CN114604760B - Intelligent tower crane structure with underneath cockpit and control method thereof - Google Patents
Intelligent tower crane structure with underneath cockpit and control method thereof Download PDFInfo
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- CN114604760B CN114604760B CN202210077033.0A CN202210077033A CN114604760B CN 114604760 B CN114604760 B CN 114604760B CN 202210077033 A CN202210077033 A CN 202210077033A CN 114604760 B CN114604760 B CN 114604760B
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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
- B66C13/18—Control systems or 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
- 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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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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
- 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
- B66C23/62—Constructional features or details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The embodiment of the application provides an intelligent tower crane structure with a lower cockpit and a control method thereof. The method comprises the following steps: under the manual control mode, panoramic video displays perform panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulate panoramic views at the junction of the tower body and the main beam, and send the panoramic views to the panoramic video displays in the cockpit; the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display according to the lifting hook height information so as to carry out an aerial operation mode, or closes the panoramic video display to enter a lower operation mode; under the unmanned mode, the millimeter wave radar is started, and the crane controller performs intelligent path planning on the travel route of the crane and/or the hoisting path of the lifting hook according to the real-time signal of the millimeter wave radar. According to the method and the device, the manual control mode and the unmanned mode can be switched according to whether a driver's cabin is occupied or not, and the high-low visual angle can be intelligently and flexibly switched.
Description
Technical Field
The application relates to the technical field of intelligent tower cranes, in particular to an intelligent tower crane structure with a underneath cockpit and a control method thereof.
Background
At present, a tower crane is basically operated by personnel at the junction of a tower body and a main beam on the tower crane. For the tower crane industry, the current development direction is unmanned tower crane and intelligent tower crane, so that a plurality of technical problems are encountered in the process of industrial upgrading.
The existing control tower cranes are divided into two types, one type is a tower crane with a cab arranged on the upper part, the cab is positioned near the junction of a main beam and a tower body, a control person can only observe the tower at high altitude, and when a material level is on the ground, the operator often cannot see clearly because of being far away from the ground, so that the operation accuracy is affected; the other is a tower crane with a lower cockpit, the cockpit is positioned near the ground of the tower body, a control person can only observe the lower air or the ground, when the object level is at the upper air, the operator often influences the accuracy of the operation due to the unclear vision from the upper air, and the operation is inaccurate or even wrong.
In addition, the existing tower cranes under the cockpit are all manned tower cranes, no unmanned tower crane exists, and no tower crane under the cockpit with two compatible modes exists.
Disclosure of Invention
In view of this, the purpose of this application is to propose an intelligent tower crane structure of cockpit lower and control method thereof, and this application can the pertinence solve current tower crane high-low altitude control and can not be compatible unmanned problem.
Based on the above purpose, the application provides an intelligent tower crane control method for a cockpit lower arrangement, which comprises the following steps:
a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main beam and are used for collecting videos in different directions at the junction of the tower body and the main beam and sending the videos to a panoramic video display in a lower cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
the pressure sensor senses the pressure value of the cockpit seat, and when the pressure value is in a preset range, the control mode of the tower crane controller is switched to a manual control mode; when the pressure value is not in the preset range, switching a control mode of the tower crane controller into an unmanned mode;
under the manual control mode, the panoramic video display performs panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam, and sends the panoramic view to the panoramic video display in the cockpit;
the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out an overhead operation mode according to the lifting hook height information, or closes the panoramic video display to enter a lower operation mode;
and under the unmanned mode, starting the millimeter wave radar, and performing intelligent path planning on the traveling route of the tower crane and/or the lifting path of the lifting hook by the tower crane controller according to the real-time signal of the millimeter wave radar.
