CN110425999A - A kind of lifting equipment measuring for verticality method and system based on unmanned plane image - Google Patents
A kind of lifting equipment measuring for verticality method and system based on unmanned plane image Download PDFInfo
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- CN110425999A CN110425999A CN201910224348.1A CN201910224348A CN110425999A CN 110425999 A CN110425999 A CN 110425999A CN 201910224348 A CN201910224348 A CN 201910224348A CN 110425999 A CN110425999 A CN 110425999A
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- image
- unmanned plane
- rotation angle
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of lifting equipment measuring for verticality method and detection system based on unmanned plane image, the bottom image that the verticality obtains the tower crane bracket with configuration information obtains the equipment supporter image for having configuration information；2, the top image of the tower crane bracket with configuration information is obtained；3, optional piece image in the top image obtained in the bottom image and step 2 obtained in step 1) completes image calibration, obtains the spatial resolution of image；4, reference point L is selected in the left side brackets of the top image obtained in the bottom image that obtains in step 1) respectively, step 21、L2；5, L is calculated2Point is in L1Abscissa under coordinate system；6, L is calculated2Point is in L1Ordinate under coordinate system；7. calculating the verticality of lifting equipment.
Description
Technical field
The present invention relates to lifting equipment measuring for verticality field more particularly to a kind of lifting equipments based on unmanned plane image
Measuring for verticality method and system.
Background technique
In the latest 20 years, China construction industry develops rapidly, and derrick crane (tower crane) has become on building site at present
Most widely used hoisting machinery.Show that national building crane safety accident at least occurred in 2016 according to official statistics
207, cause direct losses up to more than one hundred million members.In order to ensure the life security of tower-type crane operation personnel, periodically to tower
Formula crane is detected to guaranteeing equipment safety operation and smoothly complete entire construction work and be particularly important.
Gradient of the lifting equipment verticality to characterize lifting equipment bracket is the important measurement of lifting equipment defects detection
One of index.By taking attached drawing 1 as an example, after tower crane installation, amplification is under equilibrium state, and (x has been to reset to verticality Δ L=x/h
The transversal displacement of standby cradle top and bottom, h are lifting equipment support height).In GB/T5031-2008 " derrick crane "
5.2.3i it) provides, the franchise of verticality is 4/1000.The difficult point of lifting equipment measuring for verticality is: the big many places of lifting equipment
In construction site, operating condition is poor；Lifting equipment height is higher (50~500m), and is difficult to climb；Lifting equipment measuring for verticality
Required precision is high, reaches mm rank.
Lifting equipment measuring for verticality mainly uses laser plummet mensuration at present, and referring to attached drawing 2, equipment under test is pressed
Testing requirements are parked, and laser plummet is stood at the bottom margin close to equipment under test (generally in standard knot main support rod
Place), by specification requires leveling, makes laser beam in state vertically upward.It is fixed right above the laser beam at 100-200m
Digital display light target, moving cursor digital display rule make datum mark be directed at laser beam spot, and digital display rule is reset, this position is master reference
Point keeps plumb aligner motionless, and digital display light target is fixed to same position at the top of equipment under test, and moving cursor digital display rule, makes base again
It is directed at laser beam spot on schedule, the reading on digital display rule is verticality at this time.The disadvantages of this method is as follows: needing on equipment top
Light target is manually fixed in portion, and there are great security risks；And the range of laser plummet is 200m or so, with measurement height
Increase, error can increased dramatically, and be unfavorable for the superelevation tower crane measuring for verticality of 300~500m.
So far, having no in the prior art can meet that measurement accuracy is high, measurement altitude range is big, lower security risk simultaneously
Lifting equipment measuring for verticality method and system.
Summary of the invention
In view of the deficiencies of the prior art, the technical problems to be solved by the present invention are: providing a kind of based on unmanned plane image
Lifting equipment measuring for verticality method and system.
