CN111994795A - Method for measuring perpendicularity offset of tower crane hook - Google Patents

Method for measuring perpendicularity offset of tower crane hook Download PDF

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Publication number
CN111994795A
CN111994795A CN202010744175.9A CN202010744175A CN111994795A CN 111994795 A CN111994795 A CN 111994795A CN 202010744175 A CN202010744175 A CN 202010744175A CN 111994795 A CN111994795 A CN 111994795A
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tower crane
crane hook
image
offset
acquisition equipment
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Pending
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CN202010744175.9A
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Inventor
李长国
黄宇
覃春成
刘阳国
陈策
姜小戈
申超胜
左仁锋
覃怡斐
李镇弘
周永飞
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Guangxi Construction Engineering Intelligent Manufacturing Research Institute Co ltd
Guangxi Dadusteel Co ltd
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Guangxi Construction Engineering Intelligent Manufacturing Research Institute Co ltd
Guangxi Dadusteel Co ltd
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Priority to CN202010744175.9A priority Critical patent/CN111994795A/en
Publication of CN111994795A publication Critical patent/CN111994795A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention discloses a method for measuring the verticality offset of a tower crane hook, which comprises the steps of firstly identifying an acquired tower crane image to obtain image information of the tower crane hook, then carrying out analysis operation on the image information of the tower crane hook to obtain the verticality offset and the offset direction of the tower crane hook, and finally judging whether the tower crane is in a safety threshold value according to the obtained verticality offset of the tower crane hook; the invention can monitor and measure the offset of the lifting hook of the tower crane in preparation for lifting by adopting an informatization means, so as to judge whether the verticality offset of the lifting hook of the current tower crane is in a safety threshold value and can lift or not, and provides an adjustment suggestion, thereby facilitating the timely adjustment of an operator, being beneficial to preventing the inclined-pulling and inclined-lifting of the tower crane and reducing the potential safety hazard.

