CN110589687A - Crane hook monitoring device, crane hook monitoring system, crane hook control device and storage medium - Google Patents
Crane hook monitoring device, crane hook monitoring system, crane hook control device and storage medium Download PDFInfo
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- CN110589687A CN110589687A CN201910914611.XA CN201910914611A CN110589687A CN 110589687 A CN110589687 A CN 110589687A CN 201910914611 A CN201910914611 A CN 201910914611A CN 110589687 A CN110589687 A CN 110589687A
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- image
- target object
- image acquisition
- acquisition equipment
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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
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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
- B66C15/00—Safety gear
Abstract
The invention provides a lifting hook monitoring device, a lifting hook monitoring system, a lifting hook monitoring control device and a storage medium of a crane, and relates to the technical field of engineering machinery. The method comprises the following steps: determining an adjustment parameter according to pre-acquired characteristic information of the target object and a first image acquired by first image acquisition equipment; controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter; receiving a second image acquired by the first image acquisition device after the focal length is adjusted; controlling the display to display a second image, wherein the area proportion of the target object in the second image is greater than or equal to the preset proportion, the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter. The first image acquisition equipment is adjusted according to the adjustment parameters by determining the adjustment parameters, so that the state of the lifting part can be clearly and accurately monitored for the second image acquired by the first image acquisition equipment, and certain potential safety hazards are avoided.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to lifting hook monitoring, a lifting hook monitoring device, a lifting hook monitoring system, lifting hook monitoring control equipment and storage media of a crane.
Background
The crane refers to a multi-action crane for vertically lifting and horizontally carrying heavy objects within a certain range. The driver controls the crane to lift and carry heavy objects by knowing the state of the crane hook, so that the obtaining of the state of the crane hook becomes more and more important.
In the correlation technique, the camera is fixed in on the hoist, and the operator adjusts the shooting angle of camera according to actual demand for the camera can be shot the lifting hook moving range within range image, shows this image for the operator.
However, the moving range of the lifting hook is large when the lifting hook lifts a heavy object, and in the related art, images in the moving range of the lifting hook are shot through the camera, so that the shot images are large in range, the state of a lifting part cannot be accurately monitored and distinguished, and certain potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a crane hook monitoring device, a crane hook monitoring system, a crane hook monitoring control device and a crane hook storage medium, aiming at overcoming the defects in the prior art, so that the problems that in the related art, a camera is used for shooting images in the movement range of a hook, the shot images are large in range, the state of a hoisting part cannot be accurately monitored and distinguished, and certain potential safety hazards exist are solved.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for monitoring a hook of a crane, which is applied to a hook monitoring system, where the system includes: the system comprises a holder, a first image acquisition device, a controller and a display; the cloud deck and the first image acquisition equipment are located on a suspension arm of the crane, the first image acquisition equipment is installed on the cloud deck, the controller is in communication connection with the cloud deck and the first image acquisition equipment respectively, the controller is also connected with the display, and the method comprises the following steps:
determining an adjustment parameter according to pre-acquired characteristic information of the target object and a first image acquired by the first image acquisition device; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter;
receiving a second image acquired by the first image acquisition device after the focal length is adjusted;
further, before determining an adjustment parameter according to the pre-acquired feature information of the target object and the first image acquired by the first image acquisition device, the method further includes:
determining a monitoring region from the first image displayed on the display according to an input region selection operation;
and performing feature extraction on the image of the monitoring area in the first image to obtain feature information of the target object in the monitoring area.
Further, the performing feature extraction on the image of the monitoring area in the first image to obtain feature information of the target object in the monitoring area includes:
performing convolution processing on the image of the monitoring area to obtain shape information of the target object;
carrying out Fourier transform processing on the three-channel histogram of the image of the monitoring area to obtain color information of the target object; the characteristic information of the target object comprises: shape information of the object, and color information of the object.
Further, the adjusting parameters further include: before the controlling the first image acquisition device to adjust the focal length according to the first adjustment parameter, the method further includes:
and controlling the cradle head to adjust the direction according to the second adjustment parameter so as to adjust the direction and the angle of the first image acquisition equipment.