Further, install a plurality of cameras respectively in a plurality of directions of body of the tower and main beam juncture for gather the video of body of the tower and main beam juncture different directions and send the panoramic video display in the underlying cockpit, include:
at least six cameras are arranged at the junction of the tower body of the tower crane and the main beam, and the six cameras are respectively aligned to the front, back, left, right, upper and lower six directions at the junction of the tower body and the main beam;
the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
Further, the panorama video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panorama view of body of the tower and main beam juncture, send the panorama video display in the cockpit, include:
calculating an image transformation matrix through six images of videos of six cameras at the position with the depth of infinity, and obtaining a reference plane image transformation matrix with the depth of infinity;
calibrating other depth information values into a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein the depth information value refers to the distance of the object to the imaging plane;
performing geometric transformation on six images of six videos at the position with infinite depth by using the reference plane image transformation matrix to obtain a composite image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of six videos, and obtaining a composite image as an overlapping area panoramic image according to the depth grade corresponding to the current depth information values and a corresponding planar image transformation matrix;
performing mixed rendering on the overlapped area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
Further, the panorama video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panorama view of body of the tower and main beam juncture, send the panorama video display in the cockpit, include:
carrying out image enhancement processing on video images in different directions at the junction of the tower body and the main beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image stitching according to a preset lookup table file and video images in different directions at the junction of the tower body and the main beam after image enhancement; according to the lookup table file, a coordinate system is established by taking a camera image in front of the junction of the tower body and the main beam as a reference, and camera images in other directions are transformed into the coordinate system to finish image stitching; the right front of the junction of the tower body and the main beam means that the main beam points to the direction of the lifting hook;
fusing the image splicing joints of the adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main beam and a preset fusion algorithm;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
Further, the panorama video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panorama view of body of the tower and main beam juncture, send the panorama video display in the cockpit, include:
(1) Initializing a system, wherein the system uses the same configuration line to simultaneously configure each of a plurality of cameras; (2) Respectively reading video data of each camera by using the FPGA in a time period; (3) performing image distortion correction; (4) performing image registration and stitching through an FPGA; (5) performing image fusion; (6) And sending the panoramic spliced video to a panoramic video display in the cockpit.
Further, the height sensor sends the height information of the lifting hook to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display according to the height information of the lifting hook to perform a high-altitude operation mode, or closes the panoramic video display to enter a lower operation mode, and the method comprises the following steps:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the lifting hook height information;
according to the current tower crane task, the tower crane controller prompts a user to select to watch the panoramic video display for a high-altitude operation mode;
and according to the condition that the current tower crane task is suitable for ground observation, the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode.
Further, under the unmanned mode, the millimeter wave radar is started, and the crane controller performs intelligent path planning on the travelling route of the crane and/or the lifting path of the lifting hook according to the real-time signal of the millimeter wave radar, including:
acquiring a starting point and an ending point of a traveling route of a tower crane and/or a starting point and an ending point of a hoisting path of a lifting hook based on a construction site map according to a preset tower crane task;
acquiring a shortest path between the starting point and the end point based on the starting point and the end point;
and scanning a shortest path between the starting point and the end point by the millimeter wave radar, executing a hoisting task according to the shortest path if no obstacle exists on the shortest path, and avoiding the obstacle according to an obstacle avoidance algorithm if the obstacle exists on the shortest path.
Based on above-mentioned purpose, this application still provides an intelligent tower crane structure of cockpit under put, includes:
the sensor module is used for respectively installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main beam, and is used for acquiring videos in different directions at the junction of the tower body and the main beam and sending the videos to a panoramic video display in the underneath cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
the mode switching module is used for sensing the pressure value of the cockpit seat by the pressure sensor, and switching the control mode of the tower crane controller into a manual control mode when the pressure value is in a preset range; when the pressure value is not in the preset range, switching a control mode of the tower crane controller into an unmanned mode;
the panoramic stitching module is used for performing panoramic stitching on the panoramic video display according to videos in different directions at the junction of the tower body and the main beam in the manual control mode, simulating a panoramic view at the junction of the tower body and the main beam, and sending the panoramic view to the panoramic video display in the cockpit;
the mode selection module is used for sending the lifting hook height information to the tower crane controller by the height sensor, and prompting a user to select to watch the panoramic video display according to the lifting hook height information so as to carry out an aerial operation mode, or closing the panoramic video display to enter a lower operation mode;
and the unmanned module is used for starting the millimeter wave radar in an unmanned mode, and the tower crane controller performs intelligent path planning on the traveling route of the tower crane and/or the lifting path of the lifting hook according to the real-time signal of the millimeter wave radar.
