CN109191533B - Tower crane high-altitude construction method based on fabricated building - Google Patents
Tower crane high-altitude construction method based on fabricated building Download PDFInfo
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a tower crane high-altitude construction method based on an assembly type building, which comprises the following steps: s1, mounting a binocular camera on the tower hook, and fixing a marker at the mounting position; s2, hoisting the prefabricated part on a tower hook, and controlling a tower crane to hoist; s3, calculating three-dimensional coordinate information P (x) of the central position of the prefabricated part relative to the marker based on binocular visionc，yc，zc) (ii) a S4, converting x in the three-dimensional coordinate informationc、ycConverting the polar coordinate information into rho and theta; s5, controlling the moving length and the rotating angle of the tower hook according to the polar coordinate information rho and theta, and enabling the prefabricated part to be positioned right above the marker; s6, obtaining three-dimensional coordinate information zcAnd controlling the descending height of the tower hook to realize the fixed assembly of the prefabricated part. The invention has the advantages of accurate component positioning and assembly, no need of subsequent adjustment and reset by personnel, low cost, simplified construction process and saved construction cost, and the component positioning accuracy and construction quality completely meet the design and construction acceptance requirements.
Description
Technical Field
The invention relates to the technical field of building construction, in particular to a tower crane high-altitude construction method based on an assembly type building.
Background
Fabricated buildings are buildings in which a large number of elements of a building structure are prefabricated in a workshop and then assembled at a construction site. Prefabricated components in the prefabricated building are produced and processed in a workshop, and the types of the prefabricated components mainly comprise external wall panels, internal wall panels, laminated slabs, balconies, air-conditioning slabs, stairs, prefabricated beams, prefabricated columns and the like. Different from the existing building construction, the cast-in-place operation of the fabricated building is greatly reduced, and only the assembly operation is needed on site.
In an assembly type building, the assembly of components generally adopts the modes of tower crane hoisting and manual positioning installation. However, once hoisting or manual error occurs in this way, the component can be positioned inaccurately, and the component can not be installed normally. Because the self weight of the component is large, the subsequent adjustment and reset are difficult.
Therefore, in order to solve the technical problems, a tower crane high-altitude construction method based on an assembly type building is needed.
Disclosure of Invention
In view of the above, the invention aims to provide a tower crane high-altitude construction method based on an assembly type building.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
a tower crane high-altitude construction method based on an assembly type building comprises the following steps:
s1, mounting a binocular camera on the tower hook, and fixing a marker at the mounting position;
s2, hoisting the prefabricated part on a tower hook, and controlling a tower crane to hoist;
s3, calculating three-dimensional coordinate information P (x) of the central position of the prefabricated part relative to the marker based on binocular visionc，yc，zc)；
S4, converting x in the three-dimensional coordinate informationc、ycConverting the polar coordinate information into rho and theta;
s5, controlling the moving length and the rotating angle of the tower hook according to the polar coordinate information rho and theta, and enabling the prefabricated part to be positioned right above the marker;
s6, obtaining three-dimensional coordinate information zcAnd controlling the descending height of the tower hook to realize the fixed assembly of the prefabricated part.
As a further improvement of the present invention, the step S3 includes:
s31, respectively acquiring a first image and a second image by using a binocular camera;
s32, preprocessing the first image and the second image;
s33, positioning the marker by adopting the pyramid model, and determining the position of the marker;
s34, performing stereo matching on the target centers of the first image and the second image to obtain parallax information;
s35, acquiring parameters of the binocular camera;
and S36, calculating the three-dimensional coordinates of the target according to the binocular camera parameters and the parallax information.
As a further improvement of the present invention, in the pyramid model in step S33, the pyramid layer number is nLevels, and the pyramid model needs to create an nLevels pyramid image corresponding to the source image and the template image.
As a further improvement of the present invention, in step S33, when creating a pyramid image of each layer, the pyramid image is down-sampled and then processed by using a smoothing filter, where the smoothing filter is a gaussian smoothing filter.
