CN108502732A - A kind of various visual angles auxiliary operation tower crane method and system - Google Patents
A kind of various visual angles auxiliary operation tower crane method and system Download PDFInfo
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- CN108502732A CN108502732A CN201810599902.XA CN201810599902A CN108502732A CN 108502732 A CN108502732 A CN 108502732A CN 201810599902 A CN201810599902 A CN 201810599902A CN 108502732 A CN108502732 A CN 108502732A
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- tower crane
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- auxiliary operation
- module
- environmental model
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Classifications
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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
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
- B66C23/62—Constructional features or details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
Various visual angles auxiliary operation tower crane method and system disclosed by the invention, are related to field of intelligent control, including establish module, generation module and monitoring module.The parameter information generated when according to tower crane operation, establish tower crane model corresponding with tower crane, environment residing for tower crane, establish environmental model corresponding with environment, according to tower crane model and the environmental model, generate job model, job model is switched to arbitrary angle by handover module, auxiliary operation module is according to the scene shown in all angles, auxiliary operation tower crane, reduce the cost of the system of auxiliary operation tower crane, so that the system of the auxiliary operation tower crane is easily installed use and being capable of comprehensive switching working scene, it solves of high cost existing for existing auxiliary operation tower crane system, be not easy to install and use and can not comprehensive switching tower crane and its working scene defect.
Description
Technical field
The present invention relates to field of intelligent control, and in particular to a kind of various visual angles auxiliary operation tower crane method and system.
Background technology
Tower crane is most common a kind of lifting equipment on construction site, also known as " derrick crane ", is that one kind must on building site
Indispensable equipment.
Under present case, tower crane operator needs the control cabinl pulpit at top to control, and tower crane operator needs to climb daily
On climb down, operating environment is poor, labor intensity is big, visual angle is limited.Many times tower crane operator can only be logical according to ground commander
The commander that signal or intercom carry out is crossed to operate, is easy to cause between tower crane operator and ground control person to exist and coordinates to differ
The problem of cause.When needing to judge whether suspension hook, lifting rope can collide with surrounding buildings or other tower cranes, can only be grasped by tower crane
The observation of work person and experience are judged that this method is unreliable.
Existing tower crane auxiliary operation method is mainly passed through by installing camera and sensor, ground control person additional on tower crane
Observation dress camera and the information of sensor acquisition carry out auxiliary operation to tower crane, for current method, due to camera or
Sensor cannot it is comprehensive, tower crane is monitored from various visual angles, expensive, position fix after can not flexible transformation, can not
Be installed on the reasons such as certain specific positions, sleety weather image quality be bad, cause existing tower crane auxiliary operation method exist at
This height, be not easy to install and use and can not comprehensive switching tower crane and its working scene defect.
Invention content
To solve the deficiencies in the prior art, an embodiment of the present invention provides a kind of various visual angles auxiliary operation tower crane method and it is
System, with reduce existing for existing tower crane monitoring method and system it is of high cost, be not easy to install and use and can not comprehensive switching tower crane
And its defect of working scene.
In order to realize that above-mentioned target, the present invention adopt the following technical scheme that：
In a first aspect, an embodiment of the present invention provides a kind of various visual angles auxiliary operation tower crane method, this method includes：
The parameter information generated when according to tower crane operation establishes tower crane model corresponding with tower crane；
Environment residing for tower crane establishes environmental model corresponding with environment；
According to tower crane model and environmental model, job model is generated；
Switch job model to arbitrary angle；
According to the scene shown in all angles, auxiliary operation tower crane.
Preferably, according to the scene shown in all angles, auxiliary operation tower crane includes：
The lifting rope and suspension hook of measurement tower crane are at a distance from the barrier in the environmental model, if finding, the distance is less than
Preset safe distance, then send out alarm.
Preferably, after generating job model, this method further includes：
According to the variation of the tower crane local environment, the environmental model is regularly updated.