Further, the determining an adjustment parameter according to the pre-acquired feature information of the target object and the first image acquired by the first image acquisition device includes:
according to the feature information of the target object, carrying out Gaussian correlation filtering on the next frame image of the first image, and determining the position of the target object in the next frame image;
performing transformation of a plurality of scales on the region with the position as the center, and determining the scale with the highest correlation with the characteristic information of the target object in the plurality of scales as a target scale;
and determining the adjusting parameters according to the target scale.
Further, the method further comprises:
determining the weight of the position of the target object according to the correlation between the characteristic information of the target object and the image information of the position of the target object in the next frame of image;
and updating the characteristic information according to the weight of the position of the target object.
Further, the hook monitoring system further comprises: a second image capturing device communicatively connected to the controller, the second image capturing device being mounted on the boom of the crane, the method further comprising:
if the target object exceeds the visual field range of the first image acquisition equipment, calculating the position of the target object in a third image according to an included angle between the direction of the holder corresponding to the first image acquisition equipment and the visual angle of the second image acquisition equipment, wherein the third image is the image acquired by the second image acquisition equipment;
and controlling the display to display the third image according to the position of the target object in the third image.
In a second aspect, an embodiment of the present invention further provides a hook monitoring device for a crane, where the device includes:
the determining module is used for determining an adjusting parameter according to the pre-acquired characteristic information of the target object and the first image acquired by the first image acquisition equipment; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
the adjusting module is used for controlling the first image acquisition equipment to adjust the focal length according to the first adjusting parameter;
the receiving module is used for receiving a second image acquired by the first image acquisition equipment after the focal length is adjusted;
further, the apparatus further comprises:
a second determination module for determining a monitoring region from the first image displayed on the display according to an input region selection operation;
and the acquisition module is used for extracting the characteristics of the image of the monitoring area in the first image to obtain the characteristic information of the target object in the monitoring area.
Further, the obtaining module is specifically configured to perform convolution processing on the image of the monitoring area to obtain shape information of the target object; carrying out Fourier transform processing on the three-channel histogram of the image of the monitoring area to obtain color information of the target object; the characteristic information of the target object comprises: shape information of the object, and color information of the object.
Further, the adjusting parameters further include: a second adjustment parameter; the device further comprises:
and the second adjusting module is used for controlling the direction of the holder adjustment according to the second adjusting parameter so as to adjust the direction and the angle of the first image acquisition equipment.
The first determining module is specifically configured to perform gaussian correlation filtering on a next frame image of the first image according to the feature information of the target object, and determine a position of the target object in the next frame image; performing transformation of a plurality of scales on the region with the position as the center, and determining the scale with the highest correlation with the characteristic information of the target object in the plurality of scales as a target scale; and determining the adjusting parameters according to the target scale.
Further, the apparatus further comprises: the first image acquisition equipment is zooming image acquisition equipment, and the second image acquisition equipment is wide-angle fixed-focus image acquisition equipment.
A third determining module, configured to determine, according to a correlation between the feature information of the target object and image information of the target object at a position in the next frame of image, a weight of the position where the target object is located;
and the updating module is used for updating the characteristic information according to the weight of the position of the target object.
Further, the apparatus further comprises:
the calculation module is used for calculating the position of the target object in a third image according to an included angle between the direction of the holder corresponding to the first image acquisition equipment and the visual angle of the second image acquisition equipment if the target object exceeds the visual field range of the first image acquisition equipment, wherein the third image is an image acquired by the second image acquisition equipment;
and the second display module is used for controlling the display to display the third image according to the position of the target object in the third image.
Further, the first image acquisition device is a zoom image acquisition device, and the second image acquisition device is a wide-angle fixed-focus image acquisition device.
In a third aspect, an embodiment of the present invention further provides a hook monitoring system, where the system includes: the system comprises a holder, a first image acquisition device, a controller and a display; the cloud deck and the first image acquisition equipment are positioned on a suspension arm of the crane, the first image acquisition equipment is installed on the cloud deck, the controller is in communication connection with the cloud deck and the first image acquisition equipment respectively, and the controller is also connected with the display;
the controller is used for determining an adjusting parameter according to the characteristic information of the target object acquired in advance and the first image acquired by the first image acquisition equipment; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
the controller is used for controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter; receiving a second image acquired by the first image acquisition device after the focal length is adjusted;
in a fourth aspect, an embodiment of the present invention further provides a control device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method in the first aspect when executing the computer program.