Overall, the advantages of the present application and the experience brought to the user are:
according to the intelligent control system and the intelligent control method, the manual control mode and the unmanned mode can be switched according to whether a cockpit is someone or not, and an operator in a central control room of the intelligent tower crane arranged under the cockpit can be intelligently and flexibly switched according to the field construction requirement in a field panoramic video acquisition mode, so that the intelligent control function and the control effect of the tower crane are greatly enriched.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application.
Fig. 2 shows a flow chart of a method of intelligent tower crane control under a cockpit according to an embodiment of the present application.
Fig. 3 shows a structural view of an intelligent tower crane structure with a cabin under the cabin according to an embodiment of the present application.
FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 shows a schematic diagram of the system architecture principle of the present application. In embodiments of the present application, the apparatus includes an electronically controlled tower crane (including a tower body and main beam junction), at least 2 cameras, a height sensor, a panoramic video display, a pressure sensor, a tower crane controller, and the like. The electric controlled tower crane at least comprises a tower crane main body, a main beam, a hook, a clamp and a lower cockpit, wherein the lower cockpit comprises a tower crane controller which can receive a tower crane operation instruction and execute corresponding operation to control the tower crane to execute corresponding tasks.
Under the manual control mode, panoramic video displays perform panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulate panoramic views at the junction of the tower body and the main beam, and send the panoramic views to the panoramic video displays in the cockpit; the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display according to the lifting hook height information so as to carry out an aerial operation mode, or closes the panoramic video display to enter a lower operation mode; under the unmanned mode, the millimeter wave radar is started, and the crane controller performs intelligent path planning on the travel route of the crane and/or the hoisting path of the lifting hook according to the real-time signal of the millimeter wave radar.
Fig. 2 shows a flow chart of a method of intelligent tower crane control under a cockpit according to an embodiment of the present application. As shown in fig. 2, the control method of the intelligent tower crane under the cockpit comprises the following steps:
step 101: a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main beam and are used for collecting videos in different directions at the junction of the tower body and the main beam and sending the videos to a panoramic video display in a lower cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
in the embodiment, at least six cameras are arranged at the junction of the tower body of the tower crane and the main beam, and the six cameras are respectively aligned to the front, back, left, right, upper and lower six directions at the junction of the tower body and the main beam;
the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
In order to enable remote operation of an operator to be capable of being compared with a real scene, the method and the device for simulating the video scene of the high-altitude construction environment by collecting video images in multiple directions at the junction of the tower body and the main beam of the electric controlled tower crane and performing panoramic splicing can enable the user to generate an immersive feeling, and therefore tower crane construction can be performed more accurately.
In this embodiment, since the real tower crane includes multiple types, for the mobile tower crane, the electronically controlled tower crane may further include a transport vehicle, where the transport vehicle may carry the tower crane main body model and perform corresponding movement according to the instruction of the program control computer, so as to perform a real tower crane task.
Step 102: the pressure sensor senses the pressure value of the cockpit seat, and when the pressure value is in a preset range, the control mode of the tower crane controller is switched to a manual control mode; and when the pressure value is not in the preset range, switching the control mode of the tower crane controller into an unmanned mode.
In this embodiment, the pressure sensor may be a ceramic pressure sensor, although other types of pressure sensors may be implemented. By taking the pressure situation of the cabin seat, for example, a typical person weighing between 80 and 250 jin, it can be considered that a person is sitting on the cabin seat if the pressure value is in this interval. When someone is operating the table, the control system can be switched to manual control, and the person can operate the tower crane. When the operation desk is unattended, the operation desk can be switched to an unmanned automatic control mode in time to continue to execute the construction task of the tower crane, so that the semi-automatic control of the transmission of the tower crane is realized, no matter someone or no person is on the operation desk, the operation of the tower crane can be executed, and the construction efficiency is improved.
