CN113184704A - Safety control system, method, control device and crane - Google Patents

Safety control system, method, control device and crane Download PDF

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Publication number
CN113184704A
CN113184704A CN202110466311.7A CN202110466311A CN113184704A CN 113184704 A CN113184704 A CN 113184704A CN 202110466311 A CN202110466311 A CN 202110466311A CN 113184704 A CN113184704 A CN 113184704A
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CN
China
Prior art keywords
crane
image information
video image
target obstacle
blind area
Prior art date
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Pending
Application number
CN202110466311.7A
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Chinese (zh)
Inventor
张程
王伟冰
柴君飞
杨艳
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Xuzhou Heavy Machinery Co Ltd
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Xuzhou Heavy Machinery Co Ltd
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Priority to CN202110466311.7A priority Critical patent/CN113184704A/en
Publication of CN113184704A publication Critical patent/CN113184704A/en
Pending legal-status Critical Current

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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
    • 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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/40—Scenes; Scene-specific elements in video content

Abstract

The disclosure provides a safety control system, a safety control method, a safety control device and a crane. The safety control system includes: the video acquisition device is used for acquiring video image information of the blind area; the control device is used for detecting each video frame image in the video image information by using the image recognition model to judge whether a target obstacle exists in the blind area, sending a distance measurement instruction to the distance measurement sensor when the target obstacle exists in the blind area, comparing a measured distance value returned from the distance measurement sensor with a preset safety threshold value, controlling the crane to reduce the speed of the crane when the distance value is smaller than or equal to the safety threshold value, executing alarm, and sending vehicle running information and the video image information to the display; the distance measuring sensor is used for measuring a distance value between the crane and a target obstacle; and the display is used for displaying the vehicle running information and the video image information in a split screen mode, and marking a target obstacle and a distance value in the video image information.

Description

Safety control system, method, control device and crane
Technical Field
The disclosure relates to the technical field of cranes, in particular to a safety control system, a safety control method, a safety control device and a crane.
Background
The crane is a multi-action hoisting machine, also called a crane, which vertically lifts and horizontally carries heavy objects within a certain range. The cross-country tire crane is a boom rotating crane traveling by using a tire type chassis. The cab is a part where an operator performs lifting work or travels, is provided with a windshield, and has a good field of view.
With the rapid development of crane technology, an operator can not only operate the crane to run in a lower cab, but also control the crane to run in an upper cab, and especially for off-road tire cranes, the operation of crane running in the upper cab is a common typical working condition. When an operator operates the crane to run in the upper cab, the suspension arm is positioned on the right side of the cab, so that the right side view of the driver is shielded, the driver can only observe the rear part through the right side rearview mirror, and the view range is small. If there are factors that influence normal driving on the crane right side, such as the addition of pedestrians or vehicles, the driver is difficult to pay attention to this information, has the risk of bringing great dangerous accident.
Through the application of the video monitoring technology on the crane, an operator can more conveniently monitor the visual field blind area. If the winding rope winding information is observed through the winding image monitor, the blind area environment information behind the vehicle body is observed through the reversing image monitor, and the hoisting operation environment information can also be observed through the video monitor below the suspension arm. However, the existing video monitoring technology on the crane only provides image information of a corresponding monitoring area singly, an operator needs to check an image monitor at any time and manually judge to obtain effective information, and the existing crane video monitoring generally needs a plurality of vehicle-mounted data displays and image monitors. On the one hand, in order to check data, an operator needs to constantly lower the head to switch the visual angle between different vehicle-mounted displays and image monitors, so that the attention of the operator is easily dispersed and the operator is easily tired, and a great safety risk exists. On the other hand, the crane video monitoring needs a plurality of vehicle-mounted displays and image monitors, and the cost is high.
Disclosure of Invention
The technical problem that this disclosure solved is: a safety control system for a crane is provided to reduce safety risks during crane travel operations.