In a fifth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method according to the first aspect.
The invention has the beneficial effects that: the embodiment of the invention provides a lifting hook monitoring device, a lifting hook monitoring system, a lifting hook monitoring control device and a storage medium of a crane, wherein the method comprises the following steps: determining an adjustment parameter according to pre-acquired characteristic information of the target object and a first image acquired by first image acquisition equipment; controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter; receiving a second image acquired by the first image acquisition device after the focal length is adjusted; controlling the display to display a second image, wherein the area proportion of the target object in the second image is greater than or equal to the preset proportion, the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter. The first image acquisition equipment is adjusted according to the adjustment parameters by determining the adjustment parameters, so that the state of the lifting part can be clearly and accurately monitored for the second image acquired by the first image acquisition equipment, and certain potential safety hazards are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a hook monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a hook monitoring system according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a hook monitoring system according to an embodiment of the present invention, as shown in fig. 1, the system includes: cloud platform 11, first image acquisition equipment 12, controller 13, display 14.
The cloud platform 11 and the first image acquisition device 12 are located on a boom of the crane, the first image acquisition device 12 is installed on the cloud platform 11, the controller 13 is in communication connection with the cloud platform 11 and the first image acquisition device 12 respectively, and the controller 13 is further connected with the display 14.
The controller 13 may determine an adjustment parameter according to the feature information of the target object obtained in advance and the first image acquired by the first image acquisition device 12, and control the first image acquisition device 12 to adjust the focal length according to the first adjustment parameter, and then control the display 14 to display the second image after receiving the second image acquired by the first image acquisition device 12 after adjusting the focal length, where the area proportion of the target object in the second image is greater than or equal to the preset proportion, so that the lifting portion of the display 14 is displayed in real time according to the preset proportion, thereby monitoring the lifting portion of the crane.
In an embodiment of the present invention, the target may include a lifting unit, and the adjustment parameter may include: a first adjustment parameter.
In addition, the hook monitoring system may further include: the first wireless transceiver is electrically connected with the holder 11 and the first image acquisition equipment 12, the second wireless transceiver is electrically connected with the controller 13, and the first wireless transceiver and the second wireless transceiver can be in wireless communication.
Fig. 2 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention, and as shown in fig. 2, the method may include:
s101, determining an adjusting parameter according to the feature information of the target object acquired in advance and the first image acquired by the first image acquisition device.
The target object may include a lifting portion, also called a lifting point. Adjusting the parameters may include: and a first adjusting parameter, wherein the first image comprises an image of the target object.
In the embodiment of the invention, the controller can respond to the operation of the user to acquire the image of the target object and process the image of the target object so as to obtain the characteristic information of the target object.
In some embodiments, the controller may determine a position of the lifting portion in the first image according to the feature information of the lifting portion, determine a target size according to a scale transformation of an image region where the position is located, and determine the first adjustment parameter according to the target size.
In the embodiment of the invention, when the hoisted object is moved by the crane, the hook of the crane can be connected with the hoisted object by the lifting rope. The target object may include a hook, a lifting rope and a lifting object, and may also include a lifting rope and an object, without a lifting hook. That is, the hoisting part may include a hook, a lifting rope, and a hoisting object, and may also include a lifting rope and an object, and of course, a target object may also be determined for an actual requirement, that is, an object of the hoisting part to be monitored may be determined, which is not specifically limited in the embodiment of the present invention.
S102, controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter.
The first adjustment parameter is a focus adjustment parameter, such as a focus adjustment range or a target focus.
In a possible implementation manner, after determining the target focal length parameter, the controller may adjust the current focal length of the first image capturing device to the target focal length according to the target focal length, so as to adjust the focal length of the first image capturing device, and the first image capturing device may clearly acquire the image of the lifting portion.
It should be noted that the first image capturing device may be a camera, and the camera may be a zoom camera.
And S103, receiving a second image acquired by the first image acquisition equipment after the focal length is adjusted.
In the embodiment of the present invention, the first image capturing device focuses on the target object according to the adjusted focal length, that is, in a state of the target focal length, and then captures the second image, and sends the second image to the controller, and accordingly, the controller may receive the second image.