Step 103: and under the manual control mode, the panoramic video display performs panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulates the panoramic view at the junction of the tower body and the main beam, and sends the panoramic view to the panoramic video display in the cockpit.
In the invention, three panoramic video stitching algorithms are designed to stitch multi-angle videos of a cab, so that 360-degree panoramic experience is generated.
The first panorama stitching algorithm comprises:
calculating an image transformation matrix through six images of videos of six cameras at the position with the depth of infinity, and obtaining a reference plane image transformation matrix with the depth of infinity;
calibrating other depth information values into a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein the depth information value refers to the distance of the object to the imaging plane;
performing geometric transformation on six images of six videos at the position with infinite depth by using the reference plane image transformation matrix to obtain a composite image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of six videos, and obtaining a composite image as an overlapping area panoramic image according to the depth grade corresponding to the current depth information values and a corresponding planar image transformation matrix;
performing mixed rendering on the overlapped area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
The second panorama stitching algorithm comprises:
carrying out image enhancement processing on video images in different directions at the junction of the tower body and the main beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image stitching according to a preset lookup table file and video images in different directions at the junction of the tower body and the main beam after image enhancement; according to the lookup table file, a coordinate system is established by taking a camera image in front of the junction of the tower body and the main beam as a reference, and camera images in other directions are transformed into the coordinate system to finish image stitching; the right front of the junction of the tower body and the main beam means that the main beam points to the direction of the lifting hook;
fusing the image splicing joints of the adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main beam and a preset fusion algorithm;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
The third panorama stitching algorithm comprises: (1) Initializing a system, wherein the system uses the same configuration line to simultaneously configure each of a plurality of cameras; (2) Respectively reading video data of each camera by using the FPGA in a time period; (3) performing image distortion correction; (4) performing image registration and stitching through an FPGA; (5) performing image fusion; (6) And sending the panoramic spliced video to a panoramic video display in the cockpit.
The three panoramic stitching algorithms can be selected to be implemented according to specific conditions and complexity of a construction site and considering implementation cost of hardware and software.
Step 104: the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display for an aerial operation mode according to the lifting hook height information, or closes the panoramic video display to enter a lower operation mode, and the method comprises the following steps:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the lifting hook height information; the searching is a table searching which is arranged according to the industry high-low altitude operation guide or industry general example, for example, a prefabricated table which is designed according to the height convention that various tower crane tasks such as steel, timber, cement and the like are suitable for high altitude or ground observation operation is firstly stored in a database for searching, for example, the following table:
according to the current tower crane task, the tower crane controller prompts a user to select to watch the panoramic video display for a high-altitude operation mode; the panoramic video display may prompt the driver in the form of voice, video prompts on a display screen, etc., and provide modes such as dialog boxes or buttons for the driver to select yes or no or provide option clicks, etc. Of course, the user can choose to switch to the high-altitude operation mode, or choose not to switch to the high-altitude operation mode according to the self situation and the actual site construction, and continue to adopt the lower operation mode. Therefore, a driver can flexibly select and control, and the intelligent control system is high in autonomy and intelligent.
And according to the condition that the current tower crane task is suitable for ground observation, the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode. Of course, the user can choose to switch to the lower operation mode, or choose not to switch to the lower operation mode according to the self situation and the actual site construction, and continue to adopt the high-altitude operation mode. Therefore, a driver can flexibly select and control, and the intelligent control system is high in autonomy and intelligent.
For example, an operator can directly watch and operate the high-altitude panoramic construction process of the tower crane through the panoramic video display, and can generate an immersive high-altitude operation feeling.
