CN110118531A - Tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition - Google Patents

Tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition Download PDF

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Publication number
CN110118531A
CN110118531A CN201910336451.5A CN201910336451A CN110118531A CN 110118531 A CN110118531 A CN 110118531A CN 201910336451 A CN201910336451 A CN 201910336451A CN 110118531 A CN110118531 A CN 110118531A
Authority
CN
China
Prior art keywords
unmanned plane
gusset plate
steel gusset
tower crane
image recognition
Prior art date
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Pending
Application number
CN201910336451.5A
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Chinese (zh)
Inventor
侯爽
高榛
李冰州
何敬民
梁新雄
赵中源
魏芸
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South China University of Technology SCUT
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South China University of Technology SCUT
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Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN201910336451.5A priority Critical patent/CN110118531A/en
Publication of CN110118531A publication Critical patent/CN110118531A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/02Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/14Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition that the present invention provides a kind of, comprising steps of step 1, makes unmanned plane fly and shoot the steel gusset plate on each main chord according to the route of setting, flying speed, shooting interval;Flight course sets shooting interval according to setting flying speed and picture-taking position as needed;Step 2, the photo obtained to shooting is transmitted to ground control platform;Step 3, after the ground control platform receives the photo, early warning is issued if the length or width is greater than the critical value that construction party provides using the width and length that image recognition technology identification is located at all slits on steel gusset plate.The present invention can reduce the security risk that artificial detection needs to climb tower crane;Meanwhile image recognition can reduce the probability artificially judged by accident;Furthermore it is convenient, fast take pictures using unmanned plane, can greatly reduce detection time.

