitoring system for derrick crane, derrick crane comprises tower arm and the suspension hook sliding on tower arm, tower arm arrangesOn tower body, and be provided with driving cabin with the junction of tower body, wherein said monitoring system comprises:
Image acquisition units, it gathers suspension hook operation image, and comprise be arranged on driving cabin position the first camera andBe arranged on the second camera of tower arm end, derrick crane on tower arm, be hung with straight towards first reference scale on ground andThe second reference scale, described the first reference scale is positioned at the front, the visual field of the first camera, and by border, the visual field capsule of the first cameraDraw together interior, described the second reference scale is positioned at the front, the visual field of second camera, and the border, the visual field of second camera is includedIn, described the first camera and second camera make the field range of the two in the middle of tower arm at the mounting means of present positionThere is common factor in region, and can cover the image of tower arm to ground;
Image is processed computing unit, and it connects image acquisition units, in image is processed computing unit, is preset with the first cameraAnd the real standard air line distance between the first reference scale be the first calculating benchmark A1 and second camera and the second reference scale itBetween real standard air line distance be the second calculating benchmark A2, image process computing unit from image acquisition units gather imageIn choose the camera picture that photographs suspension hook as calculating picture, and obtain and calculate suspension hook bottom and corresponding taking the photograph in pictureStraight line line between a picture optical center, and the extended line of described straight line line or straight line line is through corresponding reference in pictureThe size of the scale of chi, then taking corresponding calculating benchmark as benchmark, calculates suspension hook current location with respect to tower arm realityHeight parameter and range parameter, wherein when image is processed computing unit using the picture of the first camera that occurs suspension hook as calculatingWhen picture, calculate selection of reference frame A1, when image is processed computing unit using the picture of second camera that occurs suspension hook as calculatingWhen picture, calculate selection of reference frame A2;
Alarm unit, its connection layout picture is processed computing unit, and processes based on image the suspension hook present bit that computing unit calculatesPut with respect to height parameter or the range parameter of tower arm reality and send alarm signal.
Than prior art, the present invention at least comprises following beneficial effect:
The monitoring system of derrick crane of the present invention gathers crane hook operation image by image acquisition units, and based onThe reference scale of suspension hook operation image and setting, utilizes image to process computing unit and calculates suspension hook run location with respect to tower arm realityHeight parameter and range parameter, then send alarm signal according to the height parameter and the range parameter that calculate by alarm unitNumber. Whole monitoring system effectively driver assistance, to intuitively the knowing of crane hook running status, effectively reduces tower crane operationThe potential safety hazard existing in process.
Brief description of the drawings
Fig. 1 is the monitoring system structural representation of derrick crane of the present invention;
Fig. 2 is that the camera of monitoring system of the present invention is arranged schematic diagram;
Fig. 3 is that image of the present invention is processed computing unit using the picture of the first camera that photographs suspension hook as calculating pictureTime schematic diagram calculation;
Fig. 4 is that image of the present invention is processed computing unit using the picture of second camera that photographs suspension hook as calculating pictureTime schematic diagram calculation;
Fig. 5 is that image processing computing unit of the present invention carries out the photographic images of the first camera and/or second cameraThe schematic diagram merging.
Detailed description of the invention
For technological means, creation characteristic that the present invention is realized, to reach object more clear and be easy to understand with effect, underThe present invention is further elaborated with detailed description of the invention by reference to the accompanying drawings for face:
Referring to Fig. 1 and in conjunction with Fig. 2-4, the present invention proposes a kind of monitoring system of derrick crane, derrick crane comprisesTower arm 10 and the suspension hook 11 sliding on tower arm 10, tower arm 10 is arranged on tower body 12, and with the handing-over of tower body 12Place is provided with driving cabin 13, and described monitoring system mainly includes image acquisition units, image is processed computing unit and reported to the police singleUnit, wherein:
Image acquisition units, it gathers suspension hook operation image, and comprise be arranged on driving cabin position the first camera A,With the second camera B that is arranged on tower arm 10 ends, derrick crane is hung with straight towards of ground on tower arm 10One reference scale and the second reference scale, described the first reference scale is positioned at the front, the visual field of the first camera A, and by the first cameraInclude interior on the border, the visual field of A, and described the second reference scale is positioned at the front, the visual field of second camera B, and by second cameraInclude interior on the border, the visual field of B, and described the first camera A and second camera B make two at the mounting means of present positionPerson's field range has common factor at tower arm 10 zone lines, and can cover the image of tower arm 10 to ground;
Image is processed computing unit, and it connects image acquisition units, in image is processed computing unit, is preset with the first cameraReal standard air line distance between A and the first reference scale is the first calculating benchmark A1 and second camera B and the second referenceReal standard air line distance between chi is the second calculating benchmark A2, and image processing computing unit gathers from image acquisition unitsIn image, choose the camera picture that photographs suspension hook as calculating picture, and obtain and calculate in picture suspension hook bottom with correspondingCam lens center between straight line line, and the extended line of described straight line line or straight line line is through corresponding in pictureThe scale size of reference scale, then taking corresponding calculating benchmark as benchmark, calculates suspension hook current location with respect to tower arm 10Actual height parameter and range parameter, wherein processing computing unit when image will there is the picture of the first camera A of suspension hookAs calculating when picture, calculate selection of reference frame A1, processing computing unit when image will there is the second camera B of suspension hookPicture, as calculating when picture, calculates selection of reference frame A2;
Alarm unit, its connection layout picture is processed computing unit, and processes based on image the suspension hook present bit that computing unit calculatesPut with respect to height parameter or the range parameter of tower arm 10 reality and send alarm signal.