The second image is the image of the lifting part acquired by the first image acquisition device after the focal length is adjusted, so that the second image can clearly show the image of the lifting part, and the state of the lifting part can be reliably monitored.
Optionally, the display is controlled to display a second image, and the area ratio of the target object in the second image is greater than or equal to the preset ratio.
The preset ratio is the ratio of the displayed target object to the whole display interface.
In the embodiment of the present invention, the preset ratio may be 55 percent or sixty percent, and may also be set according to actual display requirements, which is not specifically limited in the embodiment of the present invention.
In the embodiment of the invention, the area proportion of the target object in the second image displayed by the display is greater than or equal to the preset proportion, so that the target object can be displayed more clearly by the display, and the state of the lifting part can be clearly and accurately monitored.
In addition, when the controller controls the display to display the second image, the second image can be displayed in the center of the whole display interface, so that a user can visually know the state of the hanging part in the second image.
Optionally, the first image capturing device is a zoom image capturing device, for example, a zoom camera.
In summary, an embodiment of the present invention provides a method for monitoring a hook of a crane, where the method includes: determining an adjustment parameter according to pre-acquired characteristic information of the target object and a first image acquired by first image acquisition equipment; controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter; receiving a second image acquired by the first image acquisition device after the focal length is adjusted; controlling the display to display a second image, wherein the area proportion of the target object in the second image is greater than or equal to the preset proportion, the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter. The first image acquisition equipment is adjusted according to the adjustment parameters by determining the adjustment parameters, so that the state of the lifting part can be clearly and accurately monitored for the second image acquired by the first image acquisition equipment, and certain potential safety hazards are avoided.
Optionally, fig. 3 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention, as shown in fig. 3, before determining an adjustment parameter according to the pre-acquired feature information of the target object and the first image acquired by the first image acquisition device in S101, the method further includes:
s201, according to the input area selection operation, a monitoring area is determined from a first image displayed on a display.
In one possible embodiment, the first image capturing device may capture a first image and transmit the first image to the controller via the first wireless transceiver and the second wireless transceiver, the controller may receive the first image and control the display to display the first image, the user may perform a region selection operation on the display, and the controller may determine the monitoring region in response to the region selection operation by the user.
Of course, when the first wireless transceiver and the second wireless transceiver are not provided in the system, the first image capturing device is electrically connected to the controller, and the first image capturing device may directly send the first image to the controller.
In the embodiment of the present invention, the area and the monitoring area selected by the user may be an image area where the lifting part is located in the first image, that is, an area where the hook, the lifting rope, and the object are located in the first image, or an area where the lifting rope and the object are located in the first image, and other areas in the first image may be selected to be monitored according to an actual requirement, which is not specifically limited in the embodiment of the present invention.
S202, extracting the characteristics of the image of the monitoring area in the first image to obtain the characteristic information of the target object in the monitoring area.
Wherein the target object may include a lifting portion.
In some embodiments, after determining the monitoring area, the controller may extract shape features and color features of the object in the monitoring area, and use the obtained shape features and color features as feature information of the object.
It should be noted that the controller may also extract other information capable of representing the characteristics of the target object, which is not specifically limited by the embodiment of the present invention.
Optionally, fig. 4 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention, as shown in fig. 4, S202 may include:
s301, performing convolution processing on the image of the monitoring area to obtain shape information of the target object.
In one possible embodiment, the controller may perform convolution processing on the image of the monitoring region using a HOG (Histogram of Oriented gradients) operator to calculate a Histogram of Gradient orientations of the image of the monitoring region, thereby obtaining the shape information of the object.
Of course, other algorithms capable of extracting shape features may also be collected to extract the shape information of the target object, which is not specifically limited in this embodiment of the present invention.
S302, carrying out Fourier transform processing on the three-channel histogram of the image in the monitoring area to obtain color information of the target object.
Wherein the characteristic information of the target object comprises: shape information of the object, and color information of the object.
In some embodiments, the controller may process the image of the monitoring area to obtain a corresponding three-channel histogram, where the three-channel histogram may be a red, green, and blue (RGB) channel histogram, which may include proportions of three primary colors in the image, and perform fourier transform on the three-channel histogram to obtain color information of the target object.