According to an aspect of the present disclosure, there is provided a safety control system for a crane, including: the video acquisition device is used for acquiring video image information of a blind area of the crane; the control device is used for receiving the video image information from the video acquisition device, detecting each video frame image in the video image information by using an image recognition model to judge whether a target obstacle exists in the blind area, sending a distance measurement instruction to a distance measurement sensor under the condition that the target obstacle exists in the blind area, comparing a measured distance value returned from the distance measurement sensor with a safety threshold preset in the control device, controlling the crane to reduce the speed of the crane under the condition that the distance value is less than or equal to the safety threshold, executing alarm, and sending vehicle running information of the crane and the video image information of the blind area to a display; the distance measuring sensor is used for receiving the distance measuring instruction, measuring a distance value between the crane and the target obstacle according to the distance measuring instruction, and sending the distance value to the control device; and the display is used for displaying the vehicle running information of the crane and the video image information of the blind area in a split screen mode, and marking the target obstacle and the distance value in the video image information.
In some embodiments, the control device is further configured to send the vehicle operation information to the display if the target obstacle is not present in the blind area or if the distance value is greater than the safety threshold; the display is also used for displaying the vehicle operation information separately.
In some embodiments, the display is further configured to switch from displaying the vehicle operation information alone to displaying the video image information alone in response to a switching operation.
In some embodiments, the display is configured to mark a distance value between the crane itself and the target obstacle by means of a data display, a graphical display, or a progress bar display.
In some embodiments, the target obstacle comprises at least one of a pedestrian and a vehicle; the vehicle operation information includes an engine speed of the crane and a current vehicle speed.
In some embodiments, the control device is further configured to receive a plurality of video image information, and train the image recognition model using the plurality of video image information.
According to another aspect of the present disclosure, there is provided a crane including: a safety control system as hereinbefore described.
According to another aspect of the present disclosure, there is provided a safety control method for a crane, including: receiving video image information of a blind area of the crane from a video acquisition device; detecting each video frame image in the video image information by using an image identification model to judge whether a target obstacle exists in the blind area; measuring a distance value between the crane and a target obstacle under the condition that the target obstacle exists in the blind area; and comparing the distance value with a preset safety threshold value, controlling the crane to reduce the speed of the crane under the condition that the distance value is less than or equal to the safety threshold value, executing alarm, displaying vehicle running information of the crane and the video image information of the blind area by using a display in a split screen mode, and marking the target obstacle and the distance value in the video image information.
In some embodiments, the safety control method further comprises: displaying the vehicle operation information separately using the display in a case where the target obstacle does not exist in the blind area or in a case where the distance value is greater than the safety threshold.
In some embodiments, the safety control method further comprises: and responding to a switching operation, and switching the display from the mode of independently displaying the vehicle running information to the mode of independently displaying the video image information.
In some embodiments, the safety control method further comprises: and receiving a plurality of pieces of video image information, and training the image recognition model by using the plurality of pieces of video image information.
According to another aspect of the present disclosure, there is provided a control apparatus including: the receiving unit is used for receiving video image information of a blind area of the crane from the video acquisition device; the judging unit is used for detecting each video frame image in the video image information by using an image recognition model so as to judge whether a target obstacle exists in the blind area; the measuring unit is used for measuring a distance value between the crane and a target obstacle under the condition that the target obstacle exists in the blind area; and the control unit is used for comparing the distance value with a preset safety threshold value, controlling the crane to reduce the speed of the crane and execute alarming under the condition that the distance value is less than or equal to the safety threshold value, displaying vehicle running information of the crane and the video image information of the blind area by utilizing a display in a split screen mode, and marking the target obstacle and the distance value in the video image information.
According to another aspect of the present disclosure, there is provided a control apparatus including: a memory; and a processor coupled to the memory, the processor configured to perform the method as previously described based on instructions stored in the memory.
According to another aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method as previously described.