In above-mentioned monitoring system, for image is processed computing unit, specifically can include following three kinds of situations:
In the time that suspension hook moves in the visual field of the first camera A on tower arm, image is processed computing unit just from IMAQ listIn unit, choose the picture of the first camera A as calculating picture, then obtain and calculate suspension hook bottom and the first camera in pictureStraight line line between A optical center, and the extended line of described straight line line or straight line line is through the first reference scale in pictureScale size (being the two intersection), and taking the first calculating benchmark A1 as benchmark, calculate suspension hook current location with respect to towerHeight parameter and the range parameter of arm 10 reality.
In the time that suspension hook moves in the visual field of second camera B on tower arm, image is processed computing unit just from IMAQ listIn unit, choose the picture of second camera B as calculating picture, then obtain and calculate suspension hook bottom and second camera in pictureStraight line line between B optical center, and the extended line of described straight line line or straight line line is through the second reference scale in pictureScale size (being the two intersection), and taking the second calculating benchmark A2 as benchmark, calculate suspension hook current location with respect to towerHeight parameter and the range parameter of arm 10 reality.
In the time that suspension hook moves to the common region of the first camera A and second camera B on tower arm, be positioned at first simultaneouslyIn the picture of camera A and second camera B, image is processed computing unit and just from image acquisition units, is chosen wherein at randomThe picture of a camera, as calculating picture, then obtains and calculates suspension hook bottom and this camera (A/B) camera lens in pictureStraight line line between center, and the extended line of described straight line line or straight line line is through the scale of corresponding reference scale in pictureSize (being the two intersection), and taking corresponding calculating benchmark (A1/A2) as benchmark, calculate suspension hook current location relativeIn height parameter and the range parameter of tower arm 10 reality.
Wherein, because the first reference scale is arranged on the front, the visual field of the first camera A, and by the limit, the visual field of the first camera ABoundary includes at interior (referring to Fig. 3), and therefore suspension hook is as long as in the monitoring visual field in the first camera A, and the first camera is clappedStraight line line in the image frame of taking the photograph between suspension hook and the first cam lens center or the extended line of straight line line just beginEventually can read corresponding scale from the first reference scale (is the first reference in the extended line of straight line line or straight line line and pictureThe scale of chi intersection). In like manner, for the second reference scale, be also the same (referring to Fig. 4). Add instituteState the first camera A and second camera B make the two field range at the mounting means of present position in tower arm 10Between region have common factor, and can cover the image of tower arm 10 to ground, the therefore operation of suspension hook on tower arm, all the time can be byOne camera A and/or second camera B are taken.