As a further improvement of the present invention, the determining the position of the marker in step S33 specifically includes:
setting a template, and traversing the whole source image in a sliding window mode; each sliding can generate an ROI image with the same size as the template;
and based on a similarity measurement criterion, calculating a similarity measurement value of the template and the current ROI image, forming an image after traversing the whole image, and finding out a position (x, y) corresponding to the maximum value.
As a further improvement of the present invention, the similarity measure criterion is any one of SAD similarity measure criterion, SSD similarity measure criterion, NCC similarity measure criterion.
As a further improvement of the present invention, the step S34 specifically includes:
selecting image features corresponding to the actual physical structure from the first image;
determining corresponding image features of the same physical structure in the second image;
and determining the relative position between the two features to obtain the Disparity information.
As a further improvement of the present invention, the step S35 specifically includes:
placing the planar chessboard calibration plate in the visual field of the binocular cameras, and simultaneously shooting the planar chessboard calibration plate by the two cameras;
performing corner extraction and sub-pixel corner extraction on each chessboard image shot to obtain and store accurate image coordinates of corners;
calibrating the two cameras respectively by using a Zhang-Yong calibration method corresponding to the accurate pixel coordinates of the corner points of each image and the 3D coordinates of the corner points of each image to obtain internal and external parameters;
and calculating relative position parameters of the two cameras.
As a further improvement of the present invention, the three-dimensional coordinates of the target P in step S36 are:
wherein, P (x)c,yc,zc) As coordinates of characteristic points of the object in space, pleft＝(Xleft,Yleft)、pright＝(Xright,Yright) Image coordinates of the feature points on the first image and the second image respectively, and satisfying Yleft＝YrightY, B is a base line distance, i.e. the distance between the projection centers of the two cameras; f is the camera focal length.
As a further improvement of the present invention, in step S5, the tower hook has a moving length ρ, a moving direction opposite to the polar coordinate information ρ, a rotation angle θ, a rotation direction opposite to the polar coordinate information θ, and a lowering height z 6cAnd descends vertically downward.
The invention has the beneficial effects that:
the three-dimensional data positioning can be carried out in real time according to the image data provided by the tower hook image, necessary data support is provided in engineering system structures such as fabricated buildings, unnecessary manpower and dangerous operation are reduced, the image is ensured to be clear, no time delay is caused, and no compression loss is caused;
the component is accurate in positioning and assembling, subsequent adjustment and resetting are not needed, the accuracy of component positioning and the construction quality completely meet the requirements of design and construction acceptance, the construction cost is low, the construction process is simplified, and the construction cost is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a process flow diagram of a tower crane high-altitude construction method based on an assembly type building in an embodiment of the invention;
FIG. 2 is a flowchart illustrating a process of obtaining three-dimensional coordinate information according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a calibration process of a camera according to an embodiment of the present invention;
fig. 4 is a schematic diagram of binocular vision parallax in an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in a specific embodiment of the invention, a tower crane high-altitude construction method based on an assembly type building is disclosed, and the construction method comprises the following steps:
s1, mounting a binocular camera on the tower hook, and fixing a marker at the mounting position;
s2, hoisting the prefabricated part on a tower hook, and controlling a tower crane to hoist;
s3, calculating three-dimensional coordinate information P (x) of the central position of the prefabricated part relative to the marker based on binocular visionc，yc，zc)；
S4, converting x in the three-dimensional coordinate informationc、ycConverting the polar coordinate information into rho and theta;
s5, controlling the moving length and the rotating angle of the tower hook according to the polar coordinate information rho and theta, and enabling the prefabricated part to be positioned right above the marker;
s6, obtaining three-dimensional coordinate information zcAnd controlling the descending height of the tower hook to realize the fixed assembly of the prefabricated part.
The construction method is suitable for hoisting, positioning and installing horizontal and vertical prefabricated parts of a common fabricated concrete building.