In the system, whether the target barrier exists in the blind area is detected by using the image recognition model, so that the operation pressure of an operator can be reduced, and the operation safety is improved. The operator can make corresponding judgment according to the prompted information. Moreover, the system can enable a driver to check the image information of the dead zone of the crane in time and check the vehicle running information. And the system can mark the detected target barrier and the distance from the target barrier to the vehicle body on the image information, so that a driver can observe the blind area more conveniently in the vehicle operating process, and the driving safety risk is effectively reduced. The system can avoid the interference of the video monitoring picture on the driver for a long time, and can provide effective information for the driver.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view illustrating a safety control system for a crane according to one embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a screen showing a display according to one embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating a screen of a display according to another embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating a safety control method for a crane according to one embodiment of the present disclosure;
fig. 5 is a flowchart illustrating a safety control method for a crane according to another embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating the structure of a control device according to one embodiment of the present disclosure;
fig. 7 is a schematic structural diagram showing a control device according to another embodiment of the present disclosure;
fig. 8 is a schematic structural diagram illustrating a control device according to another embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic structural diagram illustrating a safety control system for a crane (e.g., an off-road tire crane) according to one embodiment of the present disclosure. FIG. 2 is a schematic diagram illustrating a screen of a display according to one embodiment of the present disclosure. As shown in fig. 1, the safety control system includes a video capture device 102, a control device 104, a ranging sensor 106, and a display 108.
The video acquisition device 102 is used for acquiring video image information of a blind area of the crane. For example, the video capture device may be a camera. The camera can acquire real-time video data in a monitoring range and send the video data to the control device. This blind area is, for example, the area to the right of the crane. For example, the video capture device is disposed at a middle position of the right side car body of the crane. The video capture device 102 and the control device 104 may be electrically connected by a wired connection or a wireless connection.
The control device 104 is configured to receive the video image information from the video capture device 102, detect each video frame image in the video image information by using the image recognition model to determine whether a target obstacle exists in the blind area, send a distance measurement command to the distance measurement sensor 106 if the target obstacle exists in the blind area, compare a measured distance value returned from the distance measurement sensor 106 with a safety threshold preset in the control device, control the crane to reduce the vehicle speed, perform an alarm if the distance value is less than or equal to the safety threshold, and send vehicle operation information of the crane and the video image information of the blind area to the display.
For example, the control device 104 sends a rotation speed reduction instruction to the engine to reduce the rotation speed of the engine in a case where the distance value is less than or equal to the safety threshold value, thereby reducing the vehicle speed, sends an alarm instruction to an alarm device (e.g., a buzzer) to cause the alarm device to automatically alarm, and sends vehicle operation information of the crane and video image information of the blind area to the display to cause the display to display the vehicle operation information and the video image information in divided screens. For example, the buzzer may be provided on the display.
In some embodiments, the target obstacle includes at least one of a pedestrian and a vehicle.
In some embodiments, the vehicle operation information includes an engine speed of the crane and a current vehicle speed.
In some embodiments, the image recognition model may employ a deep learning algorithm, which is applied to the field of recognition of the target obstacle. In this embodiment, the video image may be divided into a plurality of video frame images by using an image recognition model, and whether or not there is a target obstacle located in a blind area may be detected from each of the video frame images.
In some embodiments, the control device may be an onboard controller. The vehicle-mounted controller is a programmable control device and can perform functions of input and output processing, logic operation, bus communication and the like of electric signals.
The distance measuring sensor 106 is configured to receive a distance measuring command, measure a distance value between the crane itself and the target obstacle according to the distance measuring command, and send the distance value to the control device 104. For example, the distance measuring sensor is arranged at the middle position of the right side car body of the crane. The ranging sensor 106 and the control device 104 may be electrically connected or may be connected via a CAN bus.
In some embodiments, since the blind area is a right area of the crane, the distance value is a distance value between a right body of the crane and the target obstacle. That is, the ranging sensor may measure a distance value between the right body of the crane and the target obstacle.