Various visual angles auxiliary operation tower crane method provided in an embodiment of the present invention, the parameter letter generated when according to tower crane operation
Breath establishes tower crane model corresponding with tower crane, and the environment residing for tower crane establishes environmental model corresponding with environment, according to
Tower crane model and the environmental model, generate job model, and switching job model to arbitrary angle is shown according in all angles
The scene shown, auxiliary operation tower crane reduce the cost of the method for auxiliary operation tower crane so that the method for the auxiliary operation tower crane
Be easily installed use and can comprehensive switching working scene, solve existing for existing auxiliary operation tower crane method it is of high cost,
Be not easy to install and use and can not comprehensive switching tower crane and its working scene defect.
Second aspect, an embodiment of the present invention provides a kind of various visual angles auxiliary operation tower crane system, which includes：
Module is established, the parameter information generated when for according to tower crane operation establishes tower crane model corresponding with tower crane；
Module is established, the environment residing for tower crane is additionally operable to, establishes environmental model corresponding with the environment；
Generation module, for according to tower crane model and environmental model, generating job model；
Handover module, for switching job model to arbitrary angle；
Auxiliary operation module, for according to the scene shown in all angles, auxiliary operation tower crane.
Preferably, auxiliary operation module includes：
Alarm module, the lifting rope and suspension hook for measuring tower crane are at a distance from the barrier in environmental model, if hair
Now distance is less than preset safe distance, then sends out alarm.
Preferably, system further includes：
Update module regularly updates environmental model for the variation according to tower crane local environment.
Various visual angles auxiliary operation tower crane system provided in an embodiment of the present invention, including establish module, generation module, switching mould
Block and auxiliary operation module.Wherein, the parameter information generated when establishing module according to tower crane operation establishes tower corresponding with tower crane
Model is hung, the environment residing for tower crane establishes corresponding with environment environmental model, and generation module is according to tower crane model and described
Environmental model generates job model, and job model is switched to arbitrary angle by handover module, and auxiliary operation module is according to each
The scene shown in angle, auxiliary operation tower crane reduce the cost of the system of auxiliary operation tower crane so that the auxiliary operation tower
The system hung be easily installed use and can comprehensive switching working scene, solve existing for existing auxiliary operation tower crane system
It is of high cost, be not easy to install and use and can not comprehensive switching tower crane and its working scene defect.
Description of the drawings
Fig. 1 is the flow diagram of various visual angles auxiliary operation tower crane method provided in an embodiment of the present invention；
Fig. 2 is the composition schematic diagram of various visual angles auxiliary operation tower crane system provided in an embodiment of the present invention；
Fig. 3 is another composition schematic diagram of various visual angles auxiliary operation tower crane system provided in an embodiment of the present invention.
Specific implementation mode
Specific introduce is made to the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is tower crane monitoring method flow diagram provided in an embodiment of the present invention.As shown in Figure 1, this method includes：
101, the parameter information generated when according to tower crane operation establishes tower crane model corresponding with the tower crane.
Wherein it is possible to parameter information when tower crane operation is obtained using amplitude sensor, angular transducer etc., it can also profit
The control signal generated when connecing the true tower crane of read operation with hydraulic servomechanism, takes parameter information when tower crane operation, for example,
The operating lever of tower crane is toward being pushed forward, and the analog signal generated can be converted to digital signal by digital analog converter, by the digital signal
Pass to hydraulic servomechanism.
Wherein, parameter information includes arm revolution amount, amplitude variation trolley distance and lifting rope stroke.
Further, in order to eliminate because suspension hook shakes the error brought, angle can additionally be increased again on amplitude variation trolley
Sensor is further accurately obtained the motion state of suspension hook and lifting rope.
Pass through the step, you can realize the interaction of true tower crane and tower crane model, and the two is consistent, i.e., true tower
For the promotion control stick hung by cantilever-rotating X degree, tower crane model also can rotated X degrees simultaneously；True suspension hook rises or falls 1m's
Highly, model suspension hook can also rise or fall the height of 1m simultaneously.
102, according to the environment residing for the tower crane, establish environmental model corresponding with the environment.