According to foregoing, in monitoring system of the present invention, image is processed computing unit and is calculated suspension hook current location with respect to towerThe height parameter of arm 10 reality and the method for range parameter, mainly include following step:
Taking photograph suspension hook the first camera picture as calculate picture as example, in conjunction with Fig. 3 analysis, when suspension hook is at tower armOn while running to q position, be that qr (is h with respect to the height of tower arm1), be that gr (is l with respect to the amplitude of tower arm1)：
Described scale size position o and the first cam lens center g of the first reference scale in step 1, calculating real spaceBetween the distance a of straight line line og, and real space cathetus line og and occupied the looking in perpendicular of tower armWild angle x, computing formula is:
Wherein, the described scale size of the first reference scale that h presentation graphs picture processing computing unit obtains from calculate picture, l tableShow the first calculating benchmark A1, i.e. l=A1;
[here, " described scale size position " is in aforementioned schemes suspension hook and first in said the first camera pictureThe quarter of the first reference scale intersection in straight line line (or extended line of straight line line) between cam lens center and pictureSpend big or small position, be only being mapped to real space]
Straight line line qg in step 2, calculating real space between suspension hook current location q and the first cam lens center gDistance a1, computing formula is:
Wherein, pxa represent to calculate the described scale size position of the first reference scale in picture and the first cam lens center itBetween image air line distance, pxa1Image straight line in expression calculating picture between suspension hook bottom and the first cam lens centerDistance, the two processes computing unit according to suspension hook bottom and the first cam lens center in the calculating picture obtaining by imageBetween straight line line or the extended line of straight line line calculate; [here, the mainly image-forming principle based on camera,The ratio of image air line distance equals the ratio of real space air line distance】
Step 3, with the visual field angle x that calculates with apart from a1Calculate suspension hook current location with respect to tower arm as calculating parameterActual height parameter h1With range parameter l1, now range parameter l1Represent the horizontal range l of suspension hook apart from driving cabin1', meterCalculation formula is: h1＝sin(x)*a1，l1＝l1'＝cos(x)*a1。
In Fig. 3, in the time that suspension hook continues to run until s position, suspension hook becomes st, width with respect to the height of tower arm realityDegree becomes gt, and computational methods are with above-mentioned consistent.
For second camera, referring to Fig. 4, (ratio in the time that suspension hook moves in the visual field of second camera B on tower armAs say q ' position), image is processed picture that computing unit just chooses second camera B from image acquisition units as calculating pictureFace, now q ' position in suspension hook place is with respect to the height parameter h of tower arm reality1For: h1＝sin(x)*a1, range parameter l1?Represent the horizontal range l of suspension hook apart from tower arm end1”：l1＝l1”＝cos(x)*a1, all the other steps and above-mentionedly take the photograph with firstThe account form of the picture of picture head when calculating picture is identical. In like manner, in the time that suspension hook continues to move to s ' position, suspension hookHeight with respect to tower arm reality becomes s ' t ', and amplitude becomes g ' t ', and computational methods are with above-mentioned consistent.
As the preferred embodiment of the invention be, in above-mentioned monitoring system, in described alarm unit, be provided with alarm threshold value,Described alarm threshold value includes nearly spacing threshold value, when alarm unit is based on processing from image the suspension hook present bit that computing unit obtainsPut the range parameter l with respect to tower arm reality1' while approaching described nearly spacing threshold value, send nearly spacing alarm signal to remind operationPersonnel's suspension hook is excessively near apart from tower body. Here, described nearly spacing threshold value is preferably 1-2m, and suspension hook is apart from driving cabin l1' only surplusThe distance of lower 1-2m (is l1'=1-2m), just carry out alarm operation.
Wherein, described alarm threshold value also includes spacing threshold value far away, when alarm unit obtains based on processing computing unit from imageSuspension hook current location with respect to the range parameter l of tower arm reality1" while approaching described spacing threshold value far away, send spacing alarm far awaySignal is to remind operating personnel's suspension hook to move far away on tower arm. Here, described spacing threshold value far away is preferably 1-2m, i.e. suspension hookApart from tower arm end l1" only the distance of remaining 1-2m (be l1"=1-2m), just carry out alarm operation.
Wherein, described alarm threshold value also includes high spacing threshold value, when alarm unit obtains based on processing computing unit from imageSuspension hook current location with respect to the height parameter h of tower arm reality1While approaching the spacing threshold value of described height, send high spacing alarm letterNumber to remind operating personnel suspension hook to move too high on tower arm. Here, the spacing threshold value of described height is preferably 1-2m, i.e. suspension hook distanceThe distance of being only left 1-2m from tower arm (is h1=1-2m), just carry out alarm operation.
The technical scheme of comparative optimization is that described nearly spacing alarm signal, spacing alarm signal far away and high spacing alarm signal are establishedBe set to different type of alarms. Can make like this driver in the time observing different type of alarms, can know fastThe positional information that suspension hook is current.