Description

Tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition
Technical field
The present invention relates to a kind of monitoring methods of tower crane steel node plank split, are a kind of based on nobody specifically The tower crane steel gusset plate Crack Monitoring method of machine image recognition.
Background technique
Tower crane is the essential key equipment of construction, however due to the work of tower crane revolution, lifting and unloading Make state, so that the steel gusset plate of tower crane is subject the oscillatory load applied repeatedly influences, so that it is made to be also easy to produce fatigue crack, institute Should periodically check tower crane steel gusset plate, inspection method is artificial visual method at present, check frequency be monthly, this Kind inspection method has several disadvantages in that first is that tower crane steel gusset plate quantity is more, and consuming time is long for manual inspection;Second is that artificial Climbing, increases security risk;Third is that human error is larger.Therefore carrying out tower crane safety monitoring using unmanned plane has important meaning Justice.
In recent years, unmanned plane industry development was swift and violent, and especially small-sized unmanned plane is widely used in taking photo by plane, survey and draw, electric power The fields such as inspection.At this stage, image recognition technology is efficient, reliable, in structural safety monitoring field utilization and extention image recognition skill Art will greatly save enterprise personnel spending, ensure that the objective of monitoring result.
Detailed description of the invention
Fig. 1 is the flow chart of the tower crane steel gusset plate Crack Monitoring method of the embodiment of the present invention.
Fig. 2 is monitored the stereoscopic schematic diagram of tower crane by the embodiment of the present invention, and institute's marking-up matrix shows flight path.
Fig. 3 is monitored the top view of tower crane by the embodiment of the present invention, and institute's marking-up matrix shows flight path.
Fig. 4 is the unmanned plane and tower body spatial relation schematic diagram of the embodiment of the present invention.
Summary of the invention
Technical problem to be solved by the present invention lies in provide it is a kind of based on image recognition technology utilize unmanned plane carry out The method of tower crane safety monitoring to save manpower, and ensures that result is reliable.
The technical solution adopted in the present invention is as follows:
A kind of tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, comprising steps of
Step 1, unmanned plane is made fly and to each main chord according to the route of setting, flying speed, shooting interval On steel gusset plate shot;Flight course sets shooting interval according to setting flying speed and picture-taking position as needed;
Step 2, the photo obtained to shooting is transmitted to ground control platform;
Step 3, after the ground control platform receives the photo, it is located at steel gusset plate using image recognition technology identification The width and length of upper all slits issue early warning if the length or width is greater than the critical value that construction party provides.
Further, in step 1, the shooting interval is determined by tower crane single-unit height and flying speed, it is ensured that photo is just Fortunately it shoots to obtain when unmanned plane is in immediately ahead of steel gusset plate.
Further, in step 1, during the unmanned plane during flying, camera lens are always towards the front of unmanned plane.
Further, the step 3 specifically includes:
For all photos taken in flight course, according to take pictures sequence to the steel gusset plate on each main chord into Row name is named;
Image preprocessing, image binaryzation and fracture profile detection are carried out to photo;
According to having detected, profile carries out fracture length and width calculates;
Finally calculated result is compared with the critical value that construction party provides, when detecting that fracture width or length be greater than When critical value, system is recorded the position of steel gusset plate and is sounded an alarm.
Compared with prior art, the beneficial effects of the present invention are: the present invention can reduce artificial detection needs to climb tower crane Security risk;Meanwhile image recognition can reduce the probability artificially judged by accident;Furthermore take pictures conveniently, fastly using unmanned plane Victory can greatly reduce detection time.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
The tower crane tower body height that embodiment of the present invention is chosen is 11.2m, and tower body width is 1.665m, the height of tower crane single-unit Degree is 2.8m.
As shown in Figure 1, a kind of tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, including step It is rapid:
1) manipulation unmanned plane shoots steel gusset plate by fixed course.
The technical requirements of shooting: shooting resolution ratio is 2mm, and camera lens installation should be towards unmanned plane heading.
If maximum opposite boat is away from being H, focal length f, Pixel size P, shooting resolution ratio is G, and CMOS dimension width is W, The height of CMOS size is V, SWFor number of pixels corresponding on W, SVFor number of pixels corresponding on V.
This example use big boundary spirit Phantom 4Pro intelligent aerial photography robot, 8.8mm tight shot, CMOS having a size of 12.8 × 9.6mm, film size size are 5163 × 3873 (unit is pixel), can be calculated according to above-mentioned formula:
The barriers such as job platform, jack for considering tower crane top take opposite boat away from for 2m.
Flight line is specifically designed according to the parameter calculated and controls unmanned plane during flying shooting, specific as follows:
As shown in figs 2-4, manipulation unmanned plane according to flight path A → B → C → D → E → F → G → H → I → J → K → The completion of L → M → N → O → P sequence is taken pictures: so that nobody is hovered over the front of A point, and is kept left for 2m at a distance from tower body The right side, as shown in figure 4, camera lens are always towards flight front.Flying distance 11.2m, flying speed 1m/s are set, is shot Between be divided into 2.8s, create aerial mission, unmanned plane completes the secondary shooting task from A to B automatically, shoots to obtain 4 photos, and hover In B point.Manual operation unmanned plane flies to C point and hovers from B, repeats previous step, until completing 8 Longitudinal Flight routes. In entire flight course, Longitudinal Flight speed remains 1m/s, takes pictures once at interval of 2.8s.It vertically passes by altogether 8 times, every time Distance be 11.2m, total 89.6m, time-consuming 89.6s.It laterally passes by altogether 7 times, in addition the time used in setup parameter, when whole flight Between within 150s.The number of pictures of shooting is 32 altogether.
3) photo that shooting obtains is transmitted to ground control platform.
4) it should take pictures including the complete image of steel gusset plate, foundation for each photo shot in flight course Sequence is named the steel gusset plate on each main chord, carries out image preprocessing, image binaryzation and crack to photo and takes turns Exterior feature detection carries out fracture length and width calculating according to profile has been detected, finally provides calculated result with construction party critical Value is compared, and when detecting that fracture width or length are greater than critical value, system records the position of steel gusset plate simultaneously It sounds an alarm.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention, It should be equivalent substitute mode, be included within the scope of the present invention.