Description

Method for measuring perpendicularity offset of tower crane hook
Technical Field
The invention belongs to the technical field of tower crane equipment, and particularly relates to a method for measuring perpendicularity offset of a tower crane hook.
Background
In the process of preparing the lifting of the tower crane lifting hook, if the verticality offset of the tower crane lifting hook is large, the oblique-pulling and oblique-lifting condition is easy to occur, and certain potential safety hazards exist. In the current construction process, the common method is that the lifting hook can be righted through manual judgment and multiple times of trial and measurement. On one hand, the manual judgment efficiency is low, the time cost and the labor cost are increased, and the progress of construction production is influenced; on the other hand, the manual judgment has errors, and the lifting hook of the tower crane cannot be accurately returned. Therefore, a measuring system capable of measuring the perpendicularity offset when the tower crane hook is ready to be lifted according to the position of the tower crane hook is urgently needed, so that a tower crane operator can adjust the hook according to the tower crane hook offset, the adjustment precision is increased, and the adjustment time is shortened.
Disclosure of Invention
The invention aims to: aiming at the defects, the invention provides a method for measuring the verticality offset of a tower crane hook.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for measuring the perpendicularity offset of a tower crane hook comprises the following steps:
(1) calibrating the image acquisition equipment to obtain the internal parameter M of the image acquisition equipment1And external reference M2；
(2) Tower crane image I acquired by image acquisition equipment1；
(3) To tower crane image I1Carrying out target identification; and acquiring the image coordinate of the tower crane hook.
(4) Converting the image coordinate of the tower crane hook to obtain the world coordinate of the tower crane hook;
(5) calculating the world coordinate of the image acquisition equipment and the world coordinate of the tower crane hook to obtain the verticality offset delta d of the tower crane hook;
(6) and comparing the image coordinates of the tower crane hook with the image center coordinates to obtain the offset direction of the tower crane hook.
Further, in step 1, obtaining the internal reference M of the image acquisition equipment through a calibration plate1(ii) a Calculating and acquiring external parameter M of the image acquisition equipment through a cv2. solvePp () function in Opencv2。
Further, in the step 1,
internal parameter M of image acquisition equipment1The specific expression is (f)x,fy,u0,v0) Wherein (u)0,v0) As the central pixel coordinate of the image, fx＝f/dx，fy＝f/dyF is the focal length of the camera, dxFor each pixel's physical dimension in the X-axis direction, dyA physical size in the Y-axis direction for each pixel;
external parameter M of the image acquisition equipment2Specifically expressed as (R, T), wherein R is a rotational momentAnd t is a translation matrix.
Further, in step 2, the image acquisition equipment is horizontally arranged at one point to acquire tower crane image I1And the collected tower crane image I1And uploading the cache.
Further, in step 3, a tower crane image I is obtained by constructing a Yolov3 algorithm on TensorFlow1Identifying to obtain the image coordinate (u) of the lifting hook of the tower cranet,vt)。
Further, in step 4, the conversion is specifically
The image coordinate (u) of the tower crane hookt,vt) And respectively substituting the height information between the image acquisition equipment and the lifting hook into a conversion formula between the image coordinate and the world coordinate for conversion to obtain the world coordinate of the tower crane lifting hook.
Further, in step 4, the conversion formula between the image coordinates and the world coordinates is expressed as follows:
Figure BDA0002607774070000031
wherein s is the distance from the object to the imaging plane, namely the distance from the tower crane hook to the image acquisition equipment; (u, v) are image coordinates of a tower crane hook; (f)x,fy,u0,v0) For referencing M in image acquisition equipment1(ii) a (R, T) is an external parameter M of the image acquisition equipment2；(Xw,Yw,Zw) Is the coordinates of the tower crane hook under the world coordinate system.
Further, in step 4, the world coordinate of the tower crane hook is (X)t,Yt,Zt) The specific formula is expressed as follows:
Figure BDA0002607774070000032
wherein s is the distance from the object to the imaging plane, namely the distance from the tower crane hook to the image acquisition equipment; (u)t,vt) For the image of tower crane lifting hook sitsMarking; (f)x,fy,u0,v0) For referencing M in image acquisition equipment1(ii) a (R, T) is an external parameter M of the image acquisition equipment2；(Xt,Yt,Zt) The world coordinate of the tower crane hook is shown.
Further, in step 5, the perpendicularity offset Δ d of the tower crane hook is specifically calculated by the following formula:
Figure BDA0002607774070000033
wherein D is the horizontal distance from the image acquisition equipment to a tower crane hook during installation; (X)t,Yt) Is the world coordinate of the tower crane hook (X)c,Yc) World coordinates of the image capturing device.
Further, in step 6, the tower crane hook deviation direction passes through the image coordinate (u) of the tower crane hookt,vt) With the image center coordinate (u)c,vc) The relative position of (a) is obtained.
The invention has the advantages that: by adopting an informatization mode, the perpendicularity offset of the lifting hook of the tower crane in preparation for lifting can be monitored and calculated, so that whether the current lifting hook can be lifted or not is judged, an adjustment suggestion is given, an operator can conveniently adjust the lifting hook in time, oblique inclined lifting is prevented, and potential safety hazards are reduced.
Drawings
FIG. 1 is a schematic diagram of a hardware structure of a method for measuring the perpendicularity offset of a tower crane hook according to the present invention;
FIG. 2 is a schematic diagram of a system structure of a method for measuring the perpendicularity offset of a tower crane hook according to the invention;
FIG. 3 is a working flow chart of the method for measuring the perpendicularity offset of the tower crane hook according to the invention.
Detailed Description
A method for measuring the perpendicularity offset of a tower crane hook comprises the following steps:
(1) calibrating image acquisition equipment and acquiring image acquisition equipment through calibration plateInternal reference M1Is { fx,fy,u0,v0}; calculating by using a cv2. solvePp () function in Opencv to obtain an external parameter M of the image acquisition equipment2Is (R, T);
(2) tower crane image I horizontally acquired by image acquisition equipment such as camera1And the collected tower crane image I1Uploading to a video recorder cache;
(3) tower crane image I by constructing YOLOv3 algorithm on TensorFlow1Identifying to obtain the image coordinate (u) of the lifting hook of the tower cranet,vt)；
(4) According to internal parameter f of image acquisition equipmentx,fy,u0,v0And (u) image coordinates of external parameters (R, T) and tower crane hookt,vt) Distance s from tower crane hook to image acquisition equipment and conversion formula between image coordinate and world coordinate
Figure BDA0002607774070000051
Calculating to obtain the world coordinate (X) of the tower crane hookt,Yt,Zt) (ii) a The concrete expression formula is as follows:
Figure BDA0002607774070000052
(5) according to world coordinates (X) of image acquisition equipmentc,Yc) And world coordinate (X) of tower crane hookt,Yt) The fixed distance D between the image acquisition equipment and the tower crane hook is obtained when the image acquisition equipment is installed, and the perpendicularity offset delta D of the tower crane hook is obtained; the specific expression formula is as follows:
Figure BDA0002607774070000053
(6) by tower crane hook image coordinates (u)t,vt) With the image center coordinate (u)c,vc) Obtaining the relative position of the tower craneThe perpendicularity of the hook deviates from the direction.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (10)