Preferably, the marker in the embodiment is selected by four-point positioning, and the shape of the marker is a cross-shaped marker.
In the binocular vision in step S3, two CCD cameras (i.e., binocular cameras) with the same performance and fixed positions are used to obtain two images of the same scene, and the "Disparity" (Disparity) of the spatial point in the two images is calculated. Thus, the depth information of the scene is determined, and the three-dimensional structure of the scene is further constructed.
By adopting binocular vision-based three-dimensional positioning, the position information of the component relative to the marker can be accurately acquired, the positioning is accurate, and the precision can reach the micron level.
Step S3 in the present embodiment is described in detail below with reference to the drawings.
Referring to fig. 2, step S3 in this embodiment specifically includes:
s31, respectively acquiring a first image and a second image by using a binocular camera;
s32, preprocessing the first image and the second image;
s33, positioning the marker by adopting the pyramid model, and determining the position of the marker;
s34, performing stereo matching on the target centers of the first image and the second image to obtain parallax information;
s35, acquiring parameters of the binocular camera;
and S36, calculating the three-dimensional coordinates of the target according to the binocular camera parameters and the parallax information.
The binocular stereo image is two images collected from two different viewpoints of the same scene, and the acquisition modes of the images are many and mainly depend on the application occasions and purposes. The key point of image acquisition is the generation of corresponding stereo image pairs, which directly relates to the application of stereo vision imaging technology, usually binocular vision with parallel optical axes can be adopted, the basic principle is that under the condition of natural light or certain ambient illumination, two cameras separated by a certain distance respectively collect images of a scene, and for a fixed point on an object in the scene, because a base line distance exists between lenses, parallax is generated between corresponding points of left and right image pairs. And finding out corresponding points of the space object points in the two images, thereby obtaining distance information of the points according to the geometric imaging relation.
The internal and external parameters of the camera model are calculated by calibrating a reference object, adopting gray level correlation as similarity measure, processing the image, and using mathematical transformation and calculation methods. Firstly, the base length of a vision sensor is required to meet the requirement of a large view field range, a camera is selected, and the view field range and the size of the camera are mainly considered; secondly, the real-time acquisition of stereo image pairs: then how to establish a camera calibration experimental environment for remote vision measurement is considered; and finally, carrying out stereo matching in real time, obtaining the parallax of the corresponding point, and further solving the depth information of the target point (obstacle).
S31, the binocular camera respectively collects a first image and a second image.
The binocular camera comprises a first (left) camera and a second (right) camera which are respectively used for collecting a first (left) image and a second (right) image.
The camera is installed on the tower hook, adopts cross support, the fixed mode of tripod to stabilize the mounted position of camera, guarantees that each camera gathers the image steadily.
And S32, preprocessing the first image and the second image.
The preprocessing in this embodiment includes color conversion and filtering of the first image and the second image, respectively.
And S33, positioning the marker by adopting the pyramid model, and determining the position of the marker.
In the target detection process, a template is required to be set, and the whole source image (image to be detected) is traversed in a sliding window mode; each sliding generates an ROI image with the size equal to that of the template, and based on a certain measuring mode, a similarity measure value of the template and the current ROI image is calculated. Thus, after traversing the whole image, an image is formed, and the position (x, y) corresponding to the maximum value is found, which is the position of the target to be searched.
In the pyramid model of this embodiment, the pyramid layer number is nLevels, and the pyramid model needs to create an nLevels pyramid image corresponding to the source image and the template image.
When creating a pyramid image of each layer, downsampling (dividing by 2) is involved, and aliasing occurs after downsampling, and a smoothing filter is required to be used for processing. In this embodiment, a gaussian smoothing filter is used, which is effective but time-consuming, and a small-template mean filter can be directly used.