Claims (4)

1. a kind of tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, comprising steps of
Step 1, unmanned plane is made fly and on each main chord according to the route of setting, flying speed, shooting interval Steel gusset plate is shot;Flight course sets shooting interval according to setting flying speed and picture-taking position as needed;
Step 2, the photo obtained to shooting is transmitted to ground control platform;
Step 3, after the ground control platform receives the photo, it is located at institute on steel gusset plate using image recognition technology identification Crannied width and length issue early warning if the length or width is greater than the critical value that construction party provides.
2. according to right want 1 described in the tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, it is special Sign is, in step 1, the shooting interval is determined by tower crane single-unit height and flying speed, it is ensured that photo is just in unmanned plane It shoots to obtain when immediately ahead of steel gusset plate.
3. according to right want 1 described in the tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, it is special Sign is, in step 1, during the unmanned plane during flying, camera lens are always towards the front of unmanned plane.
4. according to right want 1 described in the tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition, it is special Sign is that the step 3 specifically includes:
For all photos taken in flight course, according to taking pictures, sequence orders the steel gusset plate on each main chord Name is named;
Image preprocessing, image binaryzation and fracture profile detection are carried out to photo;
According to having detected, profile carries out fracture length and width calculates;
Finally calculated result is compared with the critical value that construction party provides, when detecting that it is critical that fracture width or length are greater than When value, system is recorded the position of steel gusset plate and is sounded an alarm.
CN201910336451.5A 2019-04-25 2019-04-25 Tower crane steel gusset plate Crack Monitoring method based on unmanned plane image recognition Pending CN110118531A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112504091A (en) * 2021-01-19 2021-03-16 青海送变电工程有限公司 Eccentric measuring tool of iron tower basis
CN114234926A (en) * 2021-12-16 2022-03-25 上海宝冶工程技术有限公司 Traditional wood structure bucket arch node inclination skew measurement method based on unmanned aerial vehicle
CN114234927A (en) * 2021-12-16 2022-03-25 上海宝冶工程技术有限公司 Unmanned aerial vehicle-based traditional wood structure tenon-and-mortise node tenon-pulling measurement method

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Publication number Priority date Publication date Assignee Title
CN109341542A (en) * 2018-10-29 2019-02-15 福建省智能养护工程有限公司 Method and its monitoring device based on digital signal sequences length identification fracture width
CN109459443A (en) * 2018-11-08 2019-03-12 青海民族大学 A kind of detection of extremely frigid zones Bridge Crack and analytic method based on machine vision
CN109521019A (en) * 2018-11-09 2019-03-26 华南理工大学 A kind of bridge bottom crack detection method based on unmanned plane vision
CN109541022A (en) * 2018-10-30 2019-03-29 中铁大桥科学研究院有限公司 A kind of bridge structure crack health monitoring analysis method
CN109631854A (en) * 2018-12-19 2019-04-16 西安科技大学 A kind of low latitude unmanned plane photography measurement mining area coal mining subsidence area crack method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109341542A (en) * 2018-10-29 2019-02-15 福建省智能养护工程有限公司 Method and its monitoring device based on digital signal sequences length identification fracture width
CN109541022A (en) * 2018-10-30 2019-03-29 中铁大桥科学研究院有限公司 A kind of bridge structure crack health monitoring analysis method
CN109459443A (en) * 2018-11-08 2019-03-12 青海民族大学 A kind of detection of extremely frigid zones Bridge Crack and analytic method based on machine vision
CN109521019A (en) * 2018-11-09 2019-03-26 华南理工大学 A kind of bridge bottom crack detection method based on unmanned plane vision
CN109631854A (en) * 2018-12-19 2019-04-16 西安科技大学 A kind of low latitude unmanned plane photography measurement mining area coal mining subsidence area crack method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112504091A (en) * 2021-01-19 2021-03-16 青海送变电工程有限公司 Eccentric measuring tool of iron tower basis
CN114234926A (en) * 2021-12-16 2022-03-25 上海宝冶工程技术有限公司 Traditional wood structure bucket arch node inclination skew measurement method based on unmanned aerial vehicle
CN114234927A (en) * 2021-12-16 2022-03-25 上海宝冶工程技术有限公司 Unmanned aerial vehicle-based traditional wood structure tenon-and-mortise node tenon-pulling measurement method

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Application publication date: 20190813