As another application scheme of monitoring system of the present invention, in the time that tower arm rotates in the horizontal direction, also by firstCamera and second camera gather the working environment image of the multiple angles of crane; Wherein, described image is processed computing unitAlso comprise that the working environment image that the first camera and second camera are collected respectively carries out data fusion, obtains craneThe panoramic picture of working environment. Then, can in monitoring system, add image-display units, image-display units is connected to instituteState image and process computing unit, and the panoramic picture that now image-display units can be processed image computing unit acquisition is at oneOn display screen, show, described display screen is arranged in driving cabin and watches and (or can also arrange simultaneously for driverIn the Control Room in construction site, check for background work personnel). By such application mode, driver only need see onePiece screen just can be determined surrounding environment and the ruuning situation of current tower crane, finds dangerous situation, adjusts in time driver behavior and keeps awayThe accident of exempting from occurs.
Wherein, for the part of data fusion, be that image processing computing unit obtains the first camera and second cameraIn each angle working environment image, identical part merges, and the technology that different parts is spliced, obtains tower with thisThe panoramic picture of crane work environment. Referring to Fig. 5, if processing computing unit, image obtains from image acquisition units3 images, are respectively 1,2,3, and that image is processed computing unit and part overlapping in 1 and 2,2 and 3 can be carried outMerge, nonoverlapping part splices to form a Zhang Quanjing picture.
After obtaining panoramic picture, can join with respect to height parameter and the amplitude of tower arm according to the suspension hook calculating beforeCount, generate the threedimensional model of a tower machine running status, therefore can on a display screen, show one and operate in true(environment is tower crane true environment around to tower machine real-time three-dimensional figure in real environment, and tower crane is from generating according to data as oneThreedimensional model), then can, in conjunction with alarm unit, carry out early warning or warning to the running status of tower machine.
Finally explanation, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to better realityExecute example the present invention is had been described in detail, those of ordinary skill in the art should be appreciated that can be to technical side of the present inventionCase is modified or is equal to replacement, and does not depart from aim and the scope of technical solution of the present invention, and it all should be encompassed in the present inventionClaim scope in the middle of.
Claims (9)
1. a monitoring system for derrick crane, derrick crane comprises tower arm and the suspension hook sliding on tower arm, tower armBe arranged on tower body, and being provided with driving cabin with the junction of tower body, it is characterized in that, comprising:
Image acquisition units, it gathers suspension hook operation image, and comprise be arranged on driving cabin position the first camera andBe arranged on the second camera of tower arm end, derrick crane on tower arm, be hung with straight towards first reference scale on ground andThe second reference scale, described the first reference scale is positioned at the front, the visual field of the first camera, and by border, the visual field capsule of the first cameraDraw together interior, described the second reference scale is positioned at the front, the visual field of second camera, and the border, the visual field of second camera is includedIn, described the first camera and second camera make the field range of the two in the middle of tower arm at the mounting means of present positionThere is common factor in region, and can cover the image of tower arm to ground;
Image is processed computing unit, and it connects image acquisition units, in image is processed computing unit, is preset with the first cameraAnd the real standard air line distance between the first reference scale be the first calculating benchmark A1 and second camera and the second reference scale itBetween real standard air line distance be the second calculating benchmark A2, image process computing unit from image acquisition units gather imageIn choose the camera picture that photographs suspension hook as calculating picture, and obtain and calculate suspension hook bottom and corresponding taking the photograph in pictureStraight line line between a picture optical center, and the extended line of described straight line line or straight line line is through corresponding reference in pictureThe scale size of chi, then taking corresponding calculating benchmark as benchmark, calculates the height of suspension hook current location with respect to tower arm realityDegree parameter and range parameter, wherein when image is processed computing unit using the picture of the first camera that occurs suspension hook as calculating pictureWhen face, calculate selection of reference frame A1, when image is processed computing unit using the picture of second camera that occurs suspension hook as calculating pictureWhen face, calculate selection of reference frame A2;
Alarm unit, its connection layout picture is processed computing unit, and processes based on image the suspension hook present bit that computing unit calculatesPut with respect to height parameter or the range parameter of tower arm reality and send alarm signal.