When the similarity value of the template and the ROI image is calculated, a similarity measurement criterion needs to be selected; the similarity measurement criterion may be any one of SAD (sum of absolute value) similarity measurement criterion, SSD (sum of squared difference) similarity measurement criterion, and NCC (normalized correlation coefficient) similarity measurement criterion. The NCC calculation is the most time consuming but the best results, and can adapt to the illumination change well, therefore, the NCC similarity measurement criterion is adopted in this embodiment.
The method comprises the steps of positioning a marker (Mark) supported by a cross frame below a module, and simultaneously determining the position of the current marker, so that when a camera captures the marker, related parameters of the camera can be rapidly determined, and the three-dimensional distance between the current module and the ground can be rapidly judged.
And S34, performing stereo matching on the target centers of the first image and the second image to obtain parallax information.
Stereo matching is the one-to-one correspondence between pixels of a projected image of the same spatial scene from different viewpoints. Different from common image template matching, stereo matching is performed between two images with viewpoint difference, geometric distortion, gray level distortion and noise interference.
The steps in this embodiment are specifically:
selecting image features corresponding to the actual physical structure from the first image;
determining corresponding image features of the same physical structure in the second image;
and determining the relative position between the two features to obtain the Disparity information.
The characteristic correlation matching method is to selectively match the characteristics which can represent the self characteristics of the scenery, and solve the problem of matching ambiguity by emphasizing the structural information of the spatial scenery, but the matching data is less. Feature-based matching methods limit the search range of matches to a series of sparse features. The distance between the features is used as a measure, and the feature pair with the smallest distance is the closest feature pair, i.e. the matching element. The distance measure between features is the maximum minimum distance, the Euclidean distance, etc. Most approaches reduce the number of possible corresponding features for each feature by adding constraints. Polar constraint, uniqueness constraint, continuity constraint and the like are commonly used.
Stereo matching is mainly to find out the corresponding relation between each pair of images and obtain a disparity map according to the principle of triangulation; after obtaining the parallax information, the depth information and three-dimensional information of the original image can be easily obtained from the projection model.
And S35, acquiring binocular camera parameters.
And calculating the left camera and the right camera according to the standard program of the selected Zhangyingyou calibration method. The binocular calibration module is realized as follows:
theoretically, in order to calibrate the camera, a set of points with known coordinates in the three-dimensional scene needs to be captured, and then the positions of the points in the image are determined. The Zhangyingyou calibration method used in the method extracts angular points from a plurality of images of a plane calibration plate which are shot for a plurality of times at different angles, and the used plane calibration reference object is a plane chessboard calibration plate which has black and white grids and is easy to detect the angular points. The method has the advantages of convenient calibration and easy operation. The calibration of a group of three-dimensional points to be shot is made up of angular points of squares on a chessboard, for example, if the specification size of the chessboard is 10 × 8, the number of angular points to be detected is 9 × 7, and generally, chessboards with different lengths and widths are selected to use a long axis as an X axis and a short axis as a Y axis. When shooting a chessboard image, the three-dimensional coordinates of the corner points need to be determined in advance: assume that the board is located on a plane with Z ═ 0 and that the X and Y axes are aligned with the grid.
Referring to fig. 3, the calibration steps in this embodiment are as follows:
the planar chessboard calibration board is placed in the visual field of a binocular camera, the two cameras simultaneously shoot the planar chessboard calibration board, and at least 10 chessboard image pairs at different positions and visual angles are shot;
performing corner extraction and sub-pixel corner extraction on each chessboard image shot to obtain and store accurate image coordinates of corners;
calibrating the two cameras respectively by using a Zhang-Yong calibration method corresponding to the accurate pixel coordinates of the corner points of each image and the 3D coordinates of the corner points of each image to obtain internal and external parameters;
and calculating relative position parameters of the two cameras.
The external parameters obtained by independently calibrating the left camera and the right camera are respectively Rl、TlAnd Rr、TrThese are parameters of the camera relative to the world coordinate system of a chessboard, and for a point P in space, the coordinate of the point P in the world coordinate system determined by the chessboard is xwThe respective coordinates in the left and right camera coordinate systems are XlAnd Xr。
And S36, calculating the three-dimensional coordinates of the target according to the binocular camera parameters and the parallax information.