1. A method for measuring the perpendicularity offset of a tower crane hook is characterized by comprising the following steps:
(1) calibrating the image acquisition equipment to obtain the internal parameter M of the image acquisition equipment1And external reference M2；
(2) Tower crane image I acquired through calibrated image acquisition equipment1；
(3) To tower crane image I1Carrying out target identification; and acquiring the image coordinate of the tower crane hook.
(4) Converting the image coordinates of the tower crane hook to obtain the world coordinates of the tower crane hook;
(5) calculating the world coordinate of the image acquisition equipment and the world coordinate of the tower crane hook to obtain the offset delta d of the tower crane hook;
(6) and comparing the image coordinate of the tower crane hook with the image center coordinate to obtain the offset direction of the tower crane hook.
2. The method for measuring the perpendicularity offset of the tower crane hook according to claim 1, wherein in the step 1, the internal reference M of the image acquisition equipment is obtained through a calibration plate1(ii) a Calculating and acquiring external parameter M of the image acquisition equipment through a cv2. solvePp () function in Opencv2。
3. The method for measuring the perpendicularity offset of the tower crane hook according to claim 2, wherein in the step 1,
internal parameter M of image acquisition equipment1Is specifically expressed as (f)x,fy,u0,v0) Wherein (u)0,v0) As an imageOf the center pixel coordinate of fx＝f/dx，fy＝f/dyF is the focal length of the camera, dxFor each pixel's physical dimension in the X-axis direction, dyA physical size in the Y-axis direction for each pixel;
external parameter M of the image acquisition equipment2Specifically expressed as (R, T), where R is the rotation matrix and T is the translation matrix.
4. The method for measuring the perpendicularity offset of the tower crane hook according to claim 1, wherein in the step 2, the image acquisition device is horizontally arranged at one point to acquire a tower crane image I1And the collected tower crane image I1And uploading the cache.
5. The tower crane deflection amount measuring method according to claim 1, wherein in the step 3, a tower crane image I is obtained by constructing a Yolov3 algorithm on Tensorflow1Identifying the image coordinate (u) of the tower crane hookt,vt)。
6. The tower crane offset measurement method according to claim 1, wherein in step 4, the conversion is specifically the conversion
The image coordinate (u) of the tower crane hookt,vt) And substituting the height information between the lifting hook of the tower crane and the image acquisition equipment into a conversion formula between the image coordinate and the world coordinate for conversion to obtain the world coordinate of the lifting hook of the tower crane.
7. The method for measuring the perpendicularity offset of the tower crane hook according to claim 6, wherein in the step 4, a conversion formula between the image coordinate and the world coordinate is expressed as follows:
Figure FDA0002607774060000021
wherein s is an objectThe distance from the crane hook to the image acquisition equipment is the distance from the crane hook to the image plane; (u, v) are image coordinates of a tower crane hook; (f)x,fy,u0,v0) For referencing M in image acquisition equipment1(ii) a (R, T) is an external parameter M of the image acquisition equipment2；(Xw,Yw,Zw) Is the coordinates of the tower crane hook under the world coordinate system.
8. The method for measuring the perpendicularity offset of the tower crane hook according to claim 6, wherein in the step 4, the world coordinate of the tower crane hook is (X)t,Yt,Zt) The specific expression is as follows:
Figure FDA0002607774060000031
wherein s is the distance from the object to the imaging plane, namely the distance from the tower crane hook to the camera; (u)t,vt) The image coordinates of the tower crane hook are obtained; (f)x,fy,u0,v0) For referencing M in image acquisition equipment1(ii) a (R, T) is an external parameter M of the image acquisition equipment2；(Xt,Yt,Zt) The world coordinate of the tower crane hook is shown.
9. The method for measuring the perpendicularity offset of the tower crane hook according to claim 1, wherein the perpendicularity offset Δ d of the tower crane hook is specifically calculated by the following formula:
Figure FDA0002607774060000032
wherein D is the horizontal distance from the image acquisition equipment to a tower crane hook during installation; (X)t,Yt) Is the world coordinate of the tower crane hook (X)c,Yc) World coordinates of the image capturing device.
10. Root of herbaceous plantThe method for measuring the perpendicularity offset of the tower crane hook according to claim 1, wherein in the step 6, the offset direction is measured by an image coordinate (u) of the tower crane hookt,vt) With the image center coordinate (u)c,vc) The relative position of (a) is obtained.
CN202010744175.9A 2020-07-29 2020-07-29 Method for measuring perpendicularity offset of tower crane hook Pending CN111994795A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113255626A (en) * 2021-07-14 2021-08-13 杭州大杰智能传动科技有限公司 Intelligent tower crane structure state detection method and device based on scanned image analysis
CN113514036A (en) * 2021-04-24 2021-10-19 中国建筑第五工程局有限公司 Super high-rise building perpendicularity measurement and control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113514036A (en) * 2021-04-24 2021-10-19 中国建筑第五工程局有限公司 Super high-rise building perpendicularity measurement and control method
CN113514036B (en) * 2021-04-24 2022-05-17 中国建筑第五工程局有限公司 Super high-rise building verticality measurement and control method
CN113255626A (en) * 2021-07-14 2021-08-13 杭州大杰智能传动科技有限公司 Intelligent tower crane structure state detection method and device based on scanned image analysis

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