Step 105: under unmanned mode, start millimeter wave radar, the tower crane controller carries out intelligent route planning to the route of traveling of tower crane, and/or the hoist and mount route of lifting hook according to the real-time signal of millimeter wave radar, includes:
acquiring a starting point and an ending point of a traveling route of a tower crane and/or a starting point and an ending point of a hoisting path of a lifting hook based on a construction site map according to a preset tower crane task;
acquiring a shortest path between the starting point and the end point based on the starting point and the end point;
and scanning a shortest path between the starting point and the end point by the millimeter wave radar, executing a hoisting task according to the shortest path if no obstacle exists on the shortest path, and avoiding the obstacle according to an obstacle avoidance algorithm if the obstacle exists on the shortest path.
The obstacle avoidance algorithm may be a common obstacle avoidance algorithm in the field of unmanned and automatic driving at present, and will not be described here.
According to the intelligent control system and the intelligent control method, the manual control mode and the unmanned mode can be switched according to whether a cockpit is someone or not, and an operator in a central control room of the intelligent tower crane arranged under the cockpit can be intelligently and flexibly switched according to the field construction requirement in a field panoramic video acquisition mode, so that the intelligent control function and the control effect of the tower crane are greatly enriched.
An embodiment of the application provides an intelligent tower crane structure with a underneath cockpit, where the system is configured to execute the intelligent tower crane control method with the underneath cockpit according to the foregoing embodiment, as shown in fig. 3, and the system includes:
the sensor module 501 is used for respectively installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main beam, and is used for acquiring videos in different directions at the junction of the tower body and the main beam and sending the videos to the panoramic video display in the underneath cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
the mode switching module 502 is configured to sense a pressure value of the cockpit seat by using the pressure sensor, and switch a control mode of the tower crane controller to a manual control mode when the pressure value is within a preset range; when the pressure value is not in the preset range, switching a control mode of the tower crane controller into an unmanned mode;
the panorama stitching module 503 is configured to perform panorama stitching according to videos in different directions at the junction of the tower body and the main beam in the manual control mode, simulate a panoramic view at the junction of the tower body and the main beam, and send the panoramic view to a panoramic video display in the cockpit;
the mode selection module 504 is configured to send hook height information to the tower crane controller by using the height sensor, where the tower crane controller prompts a user to select to watch the panoramic video display to perform an aerial operation mode according to the hook height information, or close the panoramic video display to enter a lower operation mode;
the unmanned module 505 is configured to start the millimeter wave radar in an unmanned mode, and the tower crane controller performs intelligent path planning on a travel route of the tower crane and/or a lifting path of the lifting hook according to a real-time signal of the millimeter wave radar.
The intelligent tower crane structure with the underlying cockpit provided by the embodiment of the application and the intelligent tower crane control method with the underlying cockpit provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the application program stored by the intelligent tower crane structure with the underlying cockpit due to the same inventive concept.
The embodiment of the application also provides electronic equipment corresponding to the intelligent tower crane control method for the lower cabin provided by the embodiment, so as to execute the intelligent tower crane control method for the lower cabin. The embodiments of the present application are not limited.
Referring to fig. 4, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 4, the electronic device 2 includes: a processor 200, a memory 201, a bus 202 and a communication interface 203, the processor 200, the communication interface 203 and the memory 201 being connected by the bus 202; the memory 201 stores a computer program that can be run on the processor 200, and when the processor 200 runs the computer program, the intelligent tower crane control method provided by any one of the foregoing embodiments of the present application is executed.
The memory 201 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 203 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 200 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 200 or by instructions in the form of software. The processor 200 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 201, and the processor 200 reads the information in the memory 201, and in combination with its hardware, performs the steps of the above method.
The electronic equipment provided by the embodiment of the application and the intelligent tower crane control method provided by the embodiment of the application and arranged under the cockpit have the same beneficial effects as the method adopted, operated or realized by the electronic equipment and the intelligent tower crane control method provided by the embodiment of the application due to the same inventive concept.