Fig. 4 is a schematic diagram of binocular vision parallax in this embodiment, in which a base distance B is a distance between projection centers of two cameras; the focal length of the camera is f.
Setting two cameras to watch the same characteristic point P (x) of space object at the same timec,yc,zc) Images of the point P are acquired on the "left eye" and the "right eye", respectively, with their image coordinates Pleft＝(Xleft,Yleft)，pright＝(Xright,Yright)。
The images of the two cameras are in the same imageOn the plane, the image coordinates Y of the characteristic points P are the same, namely Yleft＝YrightY, then, from the trigonometric relationship:
then the parallax is: disparity ═ Xleft-Xright. Therefore, the three-dimensional coordinates of the feature point P in the camera coordinate system can be calculated as follows:
therefore, any point on the image surface of the left camera can determine the three-dimensional coordinates of the point as long as the corresponding matching point can be found on the image surface of the right camera. The method is complete point-to-point operation, and all points on an image surface can participate in the operation as long as corresponding matching points exist, so that corresponding three-dimensional coordinates of the points are obtained.
The tower crane high altitude construction three-dimensional positioning function of binocular vision can real time monitoring and record building site operation information, in time carries out effectual supervision to tower crane use and action, and dangerous factor and potential safety hazard in the effective controlgear operation process prevent and reduce the production of tower crane safety in production accident.
Obtaining three-dimensional coordinate information P (x) of the prefabricated part relative to the markerc，yc，zc) And then, the tower crane can be controlled to perform the fixed assembly of the prefabricated parts, and the assembling steps comprise:
first, x in three-dimensional coordinate information is dividedc、ycAnd converting the data into polar coordinate information rho and theta, and controlling the moving length and the rotating angle of the tower hook according to the polar coordinate information rho and theta so as to enable the prefabricated part to be positioned right above the marker. The moving length of the tower hook is-rho, namely the moving length is rho, and the moving direction is opposite to the direction of the rho of the polar coordinate information; the rotation angle is-theta, namely the rotation angle is theta, and the rotation direction is opposite to the direction of the polar coordinate information theta.
Then, based on the three-dimensional coordinate information zcAnd controlling the descending height of the tower hook to realize the fixed assembly of the prefabricated part. The height of descent is-zcThe magnitude of the falling height is zcAnd "-" indicates that the descending direction is vertically downward.
According to the technical scheme, the invention has the following beneficial effects:
the three-dimensional data positioning can be carried out in real time according to the image data provided by the tower hook image, necessary data support is provided in engineering system structures such as fabricated buildings, unnecessary manpower and dangerous operation are reduced, the image is ensured to be clear, no time delay is caused, and no compression loss is caused;
the component is accurate in positioning and assembling, subsequent adjustment and resetting are not needed, the accuracy of component positioning and the construction quality completely meet the requirements of design and construction acceptance, the construction cost is low, the construction process is simplified, and the construction cost is saved.