Optionally, adjusting the parameters further includes: a second adjustment parameter, before the step S102, the method further includes: and controlling the direction of the holder to be adjusted according to the second adjustment parameter so as to adjust the direction and the angle of the first image acquisition equipment.
In some embodiments, the controller may control the direction and angle of the adjustment of the pan/tilt head according to the second adjustment parameter, and the first image capturing device is mounted on the pan/tilt head.
In addition, the cloud platform can be connected with the controller electricity, and the controller can be according to the second adjustment parameter, sends adjustment command to the cloud platform, and the cloud platform can receive this adjustment command. Of course, when the system is provided with the first wireless transceiver and the second wireless transceiver, the controller may adjust the pan/tilt head through the first wireless transceiver and the second wireless transceiver according to the second adjustment parameter.
Optionally, fig. 5 is a schematic flow chart of a hook monitoring method according to an embodiment of the present invention, and as shown in fig. 5, the step S101 may include:
s401, according to the feature information of the target object, Gaussian correlation filtering is carried out on the next frame image of the first image, and the position of the target object in the next frame image is determined.
In one possible implementation, the controller may traverse the next frame of image according to the corresponding image pixel region of the monitoring region, calculate feature information of the target object in the region framed from the next frame of image each time while traversing the image, determine a region with the highest correlation in the next frame of image according to the correlation with the feature information of the target object in the monitoring region, and use the position of the region in the next frame of image as the position of the target object in the next frame of image.
S402, converting the region with the position as the center in multiple scales, and determining the scale with the highest correlation with the characteristic information of the target object in the multiple scales as the target scale.
In the embodiment of the present invention, the controller may perform a multi-scale transformation on the region centered at the position in an image pyramid scale scaling manner to obtain a plurality of scales, and of course, may also perform a multi-scale transformation on the region centered at the position in another manner to obtain a plurality of scales, which is not specifically limited in the embodiment of the present invention.
And S403, determining an adjusting parameter according to the target scale.
After determining the target dimension, the controller may determine an adjustment parameter according to the target dimension, where the adjustment parameter may include the first adjustment parameter and/or the second adjustment parameter, that is, include the first adjustment parameter, the second adjustment parameter, or both the first adjustment parameter and the second adjustment parameter.
The first adjusting parameter is used for adjusting the focal length of the first image acquisition equipment, and the second image acquisition equipment is used for adjusting the direction and the angle of the holder.
Optionally, the method further includes: determining the weight of the position of the target object according to the correlation between the characteristic information of the target object and the image information of the position of the target object in the next frame of image; and updating the characteristic information according to the weight of the position of the target object.
After the controller updates the feature information, the controller can obtain the updated feature information, and when the controller receives the image sent by the first image acquisition device again, the controller can determine the position of the target object in the image according to the updated feature information.
Optionally, fig. 6 is a schematic structural diagram of a hook monitoring system according to an embodiment of the present invention, and fig. 7 is a schematic flow diagram of a hook monitoring method according to an embodiment of the present invention, where as shown in fig. 6, the hook monitoring system further includes: the second image acquisition equipment 15 is in communication connection with the controller 13, and the second image acquisition equipment 15 is installed on the suspension arm of the crane; of course, the second image recording device 15 can also be connected to the first radio transceiver.
As shown in fig. 7, the method further includes:
s501, if the target object exceeds the visual field range of the first image acquisition equipment, calculating the position of the target object in the third image according to the included angle between the direction of the holder corresponding to the first image acquisition equipment and the visual angle of the second image acquisition equipment.
And S502, controlling the display to display the third image according to the position of the target object in the third image.
And the third image is the image acquired by the second image acquisition equipment.
In addition, the controller may determine whether the object is within the field of view of the first image capturing device according to a position of the image corresponding to the object in the image captured by the first image capturing device.
In a possible implementation manner, the controller may determine, according to the image acquired by the first image acquisition device, a connection line a between the object and the first image acquisition device, a viewing angle center line B of the first image acquisition device, and an included angle C between a and B. The controller can also determine the distance X between the holder and the second image acquisition device according to the direction of the holder, determine the distance Y between the target object and the first image acquisition device according to the image acquired by the first image acquisition device, then calculate the distance between the second image acquisition device and the target object and the included angle between the connecting line between the second image acquisition device and the target object and the view angle center line of the second image acquisition device according to the acquired parameter C, X, Y in a trigonometric function mode, and further determine the position of the target object in the third image. The controller may control the display to display a third image acquired by the second image acquisition device.