The present embodiment further provides a computer readable storage medium corresponding to the intelligent tower crane control method under the cockpit provided in the foregoing embodiment, referring to fig. 5, the computer readable storage medium is shown as an optical disc 30, and a computer program (i.e. a program product) is stored on the computer readable storage medium, where the computer program when executed by a processor, performs the intelligent tower crane control method under the cockpit provided in any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application and the intelligent tower crane control method provided under the cockpit provided by the embodiment of the present application are the same inventive concept, and have the same beneficial effects as the method adopted, operated or implemented by the application program stored therein.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general-purpose systems may also be used with the teachings herein. The required structure for a construction of such a system is apparent from the description above. In addition, the present application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and the above description of specific languages is provided for disclosure of preferred embodiments of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the intention that: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Any combination of all features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or units of any method or apparatus so disclosed, may be used in combination, except insofar as at least some of such features and/or processes or units are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the present application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in a virtual machine creation system according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application may also be embodied as a device or system program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or substitutions within the technical scope of the present application, and these should be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The intelligent tower crane control method for the underneath of the cockpit is characterized by comprising the following steps of:
a plurality of cameras are respectively arranged in a plurality of directions at the junction of the tower body and the main beam and are used for collecting videos in different directions at the junction of the tower body and the main beam and sending the videos to a panoramic video display in a lower cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
the pressure sensor senses the pressure value of the cockpit seat, and when the pressure value is in a preset range, the control mode of the tower crane controller is switched to a manual control mode; when the pressure value is not in the preset range, switching a control mode of the tower crane controller into an unmanned mode;
under the manual control mode, the panoramic video display performs panoramic stitching according to videos in different directions at the junction of the tower body and the main beam, simulates a panoramic view at the junction of the tower body and the main beam, and sends the panoramic view to the panoramic video display in the cockpit;
the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display to carry out an overhead operation mode according to the lifting hook height information, or closes the panoramic video display to enter a lower operation mode;
and under the unmanned mode, starting the millimeter wave radar, and performing intelligent path planning on the traveling route of the tower crane and/or the lifting path of the lifting hook by the tower crane controller according to the real-time signal of the millimeter wave radar.
2. The method of claim 1, wherein the step of determining the position of the substrate comprises,
install a plurality of cameras respectively in a plurality of directions of body of the tower and main beam juncture for gather the video of body of the tower and main beam juncture different directions and send the panoramic video display in the underlying cockpit, include:
at least six cameras are arranged at the junction of the tower body of the tower crane and the main beam, and the six cameras are respectively aligned to the front, back, left, right, upper and lower six directions at the junction of the tower body and the main beam;
the six cameras collect the videos of the six directions and send the videos to the panoramic video display in a wired or wireless mode.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,
panoramic video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panoramic view of body of the tower and main beam juncture, send the panoramic video display in the cockpit, include:
calculating an image transformation matrix through six images of videos of six cameras at the position with the depth of infinity, and obtaining a reference plane image transformation matrix with the depth of infinity;
calibrating other depth information values into a plurality of different depth levels, and obtaining a planar image transformation matrix at the depth information value corresponding to each depth level; wherein the depth information value refers to the distance of the object to the imaging plane;
performing geometric transformation on six images of six videos at the position with infinite depth by using the reference plane image transformation matrix to obtain a composite image serving as a reference panoramic image;
calculating current depth information values of overlapping areas of six videos, and obtaining a composite image as an overlapping area panoramic image according to the depth grade corresponding to the current depth information values and a corresponding planar image transformation matrix;
performing mixed rendering on the overlapped area panoramic image and the reference panoramic image to form a current panoramic video image;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
4. The method of claim 2, wherein the step of determining the position of the substrate comprises,
panoramic video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panoramic view of body of the tower and main beam juncture, send the panoramic video display in the cockpit, include:
carrying out image enhancement processing on video images in different directions at the junction of the tower body and the main beam by adopting homomorphic filtering, histogram equalization and least square filtering algorithms;
performing image stitching according to a preset lookup table file and video images in different directions at the junction of the tower body and the main beam after image enhancement; according to the lookup table file, a coordinate system is established by taking a camera image in front of the junction of the tower body and the main beam as a reference, and camera images in other directions are transformed into the coordinate system to finish image stitching; the right front of the junction of the tower body and the main beam means that the main beam points to the direction of the lifting hook;
fusing the image splicing joints of the adjacent cameras according to the spliced video images in different directions at the junction of the tower body and the main beam and a preset fusion algorithm;
and sending the panoramic spliced video to a panoramic video display in the cockpit.