The display 108 is used for displaying the vehicle running information of the crane and the video image information of the blind area in a split screen manner, and marking a target obstacle and a distance value in the video image information. For example, the display 108 and the control device may be communicatively coupled via a CAN bus.
For example, as shown in fig. 2, the left screen of the display displays vehicle operation information of a crane, and the right screen displays video image information of a blind area, and marks a detection target obstacle and a distance value. As shown in fig. 2, the display 108 may be used to mark the distance value between the crane itself and the target obstacle by way of a data display. In other embodiments, the display 108 may also be used to mark the distance value between the crane itself and the target obstacle by means of a graphical display or a progress bar display. For example, different colors may be used to distinguish between near and far.
In some embodiments, the display may be an in-vehicle display. For example, the vehicle-mounted display is a device which has a human-computer interface, can perform logical operation and can perform human-computer interaction, and displays the mechanical operation information in the form of text, images, videos and animations.
To this end, a safety control system for a crane according to some embodiments of the present disclosure is provided. The safety control system includes: the video acquisition device is used for acquiring video image information of a blind area of the crane; the control device is used for receiving video image information from the video acquisition device, detecting each video frame image in the video image information by using the image recognition model to judge whether a target obstacle exists in a blind area, sending a distance measurement instruction to the distance measurement sensor under the condition that the target obstacle exists in the blind area, comparing a measured distance value returned from the distance measurement sensor with a safety threshold value preset in the control device, controlling the crane to reduce the speed of the crane under the condition that the distance value is less than or equal to the safety threshold value, executing alarm, and sending vehicle running information of the crane and the video image information of the blind area to the display; the distance measuring sensor is used for receiving the distance measuring instruction, measuring a distance value between the crane and the target obstacle according to the distance measuring instruction and sending the distance value to the control device; and the display is used for displaying the vehicle running information of the crane and the video image information of the blind area in a split screen manner, and marking the distance value in the video image information. In the embodiment, whether the target obstacle exists in the blind area is detected by using the image recognition model, so that the operation pressure of an operator can be reduced, and the operation safety is improved. The operator can make corresponding judgment according to the prompted information. Moreover, the system can enable a driver to check the image information of the dead zone of the crane in time and check the vehicle running information. And the system can mark the detected target barrier and the distance from the target barrier to the vehicle body on the image information, so that a driver can observe the blind area more conveniently in the vehicle operating process, and the driving safety risk is effectively reduced. The system can avoid the interference of the video monitoring picture on the driver for a long time, and can provide effective information for the driver.
In other embodiments, the display may only display distance text information on the running information page without automatic split screen display in the event that the distance value is less than or equal to the safety threshold (i.e., when there is a safety risk).
In some embodiments, the control device 104 may be further configured to receive a plurality of video image information and train the image recognition model using the plurality of video image information. For example, a plurality of pieces of video image information having a target obstacle located in a blind area may be input to the control device, and an image recognition model in the control device may be trained using the plurality of pieces of video image information. Therefore, the accuracy of the image recognition model for recognizing the target obstacle can be improved.
It should be noted that the above embodiments describe that the image recognition model is directly provided in the control device, but the scope of the present disclosure is not limited thereto. In the embodiments of the present disclosure, the parts of the control device are not limited to be integrated in the same controller, and may be disposed in different positions or components. For example, the above-mentioned image recognition model may also be provided in a logically operable display, and a software or hardware part for implementing the image recognition model in the logically operable display may also be part of the control apparatus of the present disclosure, and therefore, this may be regarded as providing the image recognition model indirectly in the control apparatus.
Fig. 3 is a schematic diagram illustrating a screen of a display according to another embodiment of the present disclosure.
In some embodiments, the control device 104 may also be configured to send vehicle operation information to the display 108 in the event that a target obstacle is not present in the blind zone, or in the event that the distance value is greater than a safety threshold. The display 108 may also be used to display the vehicle operation information alone. For example, as shown in FIG. 3, the display may display vehicle operation information alone. For example, the vehicle operation information may include: the engine speed, the current vehicle speed, the crane weight, the fuel oil level, the coolant temperature, the gear information, the engine oil pressure, the rotation angle, the air conditioner temperature and the like.
