CN114753256A - Steel beam hoisting monitoring system and method based on machine vision - Google Patents
Steel beam hoisting monitoring system and method based on machine vision Download PDFInfo
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- CN114753256A CN114753256A CN202210264721.8A CN202210264721A CN114753256A CN 114753256 A CN114753256 A CN 114753256A CN 202210264721 A CN202210264721 A CN 202210264721A CN 114753256 A CN114753256 A CN 114753256A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D21/00—Methods or apparatus specially adapted for erecting or assembling bridges
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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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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a machine vision-based steel beam hoisting monitoring system.A bridge floor crane is connected to a beam section to be erected through a steel wire hoisting rope; the industrial camera is fixed on the bridge floor crane, so that a lens of the industrial camera is vertically downward; the network switch is respectively in communication connection with the industrial camera, the intelligent computing terminal and the wireless network bridge; the square reference targets are positioned on two sides of an upper bridge deck of the erected beam section; the square monitoring targets are located on two sides of an upper bridge floor at the end of a beam to be erected, and the square monitoring targets correspond to the square reference targets one by one. The system has the characteristics of simple structure, strong engineering field practicability of the monitoring method, high monitoring precision, low operation and maintenance cost, unmanned real-time monitoring, wireless data transmission, intelligent auxiliary control and the like.
Description
Technical Field
The invention relates to the field of bridge steel beam hoisting monitoring methods. More particularly, the invention relates to a steel beam hoisting monitoring system and method based on machine vision.
Background
In the existing bridge and girder construction, a cantilever assembling method is generally adopted for hoisting, and along with the increase of bridge span and the development of scientific technology, the girder construction space is more complicated, and the hoisting difficulty is more and more large.
According to the traditional steel beam hoisting monitoring method, the posture of the beam is adjusted in advance before the beam is hoisted, the beam is kept horizontal and has no corner, a tension sensor is arranged at a crane inhaul cable to obtain tension data, whether the steel beam deflects or not is judged according to the symmetry of force, and the displacement and corner conditions of the beam are observed by means of the naked eyes of a commander in the hoisting process. The monitoring method has large error, high requirement on the service level of commanders, strong artificial subjective uncertainty and large influence by environmental factors.
The emerging displacement monitoring technology based on machine vision has the advantages of non-contact, long distance, high precision, time and labor saving, multipoint monitoring and the like, is widely applied to bridge deflection and displacement monitoring, but the existing method can only measure the multipoint in-plane relative displacement of a bridge and cannot determine the relative relation of the space positions of two beam sections.
Disclosure of Invention
To achieve these objects and other advantages and in accordance with the purpose of the invention, as embodied and broadly described herein, a machine vision-based steel beam hoisting monitoring system for monitoring a beam section to be erected and an erected beam section for facilitating splicing of the two is provided, which includes an industrial camera, an intelligent computing terminal, a wireless bridge, a network switch, a square reference target, a square monitoring target, wherein,
the bridge deck crane is connected to the beam section to be erected through a steel wire lifting rope;
the industrial camera is fixed on the bridge deck crane, so that a lens of the industrial camera is vertically downward;
the network switch is respectively in communication connection with the industrial camera, the intelligent computing terminal and the wireless network bridge transmitting terminal;
the square reference targets are positioned on two sides of an upper bridge floor of the erected beam section;
the square monitoring targets are located on two sides of an upper bridge deck of the beam end to be erected, and the square monitoring targets correspond to the square reference targets one to one.
Preferably, the wireless bridge comprises a transmitting end and a receiving end, and the transmitting end and the receiving end are used in pairs to provide a network for the industrial camera and the intelligent computing terminal.
Preferably, the number of the square reference targets is two, namely, a number 1 square reference target and a number 2 square reference target which are respectively arranged on two sides of the bridge floor of the erected beam section, and the image center connecting line of the number 1 square reference target and the number 2 square reference target is L3.
Preferably, the number of the square monitoring targets is two, namely a number 1 square monitoring target and a number 2 square monitoring target which are respectively arranged on two sides of a bridge floor of a beam section to be erected, and the image center connecting line of the number 1 square monitoring target and the number 2 square monitoring target is L4;
the two square monitoring targets correspond to the two square reference targets one by one, the image center connecting line of the No. 1 square reference target and the No. 1 square monitoring target is L1, and the image center connecting line of the No. 2 square reference target and the No. 2 square monitoring target is L2.
Preferably, the number 1 square reference target, the number 2 square reference target, the number 1 square monitoring target and the number 2 square monitoring target are squares, the four sides of which are B1, B2, B3 and B4, and the side lengths of the four sides are all B;
wherein the side B1 of square monitoring target No. 1 and the side B1 of square monitoring target No. 2 are both parallel to the X-axis.