5. The method of claim 2, wherein,
panoramic video display carries out panorama concatenation according to the video of body of the tower and main beam juncture different directions, simulate the panoramic view of body of the tower and main beam juncture, send the panoramic video display in the cockpit, include:
(1) Initializing a system, wherein the system uses the same configuration line to simultaneously configure each of a plurality of cameras; (2) Respectively reading video data of each camera by using the FPGA in a time period; (3) performing image distortion correction; (4) performing image registration and stitching through an FPGA; (5) performing image fusion; (6) And sending the panoramic spliced video to a panoramic video display in the cockpit.
6. The method according to any one of claims 3 to 5, wherein,
the height sensor sends the lifting hook height information to the tower crane controller, and the tower crane controller prompts a user to select to watch the panoramic video display according to the lifting hook height information to carry out an aerial operation mode, or closes the panoramic video display to enter a lower operation mode, and the method comprises the following steps:
the height sensor sends the height information of the lifting hook to the tower crane controller;
the tower crane controller searches whether the current tower crane task is suitable for high-altitude observation or ground observation according to the lifting hook height information;
according to the current tower crane task, the tower crane controller prompts a user to select to watch the panoramic video display for a high-altitude operation mode;
and according to the condition that the current tower crane task is suitable for ground observation, the tower crane controller closes the panoramic video display and prompts a user to enter a lower operation mode.
7. The method of claim 6, wherein the step of providing the first layer comprises,
under unmanned mode, start millimeter wave radar, the tower crane controller carries out intelligent route planning to the route of traveling of tower crane, and/or the hoist path of lifting hook according to the real-time signal of millimeter wave radar, includes:
acquiring a starting point and an ending point of a traveling route of a tower crane and/or a starting point and an ending point of a hoisting path of a lifting hook based on a construction site map according to a preset tower crane task;
acquiring a shortest path between the starting point and the end point based on the starting point and the end point;
and scanning a shortest path between the starting point and the end point by the millimeter wave radar, executing a hoisting task according to the shortest path if no obstacle exists on the shortest path, and avoiding the obstacle according to an obstacle avoidance algorithm if the obstacle exists on the shortest path.
8. An intelligent tower crane structure under cockpit, its characterized in that includes:
the sensor module is used for respectively installing a plurality of cameras in a plurality of directions at the junction of the tower body and the main beam, and is used for acquiring videos in different directions at the junction of the tower body and the main beam and sending the videos to a panoramic video display in the underneath cockpit; the millimeter wave radar is arranged on the main beam, the pressure sensor is arranged under the cockpit seat, and the height sensor is arranged on the lifting hook;
the mode switching module is used for sensing the pressure value of the cockpit seat by the pressure sensor, and switching the control mode of the tower crane controller into a manual control mode when the pressure value is in a preset range; when the pressure value is not in the preset range, switching a control mode of the tower crane controller into an unmanned mode;
the panoramic stitching module is used for performing panoramic stitching on the panoramic video display according to videos in different directions at the junction of the tower body and the main beam in the manual control mode, simulating a panoramic view at the junction of the tower body and the main beam, and sending the panoramic view to the panoramic video display in the cockpit;
the mode selection module is used for sending the lifting hook height information to the tower crane controller by the height sensor, and prompting a user to select to watch the panoramic video display according to the lifting hook height information so as to carry out an aerial operation mode, or closing the panoramic video display to enter a lower operation mode;
and the unmanned module is used for starting the millimeter wave radar in an unmanned mode, and the tower crane controller performs intelligent path planning on the traveling route of the tower crane and/or the lifting path of the lifting hook according to the real-time signal of the millimeter wave radar.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of any one of claims 1-7.
10. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 1-7.
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