In the above embodiment, when the measured distance value is greater than the set safety threshold, the display displays vehicle operation information; when it is recognized that the object appearing in the video is a non-target obstacle, the display displays vehicle operation information.
In some embodiments, the display 108 may also be used to switch from displaying the vehicle operation information alone to displaying the video image information alone in response to a switching operation. For example, as shown in fig. 2 and 3, a screen switching selection button may be provided on the display, and when the operator clicks or presses the screen switching selection button, the vehicle operation information may be switched from the single display to the single display of the video image information; when the screen switching selection button is clicked or pressed again, the vehicle operation information can be switched from the independent display of the video image information to the independent display of the vehicle operation information. That is, the operator may manually switch between the vehicle operation information and the video monitoring interface via buttons on the display. This facilitates the operator to view the desired data or image.
In some embodiments of the present disclosure, a crane is also provided. The crane comprises a safety control system as described above. For example, the crane is an off-road tire crane.
Through the safety control system of the embodiment of the disclosure, a driver can not only obtain the image information of the corresponding blind area in time, but also operate through the data information prompt marked on the image. The split screen display of the display enables a driver to view vehicle operation data and view image information. In addition, the image information of the blind area is displayed in the vehicle-mounted display, a separate image monitor is not needed, and the hardware cost is reduced.
Fig. 4 is a flowchart illustrating a safety control method for a crane according to one embodiment of the present disclosure. As shown in fig. 4, the safety control method includes steps S402 to S408.
In step S402, video image information of a blind area of the crane is received from the video capture device.
In step S404, each video frame image in the video image information is detected by using the image recognition model to determine whether a target obstacle exists in the blind area.
In step S406, a distance value between the crane itself and the target obstacle is measured in the case where the target obstacle exists in the blind area. For example, a distance measurement command is sent to the distance measurement sensor in the case where a target obstacle exists in the blind area, the distance value between the crane itself and the target obstacle is measured by the distance measurement sensor according to the distance measurement command, and the distance value is returned to the control device.
In step S408, the distance value is compared with a preset safety threshold, and when the distance value is less than or equal to the safety threshold, the crane is controlled to reduce the speed of the vehicle, an alarm is executed, the vehicle running information of the crane and the video image information of the blind area are displayed in a split screen manner by using the display, and the target obstacle and the distance value are marked in the video image information.
To this end, a safety control method for a crane according to some embodiments of the present disclosure is provided. In the method, whether the target barrier exists in the blind area is detected by using the image recognition model, so that the operation pressure of an operator can be reduced, and the operation safety is improved. The operator can make corresponding judgment according to the prompted information. Moreover, the method can enable a driver to check the image information of the dead zone of the crane in time and check the vehicle running information. The method can mark the detected target obstacle and the distance from the target obstacle to the vehicle body on the image information, so that a driver can observe the blind area more conveniently in the vehicle operating process, and the driving safety risk is effectively reduced.
In some embodiments, the safety control method may further include: in the case where there is no target obstacle in the blind area, or in the case where the distance value is greater than the safety threshold value, the vehicle running information is displayed solely using the display.
In some embodiments, the safety control method may further include: and responding to the switching operation, and switching the display from the vehicle running information to the video image information.
In some embodiments, the safety control method may further include: and receiving a plurality of pieces of video image information, and training the image recognition model by using the plurality of pieces of video image information.
Fig. 5 is a flowchart illustrating a safety control method for a crane according to another embodiment of the present disclosure. As shown in fig. 5, the safety control method includes steps S502 to S510.
In step S502, the distance sensor collects distance information between the crane itself and the target obstacle, and the video capture device collects right-side area visual field information.
In step S504, it is determined whether a pedestrian or a vehicle is present. If so, the process proceeds to step S506, otherwise, the process proceeds to step S510.