For this purpose, the present invention proposes a kind of lifting equipment measuring for verticality method based on unmanned plane image, it include following step
It is rapid:
1) it is controlled outside unmanned plane during flying to lifting equipment certain distance by flying control module, move up and down aircraft,
So that it is hovered over special equipment bottom, adjusts camera focal length, so that equipment rack is filled up screen as far as possible, take measuring for verticality
Bottom image records the location information (X of unmanned plane at this timew1, Yw1) and rotation angle of camera θ1；
2) by fly control module control aircraft vertical rise, until camera shooting screen it is observed that equipment rack top,
It keeps camera focal length constant, takes measuring for verticality top image, record the location information (X of unmanned plane at this timew2, Yw2)
And rotation angle of camera θ2；
3) optional piece image in the top image obtained in the bottom image and step 2) obtained in step 1), is completed
Image calibration obtains the spatial resolution k of imagex、ky, the kx、kyRespectively laterally, each longitudinal pixel distance generation
The actual distance of table；
4) it is selected in the left side brackets of the bottom image, the middle top image obtained of step 2) that are obtained in step 1) respectively
Reference point L1(X1, Y1)、L2(X2, Y2)；
5) according to L2(X2, Y2), rotation angle, θ1, rotation angle, θ2, image pixel width w, calculate L2Point is in θ1Coordinate system
Under abscissa X '2_θ1.For different imaging positions, direction of rotation, rotation angle, have
A) work as L2Imaging point is on the left of image, and relative rotation angle is to the left and when θ > α:
B) work as L2Imaging point is on the left of image, and relative rotation angle is to the left and when θ < α:
C) work as L1Imaging point on the left of image, relative rotation angle to the right when:
D) work as L2Imaging point is on the right side of image, and relative rotation angle is to the right and when θ > α:
E) work as L2Imaging point is on the right side of image, and relative rotation angle is to the right and when θ < α:
F) work as L2Imaging point on the right side of image, relative rotation angle to the left when:
Calculate L2Point is in θ1Ordinate Y under coordinate system2', have:
Y′2_θ1=Y '2 (4-7)
Wherein: θ is relative rotation angle and θ=θ2-θ1, w is image pixel width, and f is camera focus；
6) according to position offset when imaging, L is calculated2Point is in L1Coordinate (X under coordinate system2', Y2'), calculation formula is such as
Shown in following formula (5-1)~(5-2):
7) verticality of crane can be calculated by formula (3):
The present invention also provides a kind of lifting equipment system for detecting verticality based on unmanned plane image, comprising: unmanned plane,
Fly control module and image processing module.
The unmanned plane video of shooting lifting equipment and the task image image set with configuration information, and data are real
When be transferred to fly control module in；The configuration information be unmanned plane shoot image when unmanned plane high precision position information,
The rotation angle of camera；The task image image set includes lifting equipment frame bottom image and lifting equipment cradle top figure
Picture；
The winged control module is used to control the flight of unmanned plane, and real-time reception unmanned plane is transmitted back to the video flowing come, with
And the task image image set with configuration information of storage unmanned plane shooting；
The image processing module is integrated with above-mentioned verticality calculation method, flies to deposit in control module for handling to analyze
The task image image set with configuration information of storage calculates the verticality for obtaining lifting equipment；
Further, unmanned plane obtain task image image set when need to guarantee unmanned plane to lifting equipment bracket cross section distance
It is constant.
Further, unmanned plane can obtain high-precision positioning using double RTK positioning under strong electric and magnetic interference.
The beneficial effects of the present invention are: being proposed a kind of based on unmanned plane figure for how to detect lifting equipment verticality
The lifting equipment measuring for verticality method and system of picture, the detection method is low with security risk, high-altitude maintenance ability is strong, measurement
Feature with high accuracy.
Detailed description of the invention
Fig. 1 is lifting equipment verticality schematic diagram, and wherein x is the horizontal-shift of lifting equipment cradle top and frame bottom
Amount, h are equipment supporter height.
Fig. 2 is verticality laser plummet measurement figure.
Fig. 3 is reference point lateral coordinates into shadow schematic diagram, wherein L2-wFor selected reference point, O is image source, and f is that camera is burnt
Away from α is the angle of imaging point and optical axis, L2For L2-wAs the imaging point in plane, L2' it is that camera rotates L behind the angle θ2-wAs flat
Imaging point on face.
Fig. 4 is UAV system structural schematic diagram, wherein being 1. the airborne double RTK of platform, being 2. realtime graphic transmission, being 3.
Airborne mission computer, be 4. double holder cameras, be 5. double holder camera shafts, be 6. millimetre-wave radar, being 7. remote controler, 8.
For earth station, be 9. VR glasses.
Fig. 5 is bottom image in specific embodiment 1.
Fig. 6 is top image in specific embodiment 1.
Fig. 7 is bottom image in specific embodiment 2.
Fig. 8 is top image in specific embodiment 2.