Alternatively, the second image capturing device may be a wide-angle fixed-focus image capturing device. For example, a wide angle fixed focus camera may be used.
In the embodiment of the present invention, the range of motion of the target object monitored by the first image capturing device may be: 30 meters to 120 meters, the range of motion of the target object monitored by the second image acquisition device may be: 2 to 30 meters.
In summary, if the target object is beyond the visual field range of the first image capturing device, the position of the target object in the third image is calculated according to the included angle between the direction of the pan-tilt corresponding to the first image capturing device and the visual angle of the second image capturing device, and the display is controlled to display the third image according to the position of the target object in the third image. When the first image can not shoot the target object, the display can be controlled to display the image acquired by the second image equipment, and the reliability of monitoring the target object is improved.
Fig. 8 is a schematic structural diagram of a hook monitoring device according to an embodiment of the present invention, and as shown in fig. 8, the device includes:
a first determining module 801, configured to determine an adjustment parameter according to feature information of a target object acquired in advance and a first image acquired by a first image acquisition device; wherein, the target object includes the portion that lifts by crane, and the adjustment parameter includes: a first adjustment parameter;
a first adjusting module 802, configured to control the first image capturing device to adjust the focal length according to the first adjusting parameter;
a receiving module 803, configured to receive a second image acquired by the first image acquisition device after adjusting the focal length;
optionally, as shown in fig. 9, the first display module 804 is configured to control the display to display a second image, where an area ratio of the target object in the second image is greater than or equal to a preset ratio.
Optionally, as shown in fig. 10, the apparatus further includes:
a second determining module 805 configured to determine a monitoring region from the first image displayed on the display according to an input region selection operation;
the obtaining module 806 is configured to perform feature extraction on the image of the monitoring area in the first image to obtain feature information of the target object in the monitoring area.
Optionally, the obtaining module 806 is specifically configured to perform convolution processing on the image of the monitoring area to obtain shape information of the target object; carrying out Fourier transform processing on the three-channel histogram of the image of the monitoring area to obtain color information of the target object; the characteristic information of the target object includes: shape information of the object, and color information of the object.
Optionally, adjusting the parameters further includes: a second adjustment parameter; as shown in fig. 11, the apparatus further includes:
and a second adjusting module 807 for controlling the adjustment direction of the pan/tilt head according to the second adjustment parameter to adjust the direction and angle of the first image capturing device.
Optionally, the first determining module 801 is specifically configured to perform gaussian correlation filtering on a next frame image of the first image according to the feature information of the target object, and determine a position of the target object in the next frame image; performing transformation of a plurality of scales on the region with the position as the center, and determining the scale with the highest correlation with the characteristic information of the target object in the plurality of scales as the target scale; and determining an adjusting parameter according to the target scale.
Optionally, as shown in fig. 12, the apparatus further includes:
a third determining module 808, configured to determine a weight of the position where the target object is located according to a correlation between the feature information of the target object and the image information of the position of the target object in the next frame of image;
and the updating module 809 is configured to update the feature information according to the weight of the position where the target object is located.
Optionally, as shown in fig. 13, the apparatus further includes:
the calculating module 810 is configured to calculate, if the target object exceeds the field of view of the first image acquisition device, a position of the target object in a third image according to an included angle between a direction of a cradle head corresponding to the first image acquisition device and a viewing angle of the second image acquisition device, where the third image is an image acquired by the second image acquisition device;
and the second display module 811 is configured to control the display to display the third image according to the position of the object in the third image.
Optionally, the first image capturing device is a zoom image capturing device, and the second image capturing device is a wide-angle fixed-focus image capturing device.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 14 is a schematic structural diagram of a control device according to an embodiment of the present invention. As shown in fig. 14, the control apparatus includes: a processor 901, a memory 902.