In step S506, it is determined whether the current distance value is less than or equal to the set safety threshold. If so, the process proceeds to step S508, otherwise the process proceeds to step S510.
In step S508, the vehicle speed is reduced, an alarm is given, and the vehicle operation information and the video image information of the blind area are displayed in a split screen manner.
In step S510, vehicle operation information is displayed.
To this end, a safety control method for a crane according to some embodiments of the present disclosure is provided. The method can reduce the operation pressure of operators and improve the operation safety. Moreover, the method can enable a driver to check the image information of the dead zone of the crane in time and check the vehicle running information.
Fig. 6 is a schematic structural diagram illustrating a control device according to one embodiment of the present disclosure.
As shown in fig. 6, the control apparatus includes a receiving unit 602, a judging unit 604, a measuring unit 606, and a control unit 608.
The receiving unit 602 is configured to receive video image information of a blind area of the crane from the video capturing device.
The determining unit 604 is configured to detect each video frame image in the video image information by using the image recognition model to determine whether a target obstacle exists in the blind area.
The measuring unit 606 is used to measure the distance value between the crane itself and the target obstacle in the case where the target obstacle is present in the blind area.
For example, the measurement unit 606 sends a distance measurement instruction to the distance measurement sensor in the case where a target obstacle exists in the blind area, measures a distance value between the crane itself and the target obstacle by the distance measurement sensor according to the distance measurement instruction, and returns the distance value to the control device.
The control unit 608 is configured to compare the distance value with a preset safety threshold, control the crane to reduce the speed of the crane when the distance value is less than or equal to the safety threshold, perform an alarm, display vehicle operation information of the crane and video image information of a blind area by using a display in a split-screen manner, and mark a target obstacle and the distance value in the video image information.
To this end, a control device according to some embodiments of the present disclosure is provided. In the control device, whether the target obstacle exists in the blind area is detected by using the image recognition model, so that the operation pressure of an operator can be reduced, and the operation safety can be improved. Moreover, the control device can enable a driver to check the image information of the dead zone of the crane in time and check the vehicle running information. The method can mark the detected target obstacle and the distance from the target obstacle to the vehicle body on the image information, so that a driver can observe the blind area more conveniently in the vehicle operating process, and the driving safety risk is effectively reduced.
In some embodiments, the control unit 608 may also be configured to send the vehicle operation information to the display to display the vehicle operation information separately using the display in a case where the target obstacle is not present in the blind area or in a case where the distance value is greater than a safety threshold.
In some embodiments, the receiving unit 602 may further be configured to receive a plurality of video image information and train the image recognition model using the plurality of video image information.
Fig. 7 is a schematic structural diagram illustrating a control device according to another embodiment of the present disclosure. The control means comprises a memory 710 and a processor 720. Wherein:
the memory 710 may be a magnetic disk, flash memory, or any other non-volatile storage medium. The memory is used for storing the instructions in the embodiments corresponding to fig. 4 and/or fig. 5.
Processor 720, coupled to memory 710, may be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 720 is used for executing the instructions stored in the memory, so that the operation pressure of operators can be reduced, the operation safety is improved, and the driving safety risk is effectively reduced.
In some embodiments, as also shown in fig. 8, the control device 800 includes a memory 810 and a processor 820. The processor 820 is coupled to the memory 810 by a BUS 830. The control device 800 may also be coupled to an external storage device 850 via a storage interface 840 for facilitating retrieval of external data, and may also be coupled to a network or another computer system (not shown) via a network interface 860, which will not be described in detail herein.
In the embodiment, the data instruction is stored in the memory, and the instruction is processed by the processor, so that the operation pressure of an operator can be reduced, the operation safety is improved, and the driving safety risk is effectively reduced.