Specific embodiment
The present invention will be further described in the following with reference to the drawings and specific embodiments.
Embodiment 1:
1) it is controlled outside unmanned plane during flying to lifting equipment certain distance by flying control module, move up and down aircraft,
So that it is hovered over special equipment bottom, adjusts camera focal length, so that equipment rack is filled up screen as far as possible, take measuring for verticality
Bottom image is as shown in Fig. 5, records the location information (X that unmanned plane is obtained according to double RTK positioning at this timew1, Yw1)=(0,
And rotation angle of camera θ 1231)1=90 °；
2) by fly control module control aircraft vertical rise, until camera shooting screen it is observed that equipment rack top,
Keep camera focal length constant, it is as shown in Fig. 6 to take measuring for verticality top image, record at this time unmanned plane according to pair
Location information (the X that RTK positioning obtainsw2, Yw2)=(533,60163) and rotation angle of camera θ2=82 °；
3) top image of bottom image, step 2) acquisition that step 1) obtains is imported into image processing module；
4) selecting step 3) in the bottom image graph that imports, by human-computer interaction, by operator with mouse on the image
Horizontal line, vertical line are drawn respectively, and the actual distance for inputting its representative completes image calibration, obtains the spatial resolution of image
kx=0.8321, ky=0.8733；
5) pass through human-computer interaction, the left side of the bottom image, top image that are imported in step 3) respectively by operator
Horizontal line is drawn with mouse on support rod, program calculates horizontal line midpoint i.e. reference point L automatically1(X1, Y1)=(621,1400),
L2(X2, Y2)=(400,1350)；
6) according to L2(X2, Y2), rotation angle, θ1, rotation angle, θ2, image pixel width w, calculate L2Point is in θ1Coordinate system
Under coordinate (X '2_θ1, Y '2_θ1): the present embodiment situation such as attached drawing 3 (b) is described, can be calculated by formula (4-2), (4-7)
(X′2_θ1, Y '2_θ1)=(648,1350):
Y′2_θ1=Y '2 (4-7)
Wherein: θ is relative rotation angle and θ=θ2-θ1, w is image pixel width, and f is camera focus；
7) it according to position offset when imaging, calculates and obtains L2Point is in L1Coordinate (X under coordinate system2', Y2')=(1289,
68832), shown in calculation formula such as following formula (5-1)~(5-2):
8) verticality of crane can be calculated by formula (3), can obtain Δ L=0.009439:
Embodiment 2:
1) it is controlled outside unmanned plane during flying to lifting equipment certain distance by flying control module, move up and down aircraft,
So that it is hovered over special equipment bottom, adjusts camera focal length, so that equipment rack is filled up screen as far as possible, take measuring for verticality
Bottom image is as shown in Fig. 7, records the location information (X that unmanned plane is obtained according to double RTK positioning at this timew1, Yw1)=(0,
And rotation angle of camera θ 3536)1=100 °；
2) by fly control module control aircraft vertical rise, until camera shooting screen it is observed that equipment rack top,
Keep camera focal length constant, it is as shown in Fig. 8 to take measuring for verticality top image, record at this time unmanned plane according to pair
Location information (the X that RTK positioning obtainsw2, Yw2)=(253,15971) and rotation angle of camera θ2=104 °；
3) top image obtained in the bottom image obtained in step 1), step 2) is imported into image processing module
In；
4) selecting step 3) in the bottom image graph that imports, by human-computer interaction, by operator with mouse on the image
Horizontal line, vertical line are drawn respectively, and the actual distance for inputting its representative completes image calibration, obtains the spatial resolution of image
kx=0.8433, ky=0.8231；
5) pass through human-computer interaction, the left side of the bottom image, top image that are imported in step 3) respectively by operator
Horizontal line is drawn with mouse on support rod, program calculates horizontal line midpoint i.e. reference point L automatically1(X1, Y1)=(1203,1380),
L2(X2, Y2)=(1306,1350)；
6) according to L2(X2, Y2), rotation angle, θ1, rotation angle, θ2, image pixel width w, calculate L2Point is in θ1Imaging is sat
Coordinate (X ' under mark system2_θ1, Y '2_θ1): the present embodiment situation such as attached drawing 3 (e) is described, can be calculated by formula (4-5), (4-7)
(X′2_θ1, Y '2_θ1)=(1045,1350):
Y′2_θ1=Y '2 (4-7)
Wherein: θ is relative rotation angle and θ=θ2-θ1, w is image pixel width, and f is camera focus；
7) it according to position offset when imaging, calculates and obtains L2Point is in L1Coordinate (X under coordinate system2', Y2')=(1345,
16457), shown in calculation formula such as following formula (5-1)~(5-2):
8) verticality of crane can be calculated by formula (3), can obtain Δ L=0.009630:
Claims (5)
1. a kind of lifting equipment measuring for verticality method based on unmanned plane image, it is characterised in that, include the following steps:
1) the bottom image of the tower crane bracket with configuration information, the configuration information high-precision position letter when being shooting are obtained
Cease (Xw1, Yw1) and rotation angle of camera θ1；
2) top image of the tower crane bracket with configuration information, the configuration information high-precision position letter when being shooting are obtained
Cease (Xw2, Yw2) and rotation angle of camera θ2；
3) optional piece image in the top image obtained in the bottom image and step 2) obtained in step 1), completes image
Calibration, obtains the spatial resolution k of imagex、ky, the kx、kyRespectively laterally, each longitudinal pixel distance represents
Actual distance；
4) reference is selected in the left side brackets of the bottom image, the middle top image obtained of step 2) that obtain in step 1) respectively
Point L1(X1, Y1)、L2(X2, Y2)；
5) according to L2(X2, Y2), rotation angle, θ1, rotation angle, θ2, imaging when position (Xw1, Yw1)、(Xw2, Yw2), image pixel
Width w calculates L2Point is in L1Abscissa X under coordinate system2'.For different imaging positions, direction of rotation, rotation angle, have:
A) work as L2Imaging point is on the left of the top image, and relative rotation angle is to the left and when θ > α:
B) work as L2Imaging point is on the left of the top image, and relative rotation angle is to the left and when θ < α:
C) work as L1Imaging point on the left of the top image, relative rotation angle to the right when:
D) work as L2Imaging point is on the right side of the top image, and relative rotation angle is to the right and when θ > α:
E) work as L2Imaging point is on the right side of the top image, and relative rotation angle is to the right and when θ < α:
F) work as L2Imaging point on the right side of the top image, relative rotation angle to the left when:
Wherein: θ is relative rotation angle and θ=θ2-θ1, w is image pixel width, and f is camera focus；
6) L is calculated2Point is in L1Ordinate Y under coordinate system2', specific formula for calculation such as following formula (2):
7) verticality of lifting equipment is calculated, specific formula for calculation such as following formula (3):
2. a kind of lifting equipment measuring for verticality method based on unmanned plane image according to claim 1, feature exist
In: the step 1), 2) in high precision position information using double RTK (Real-Time Kinematic, in real time dynamic) to nothing
It is man-machine to carry out positioning acquisition.
3. a kind of lifting equipment measuring for verticality method based on unmanned plane image according to claim 1, feature exist
In: image calibration in the step 3) uses human-computer interaction, and being struck in the picture by people horizontal line, vertical line and inputs its correspondence
Actual range.
4. a kind of lifting equipment measuring for verticality method based on unmanned plane image according to claim 1, feature exist
In: the mark of the reference point in the step 4) uses human-computer interaction, and horizontal line of being struck in the picture by people marks branch on the left of bracket
Strut, it is as a reference point that program calculates horizontal line midpoint automatically.
5. a kind of lifting equipment system for detecting verticality based on unmanned plane image, it is characterised in that: the measuring for verticality
System includes unmanned plane, flies control module and image processing module, in which:
The unmanned plane is used to shoot the video of lifting equipment and the task image image set with configuration information, and data are real-time
Be transferred to fly control module in；
The configuration information is high precision position information, the rotation angle of camera of unmanned plane when unmanned plane shoots image；
The task image image set includes lifting equipment frame bottom image and lifting equipment cradle top image；
The winged control module is used to control the flight of unmanned plane, and real-time reception unmanned plane is transmitted back to the video flowing come, Yi Jicun
Store up the task image image set with configuration information of unmanned plane shooting；
The image processing module is integrated with 1 step 3) of claim to lifting equipment verticality calculating side described in step 7)
Method flies the task image image set with configuration information stored in control module for handling analysis, calculates and obtain hanging down for lifting equipment
Straight degree.
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| CN111114780A (en) * | 2019-12-20 | 2020-05-08 | 山东大学 | Unmanned aerial vehicle steel bar detection standard part placing and recycling system and method |
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