Wherein it is possible to using construction plan, position and the height of the barriers such as place and building, temporary facility are obtained
Etc. information, using corresponding software handle these information formed place and barrier environmental model；Unmanned plane point can also be utilized
The technologies such as cloud mapping, form the environmental model in place and barrier.
103, according to the tower crane model and the environmental model, generate job model.
Wherein, tower crane model is put into according to true position relationship in environmental model, then generated consistent with real situation
Job model.
104, switch the job model to arbitrary angle.
Wherein, after generating job model, so that it may add virtual camera shooting with any position in the environmental model
Head, these virtual cameras can it is comprehensive, monitor job model and these virtual camera institutes " seeing " with multi-angle
Scene will be consistent with true scene.
105, according to the scene shown in all angles, tower crane described in auxiliary operation.
Optionally, according to the scene shown in all angles, tower crane includes described in auxiliary operation：
Measure the tower crane lifting rope and suspension hook at a distance from the barrier in the environmental model, if finding the distance
Less than preset safe distance, then alarm is sent out.
Optionally, after the job model for establishing the tower crane, the method further includes：
According to the variation of the tower crane local environment, the environmental model is regularly updated.
In one example, the variation of the tower crane local environment includes increasing or decreasing for tower crane Adjacent Buildings.
Various visual angles auxiliary operation tower crane method provided in an embodiment of the present invention, the parameter letter generated when according to tower crane operation
Breath establishes tower crane model corresponding with tower crane, and the environment residing for tower crane establishes environmental model corresponding with environment, according to
Tower crane model and the environmental model generate the job model of tower crane, and switching job model is to arbitrary angle, according to each angle
The scene shown in degree, auxiliary operation tower crane reduce the cost of the method for auxiliary operation tower crane so that the auxiliary operation tower crane
Method be easily installed use and being capable of comprehensive switching working scene.
Fig. 2 is tower crane monitoring system composition schematic diagram provided in an embodiment of the present invention.As shown in Fig. 2, the system includes：It builds
Formwork erection block, generation module, handover module and auxiliary operation module.Wherein,
Module is established, the parameter information generated when for according to tower crane operation establishes tower crane mould corresponding with the tower crane
Type；
It is described to establish module, it is additionally operable to the environment residing for the tower crane, establishes environment mould corresponding with the environment
Type；
Generation module, for according to the tower crane model and the environmental model, generating job model.
Handover module, for switching the job model to arbitrary angle；
Auxiliary operation module, for according to the scene shown in all angles, tower crane described in auxiliary operation.
Optionally, the auxiliary operation module includes：
Alarm module, lifting rope and suspension hook for measuring the tower crane and the barrier in the environmental model away from
From if finding, the distance is less than preset safe distance, sends out alarm.
Optionally, as shown in figure 3, the system also includes：
Update module regularly updates the environmental model for the variation according to the tower crane local environment.
Various visual angles auxiliary operation tower crane system provided in an embodiment of the present invention, including establish module, generation module, switching mould
Block and auxiliary operation module.Wherein, the parameter information generated when establishing module according to tower crane operation establishes tower corresponding with tower crane
Model is hung, the environment residing for tower crane establishes corresponding with environment environmental model, and generation module is according to tower crane model and described
Environmental model, generates the job model of tower crane, and job model is switched to arbitrary angle, auxiliary operation module root by handover module
According to the scene shown in all angles, auxiliary operation tower crane reduces the cost of the system of auxiliary operation tower crane so that the auxiliary
Operation tower crane system be easily installed use and can comprehensive switching working scene, solve existing auxiliary operation tower crane system
It is existing it is of high cost, be not easy to install and use and can not comprehensive switching tower crane and its working scene defect.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the quality of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In addition, memory may include the volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, the application can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to method, the flow of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology realizes information storage.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, tape magnetic disk storage or other magnetic storage apparatus
Or any other non-transmission medium, it can be used for storage and can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that process, method, commodity or equipment including a series of elements include not only those elements, but also wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
It these are only embodiments herein, be not intended to limit this application.To those skilled in the art,
The application can have various modifications and variations.It is all within spirit herein and principle made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of claims hereof.