In some embodiments, the present disclosure also provides a computer-readable storage medium on which computer program instructions are stored, which instructions, when executed by a processor, implement the steps of the method in the embodiments corresponding to fig. 4 and/or fig. 5. As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, apparatus, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (14)

1. A safety control system for a crane, comprising:
the video acquisition device is used for acquiring video image information of a blind area of the crane;
the control device is used for receiving the video image information from the video acquisition device, detecting each video frame image in the video image information by using an image recognition model to judge whether a target obstacle exists in the blind area, sending a distance measurement instruction to a distance measurement sensor under the condition that the target obstacle exists in the blind area, comparing a measured distance value returned from the distance measurement sensor with a safety threshold preset in the control device, controlling the crane to reduce the speed of the crane under the condition that the distance value is less than or equal to the safety threshold, executing alarm, and sending vehicle running information of the crane and the video image information of the blind area to a display;
the distance measuring sensor is used for receiving the distance measuring instruction, measuring a distance value between the crane and the target obstacle according to the distance measuring instruction, and sending the distance value to the control device; and
the display is used for displaying the vehicle running information of the crane and the video image information of the blind area in a split screen mode, and marking the target obstacle and the distance value in the video image information.
2. The safety control system according to claim 1,
the control device is further configured to send the vehicle operation information to the display if the target obstacle is not present in the blind area or if the distance value is greater than the safety threshold;
the display is also used for displaying the vehicle operation information separately.
3. The safety control system according to claim 2,
the display is further configured to switch from displaying the vehicle operation information alone to displaying the video image information alone in response to a switching operation.
4. The safety control system according to claim 1,
the display is used for marking the distance value between the crane and the target obstacle in a data display mode, a graphic display mode or a progress bar display mode.
5. The safety control system according to claim 1,
the target obstacle includes at least one of a pedestrian and a vehicle;
the vehicle operation information includes an engine speed of the crane and a current vehicle speed.
6. The safety control system according to claim 1,
the control device is further used for receiving a plurality of pieces of video image information and training the image recognition model by using the plurality of pieces of video image information.
7. A crane, comprising: the safety control system of any one of claims 1 to 6.
8. A safety control method for a crane, comprising:
receiving video image information of a blind area of the crane from a video acquisition device;
detecting each video frame image in the video image information by using an image identification model to judge whether a target obstacle exists in the blind area;
measuring a distance value between the crane and a target obstacle under the condition that the target obstacle exists in the blind area; and
and comparing the distance value with a preset safety threshold value, controlling the crane to reduce the speed of the crane under the condition that the distance value is less than or equal to the safety threshold value, executing alarm, displaying vehicle running information of the crane and the video image information of the blind area by utilizing a display in a split screen manner, and marking the target obstacle and the distance value in the video image information.
9. The safety control method according to claim 8, further comprising:
displaying the vehicle operation information separately using the display in a case where the target obstacle does not exist in the blind area or in a case where the distance value is greater than the safety threshold.
10. The safety control method according to claim 9, further comprising:
and responding to a switching operation, and switching the display from the mode of independently displaying the vehicle running information to the mode of independently displaying the video image information.
11. The safety control method according to claim 8, further comprising:
and receiving a plurality of pieces of video image information, and training the image recognition model by using the plurality of pieces of video image information.
12. A control device, comprising:
the receiving unit is used for receiving video image information of a blind area of the crane from the video acquisition device;
the judging unit is used for detecting each video frame image in the video image information by using an image recognition model so as to judge whether a target obstacle exists in the blind area;
the measuring unit is used for measuring a distance value between the crane and a target obstacle under the condition that the target obstacle exists in the blind area; and
and the control unit is used for comparing the distance value with a preset safety threshold value, controlling the crane to reduce the speed and execute alarm under the condition that the distance value is less than or equal to the safety threshold value, displaying the vehicle running information of the crane and the video image information of the blind area by utilizing a display in a split screen manner, and marking the target obstacle and the distance value in the video image information.
13. A control device, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the method of any of claims 8 to 11 based on instructions stored in the memory.
14. A computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the method of any one of claims 8 to 11.
CN202110466311.7A 2021-04-28 2021-04-28 Safety control system, method, control device and crane Pending CN113184704A (en)

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