2. the monitoring system of derrick crane as claimed in claim 1, is characterized in that, described image is processed and calculated listUnit calculates suspension hook current location and specifically comprises with respect to the height parameter of tower arm reality and the step of range parameter:
In step 1, calculating real space, the described scale size position o of the first reference scale or the second reference scale is with correspondingThe distance a of straight line line og between the g of cam lens center, and real space cathetus line og and tower arm are verticallyOccupied visual field angle x in plane, computing formula is:
Wherein, described in the first reference scale that h presentation graphs picture processing computing unit obtains from calculate picture or the second reference scaleScale size, l represents that the first calculating benchmark A1 or second calculates benchmark A2;
Step 2, calculate in real space between suspension hook current location and the first camera or second camera optical center directlyThe distance a of line line1, computing formula is:
Wherein, the described scale size position that pxa represents to calculate the first reference scale in picture or the second reference scale is with correspondingImage air line distance between cam lens center, pxa1Represent to calculate suspension hook bottom in picture and corresponding shooting head mirrorImage air line distance between center, the two processes computing unit according to suspension hook bottom in the calculating picture obtaining by imageAnd the straight line line between corresponding cam lens center or the extended line of straight line line calculate;
Step 3, with the visual field angle x that calculates with apart from a1Calculate suspension hook current location with respect to tower arm as calculating parameterActual height parameter h1With range parameter l1, computing formula is as follows:
When the picture of the first camera to photograph suspension hook is when calculating picture, range parameter l1Represent that suspension hook is apart from drivingThe horizontal range l in cabin1'：h1＝sin(x)*a1，l1＝l1'＝cos(x)*a1；
When the picture of the second camera to photograph suspension hook is when calculating picture, range parameter l1Represent that suspension hook is apart from tower armThe horizontal range l of end1”：h1＝sin(x)*a1，l1＝l1”＝cos(x)*a1。
3. the monitoring system of derrick crane as claimed in claim 2, is characterized in that, in described alarm unit, arrangesHave alarm threshold value, described alarm threshold value includes nearly spacing threshold value,
When the suspension hook current location of alarm unit based on obtaining from image processing computing unit is with respect to the amplitude ginseng of tower arm realityNumber l1' while approaching described nearly spacing threshold value, send nearly spacing alarm signal to remind operating personnel's suspension hook excessively near apart from tower body.
4. the monitoring system of derrick crane as claimed in claim 3, is characterized in that, described alarm threshold value also comprisesThere is spacing threshold value far away, when the suspension hook current location of alarm unit based on obtaining from image processing computing unit is with respect to tower arm realityRange parameter l1" while approaching described spacing threshold value far away, send spacing alarm signal far away to remind operating personnel's suspension hook at tower armUpper operation is excessively far away.
5. the monitoring system of derrick crane as claimed in claim 4, is characterized in that, described alarm threshold value also comprisesThere is high spacing threshold value, when the suspension hook current location of alarm unit based on obtaining from image processing computing unit is with respect to tower arm realityHeight parameter h1While approaching the spacing threshold value of described height, send high spacing alarm signal to remind operating personnel's suspension hook on tower armMove too high.
6. the monitoring system of derrick crane as claimed in claim 5, is characterized in that, described nearly spacing alarm signal,Spacing alarm signal far away and high spacing alarm signal setting are different type of alarms.
7. the monitoring system of the derrick crane as described in claim 1-6 any one, is characterized in that, when tower arm is in levelWhile rotation in direction, also gather the working environment image of the multiple angles of crane by the first camera and second camera;
Wherein, described image is processed computing unit and is also comprised the building ring that the first camera and second camera are collected respectivelyBorder image carries out data fusion, obtains the panoramic picture of crane work environment.
8. the monitoring system of derrick crane as claimed in claim 7, is characterized in that, also comprises: image shows singleUnit, it connects described image and processes computing unit, and the panoramic picture that image is processed to computing unit acquisition is at a display screenOn curtain, show, described display screen is arranged in driving cabin and watches for driver.
9. the monitoring system of derrick crane as claimed in claim 8, is characterized in that, after obtaining panoramic picture,Also comprise height parameter and range parameter with respect to tower arm reality according to the suspension hook current location calculating, generate a tower machineThe threedimensional model of running status then shows a tower machine real-time three operating in true environment on described display screenDimension figure.
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| CN110260832A (en) * | 2019-06-25 | 2019-09-20 | 上海市特种设备监督检验技术研究院 | A kind of crane amplitude measurement method |
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| CN113277431A (en) * | 2021-06-27 | 2021-08-20 | 赣州德业电子科技有限公司 | Tower crane anti-collision monitoring system |
| CN114408751A (en) * | 2021-12-27 | 2022-04-29 | 上海旷通科技有限公司 | Method and equipment for auxiliary positioning of lifting hook |
| CN114279343A (en) * | 2021-12-31 | 2022-04-05 | 江苏省送变电有限公司 | Computer vision-based displacement monitoring method for double-flat-arm holding pole construction process |
| CN117068976A (en) * | 2023-08-04 | 2023-11-17 | 山东高速建设管理集团有限公司 | Crane construction standard safety detection method |
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