The invention can realize the binocular-vision tower crane high-altitude operation three-dimensional positioning function, can monitor and record construction site operation information in real time, effectively supervise the use process and the behavior of the tower crane in time, effectively control dangerous factors and potential safety hazards in the operation process of equipment, and prevent and reduce the generation of tower crane safety production accidents.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A tower crane high-altitude construction method based on an assembly type building is characterized by comprising the following steps:
s1, mounting a binocular camera on the tower hook, and fixing a marker at the mounting position;
s2, hoisting the prefabricated part on a tower hook, and controlling a tower crane to hoist;
s3, calculating three-dimensional coordinate information P (x) of the central position of the prefabricated part relative to the marker based on binocular visionc，yc，zc)；
S4, converting x in the three-dimensional coordinate informationc、ycConverting the polar coordinate information into rho and theta;
s5, controlling the moving length and the rotating angle of the tower hook according to the polar coordinate information rho and theta, and enabling the prefabricated part to be positioned right above the marker;
s6, obtaining three-dimensional coordinate information zcControlling the descending height of the tower hook to realize the fixed assembly of the prefabricated part;
the step S3 includes:
s31, respectively acquiring a first image and a second image by using a binocular camera;
s32, preprocessing the first image and the second image;
s33, positioning the marker by adopting the pyramid model, and determining the position of the marker;
s34, performing stereo matching on the target centers of the first image and the second image to obtain parallax information;
s35, acquiring parameters of the binocular camera;
s36, calculating a target three-dimensional coordinate according to the binocular camera parameters and the parallax information;
in the pyramid model in the step S33, the pyramid layer number is nLevels, and the pyramid model needs to create an nlevel pyramid image corresponding to the source image and the template image;
in step S33, when creating a pyramid image of each layer, downsampling and processing the pyramid image by using a smoothing filter, where the smoothing filter is a gaussian smoothing filter;
the step S33 of determining the position of the marker specifically includes:
setting a template, and traversing the whole source image in a sliding window mode; each sliding can generate an ROI image with the same size as the template;
based on a similarity measurement criterion, calculating a similarity measurement value of the template and the current ROI image, forming an image after traversing the whole image, and finding out a position (x, y) corresponding to the maximum value, wherein the similarity measurement criterion is an NCC similarity measurement criterion;
the step S34 specifically includes:
selecting image features corresponding to the actual physical structure from the first image;
determining corresponding image features of the same physical structure in the second image;
and determining the relative position between the two features to obtain the Disparity information.
2. The tower crane high-altitude construction method based on the fabricated building as claimed in claim 1, wherein the step S35 specifically comprises:
placing the planar chessboard calibration plate in the visual field of the binocular cameras, and simultaneously shooting the planar chessboard calibration plate by the two cameras;
performing corner extraction and sub-pixel corner extraction on each chessboard image shot to obtain and store accurate image coordinates of corners;
calibrating the two cameras respectively by using a Zhang-Yong calibration method corresponding to the accurate pixel coordinates of the corner points of each image and the 3D coordinates of the corner points of each image to obtain internal and external parameters;
and calculating relative position parameters of the two cameras.
3. The tower crane high-altitude construction method based on the fabricated building as claimed in claim 2, wherein the three-dimensional coordinates of the target P in the step S36 are as follows:
wherein, P (x)c,yc,zc) As coordinates of characteristic points of the object in space, pleft＝(Xleft,Yleft)、pright＝(Xright,Yright) Image coordinates of the feature points on the first image and the second image respectively, and satisfying Yleft＝YrightY, B is a base line distance, i.e. the distance between the projection centers of the two cameras; f is the camera focal length.
4. The tower crane high-altitude construction method based on fabricated building of claim 3, wherein in step S5, the moving length of the tower hook is ρ, the moving direction is opposite to the direction of ρ of polar coordinate information, the rotating angle is θ, the rotating direction is opposite to the direction of θ of polar coordinate information, and in step S6, the descending height is zcAnd descends vertically downward.
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| CN110790141B (en) * | 2019-10-29 | 2023-04-18 | 铜陵市清华宝能源设备有限责任公司 | Tower crane based on three-dimensional coordinate projection and remote control method thereof |
| CN112249898B (en) * | 2020-09-14 | 2022-11-04 | 广东博智林机器人有限公司 | Hoisting posture adjusting method and device for steel reinforcement framework member and electronic equipment |
| CN113401817A (en) * | 2021-05-24 | 2021-09-17 | 深圳集智数字科技有限公司 | Tower crane height adjusting method and device, computer equipment and storage medium |
| CN114604769B (en) * | 2022-01-24 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Detection method and device for calibrating installation position of tower crane mechanism |
| CN116579886A (en) * | 2023-07-13 | 2023-08-11 | 吉林建筑大学 | Assembled building construction system and method |
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