The memory 902 is used for storing programs, and the processor 901 calls the programs stored in the memory 902 to execute the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (12)
1. A method for monitoring a hook of a crane, the method being applied to a hook monitoring system, the system comprising: the system comprises a holder, a first image acquisition device, a controller and a display; the cloud deck and the first image acquisition equipment are located on a suspension arm of the crane, the first image acquisition equipment is installed on the cloud deck, the controller is in communication connection with the cloud deck and the first image acquisition equipment respectively, the controller is also connected with the display, and the method comprises the following steps:
determining an adjustment parameter according to pre-acquired characteristic information of the target object and a first image acquired by the first image acquisition device; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter;
and receiving a second image acquired by the first image acquisition device after the focal length is adjusted.
2. The method according to claim 1, wherein before determining the adjustment parameter according to the pre-acquired feature information of the target object and the first image acquired by the first image acquisition device, the method further comprises:
determining a monitoring region from the first image displayed on the display according to an input region selection operation;
and performing feature extraction on the image of the monitoring area in the first image to obtain feature information of the target object in the monitoring area.
3. The method of claim 2, wherein the extracting the features of the image of the monitored area in the first image to obtain the feature information of the target object in the monitored area comprises:
performing convolution processing on the image of the monitoring area to obtain shape information of the target object;
carrying out Fourier transform processing on the three-channel histogram of the image of the monitoring area to obtain color information of the target object; the characteristic information of the target object comprises: shape information of the object, and color information of the object.
4. The method of claim 1, wherein adjusting the parameters further comprises: before the controlling the first image acquisition device to adjust the focal length according to the first adjustment parameter, the method further includes:
and controlling the cradle head to adjust the direction according to the second adjustment parameter so as to adjust the direction and the angle of the first image acquisition equipment.
5. The method according to claim 1, wherein the determining an adjustment parameter according to the pre-acquired feature information of the target object and the first image acquired by the first image acquisition device comprises:
according to the feature information of the target object, carrying out Gaussian correlation filtering on the next frame image of the first image, and determining the position of the target object in the next frame image;
performing transformation of a plurality of scales on the region with the position as the center, and determining the scale with the highest correlation with the characteristic information of the target object in the plurality of scales as a target scale;
and determining the adjusting parameters according to the target scale.
6. The method of claim 5, wherein the method further comprises:
determining the weight of the position of the target object according to the correlation between the characteristic information of the target object and the image information of the position of the target object in the next frame of image;
and updating the characteristic information according to the weight of the position of the target object.
7. The method of any of claims 1-6, wherein the hook monitoring system further comprises: a second image capturing device communicatively connected to the controller, the second image capturing device being mounted on the boom of the crane, the method further comprising:
if the target object exceeds the visual field range of the first image acquisition equipment, calculating the position of the target object in a third image according to an included angle between the direction of the holder corresponding to the first image acquisition equipment and the visual angle of the second image acquisition equipment, wherein the third image is the image acquired by the second image acquisition equipment;
and controlling the display to display the third image according to the position of the target object in the third image.
8. The method of claim 7, wherein the first image capture device is a zoom image capture device and the second image capture device is a wide fixed focus image capture device.
9. A hook monitoring device for a crane, the device comprising:
the first determining module is used for determining an adjusting parameter according to the pre-acquired characteristic information of the target object and the first image acquired by the first image acquisition equipment; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
the first adjusting module is used for controlling the first image acquisition equipment to adjust the focal length according to the first adjusting parameter;
and the receiving module is used for receiving a second image acquired by the first image acquisition equipment after the focal length is adjusted.
10. A hook monitoring system, the system comprising: the system comprises a holder, a first image acquisition device, a controller and a display; the cloud deck and the first image acquisition equipment are positioned on a suspension arm of a crane, the first image acquisition equipment is installed on the cloud deck, the controller is in communication connection with the cloud deck and the first image acquisition equipment respectively, and the controller is also connected with the display;
the controller is used for determining an adjusting parameter according to the characteristic information of the target object acquired in advance and the first image acquired by the first image acquisition equipment; wherein the target object comprises a lifting part, and the adjusting parameters comprise: a first adjustment parameter;
the controller is used for controlling the first image acquisition equipment to adjust the focal length according to the first adjustment parameter;
the controller is used for receiving a second image acquired by the first image acquisition device after the focal length is adjusted.
11. A control device comprising a memory, a processor, a computer program stored in the memory and operable on the processor, the processor implementing the steps of the method of any one of claims 1 to 8 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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