Claims (6)
1. a kind of various visual angles auxiliary operation tower crane method, which is characterized in that including：
The parameter information generated when according to tower crane operation establishes tower crane model corresponding with the tower crane；
According to the environment residing for the tower crane, environmental model corresponding with the environment is established；
According to the tower crane model and the environmental model, job model is generated；
Switch the job model to arbitrary angle；
According to the scene shown in all angles, tower crane described in auxiliary operation.
2. according to the method described in claim 1, it is characterized in that, according to the scene shown in all angles, auxiliary operation institute
Stating tower crane includes：
Measure the tower crane lifting rope and suspension hook at a distance from the barrier in the environmental model, if finding, the distance is less than
Preset safe distance, then send out alarm.
3. according to the method described in claim 1, it is characterized in that, after generating job model, the method further includes：
According to the variation of the tower crane local environment, the environmental model is regularly updated.
4. a kind of various visual angles auxiliary operation tower crane system, which is characterized in that including：
Module is established, the parameter information generated when for according to tower crane operation establishes tower crane model corresponding with the tower crane；
It is described to establish module, it is additionally operable to the environment residing for the tower crane, establishes environmental model corresponding with the environment；
Generation module, for according to the tower crane model and the environmental model, generating job model；
Handover module, for switching the job model to arbitrary angle；
Auxiliary operation module, for according to the scene shown in all angles, tower crane described in auxiliary operation.
5. system according to claim 4, which is characterized in that the auxiliary operation module includes：
Alarm module, the lifting rope and suspension hook for measuring the tower crane at a distance from the barrier in the environmental model,
If it was found that the distance is less than preset safe distance, alarm is sent out.
6. system according to claim 4, which is characterized in that the system also includes：
Update module regularly updates the environmental model for the variation according to the tower crane local environment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810599902.XA CN108502732A (en) | 2018-06-12 | 2018-06-12 | A kind of various visual angles auxiliary operation tower crane method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810599902.XA CN108502732A (en) | 2018-06-12 | 2018-06-12 | A kind of various visual angles auxiliary operation tower crane method and system |
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| CN108502732A true CN108502732A (en) | 2018-09-07 |
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| CN201810599902.XA Pending CN108502732A (en) | 2018-06-12 | 2018-06-12 | A kind of various visual angles auxiliary operation tower crane method and system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110555913A (en) * | 2019-08-27 | 2019-12-10 | 正知（上海）智能技术有限公司 | virtual imaging method and device based on industrial human-computer interface |
| CN112850501A (en) * | 2020-12-31 | 2021-05-28 | 广州市建筑科学研究院有限公司 | Automatic anti-collision method and system for tower crane |
| CN114697635A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Scene reproduction method and system for arm support equipment, electronic equipment and storage medium |
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| CN107720552A (en) * | 2017-10-16 | 2018-02-23 | 西华大学 | A kind of assembled architecture intelligence hanging method based on computer machine vision |
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| CN103745059A (en) * | 2014-01-14 | 2014-04-23 | 太原科技大学 | Object-oriented computer modeling method based on crane boom |
| US20160031681A1 (en) * | 2014-07-31 | 2016-02-04 | Trimble Navigation Limited | Three dimensional rendering of job site |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110555913A (en) * | 2019-08-27 | 2019-12-10 | 正知（上海）智能技术有限公司 | virtual imaging method and device based on industrial human-computer interface |
| CN112850501A (en) * | 2020-12-31 | 2021-05-28 | 广州市建筑科学研究院有限公司 | Automatic anti-collision method and system for tower crane |
| CN114697635A (en) * | 2020-12-31 | 2022-07-01 | 三一汽车制造有限公司 | Scene reproduction method and system for arm support equipment, electronic equipment and storage medium |
| CN112850501B (en) * | 2020-12-31 | 2023-09-08 | 广州市建筑科学研究院集团有限公司 | Automatic anti-collision method and system for tower crane |
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Application publication date: 20180907 |