In another aspect, a preferred embodiment of the present invention provides a method for monitoring hoisting of a steel beam based on machine vision, comprising the following steps:
s1, using a bridge deck crane to hoist the beam section to be erected to the position which is approximately as high as the erected beam section;
taking the longitudinal bridge direction as an X axis, the elevation direction as a Y axis and the transverse bridge direction as a Z axis, wherein the X axis, the Y axis and the Z axis are intersected at a circular point O, and the plane XOZ is horizontal;
s2, monitoring the rotation angle around the X axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the X axis as an axis until the sizes of the side B1 of the No. 1 square monitoring target and the side B1 of the No. 2 square monitoring target in the industrial camera are equal;
s3: angle of rotation monitoring about Y-axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the Y axis as an axis until an image center connecting line L4 of the No. 1 square monitoring target and the No. 2 square monitoring target is parallel to an image center connecting line L3 of the No. 1 square reference target and the No. 2 square reference target;
s4 monitoring the rotation angle around Z axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the Z axis as an axis until the edges of the No. 1 square monitoring target, the No. 2 square monitoring target dB1, the B2, the B3 and the B4 in the industrial camera are uniform and equal to a preset value;
s5, monitoring displacement around Y axis
The intelligent computing terminal calculates the relative height difference between the beam section to be erected and the erected beam section in real time, and sends a hoisting instruction to control the bridge deck crane to move the beam section to be erected along the Y-axis direction until the relative height difference between the beam section to be erected and the erected beam section is 0;
s6, monitoring the displacement in the Z direction
The intelligent computing terminal controls the bridge crane to move the beam section to be erected along the Z-axis direction until a line L1 is perpendicular to L3 and L2 is perpendicular to L3;
s7, monitoring displacement in X direction
And the intelligent computing terminal controls the bridge crane to adjust the beam section to be erected to move along the X-axis direction until the beam section to be erected and the erected beam section are close to each other, and splicing is completed.
Preferably, the S3: monitoring the rotation angle around the Y axis, specifically comprising the following steps:
and the intelligent computing terminal monitors whether the L3 and the L4 are parallel or not in real time, and if the L3 and the L4 are not parallel, the intelligent computing terminal controls the bridge deck crane to move the beam section to be erected along the Y-axis direction until the L4 is parallel to the L3.
The invention at least comprises the following beneficial effects:
1. the steel beam hoisting monitoring method based on machine vision is simple in system structure, strong in practicability in engineering site, high in monitoring precision, low in operation and maintenance cost, and has the characteristics of unmanned real-time monitoring, wireless data transmission, intelligent auxiliary control and the like.
2. The invention provides a machine vision-based steel beam hoisting monitoring method, which applies a machine vision technology to a bridge and steel beam erection project, collects and transmits target images to an intelligent computing terminal through an industrial camera, the intelligent computing terminal identifies and processes the received target images, calculates the space attitude of a beam end to be erected and the relative distance between the erected beam end and the beam end to be erected, uploads the calculation results to a cloud database, and sends a hoisting beam control command for a bridge floor crane operator to refer.
3. According to the steel beam hoisting monitoring method based on machine vision, technicians can download data from the database at any place outside the site to know and master the site hoisting condition.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a steel beam hoisting monitoring system based on machine vision.
Figure 2 is a top view of the erected beam section and beam end to be erected of the present invention.
Fig. 3 is a labeled diagram of a square reference target and a square monitoring target according to the present invention.
1. An industrial camera, 2, an intelligent computing terminal, 3, a wireless bridge, 4, a network switch, 5, a square reference target, 6, a square monitoring target, 7, a bridge deck crane, 8, a beam section to be erected, 9, a beam end to be erected,
5-1, 5-2,
no. 6-1, No. 1 square monitoring target, No. 6-2, No. 2 square monitoring target,
the image center connecting lines of L1, 5-1 and 6-1, the image center connecting lines of L2, 5-2 and 6-2, the image center connecting lines of L3, 5-1 and 5-2, and the image center connecting lines of L4, 6-1 and 6-2.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments described below are by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
As shown in fig. 1 to 3, in one aspect of the present invention, a steel beam hoisting monitoring system based on machine vision is provided to monitor a beam section to be erected and an erected beam section 8, which are conveniently spliced, and includes an industrial camera 1, an intelligent computing terminal 2, a wireless bridge 3, a network switch 4, a square reference target 5, and a square monitoring target 6,
the bridge floor crane 7 is connected with a beam section to be erected through a steel wire lifting rope;
the industrial camera 1 is fixed on a bridge deck crane 7, and a lens of the industrial camera is vertically downward;
the network switch 4 is respectively in communication connection with the industrial camera 1, the intelligent computing terminal 2 and the transmitting terminal of the wireless network bridge 3;
the square reference targets are positioned on two sides of the upper bridge floor of the erected beam section 8;
the square monitoring targets are located on two sides of an upper bridge floor of the beam end 9 to be erected, and the square monitoring targets correspond to the square reference targets one to one.
Preferably, the wireless bridge 3 includes a transmitting end and a receiving end, and the transmitting end and the receiving end are used in pairs to provide a network for the industrial camera 1 and the intelligent computing terminal 2.
The number of the square reference targets is two, namely a number 1 square reference target 5-1 and a number 2 square reference target 5-2 which are respectively arranged on two sides of a bridge floor of the erected beam section 8, and the image center connecting line of the number 1 square reference target 5-1 and the number 2 square reference target 5-2 is L3.
The number of the square monitoring targets is two, namely a No. 1 square monitoring target 6-1 and a No. 2 square monitoring target 6-2 which are respectively arranged on two sides of a bridge floor of a beam section to be erected, and the image center connecting line of the No. 1 square monitoring target 6-1 and the No. 2 square monitoring target 6-2 is L4;
the two square monitoring targets correspond to the two square reference targets one by one, the image center connecting line of the No. 1 square reference target 5-1 and the No. 1 square monitoring target 6-1 is L1, and the image center connecting line of the No. 2 square reference target 5-2 and the No. 2 square monitoring target 6-2 is L2.
The number 1 square reference target 5-1, the number 2 square reference target 5-2, the number 1 square monitoring target 6-1 and the number 2 square monitoring target 6-2 are squares, the four sides of the squares are B1, B2, B3 and B4, and the side lengths of the four sides are B. Wherein the side B1 of square monitoring target No. 1 and the side B1 of square monitoring target No. 2 are both parallel to the X-axis.
In another aspect, another embodiment of the present invention provides a method for monitoring hoisting of a steel beam based on machine vision, including the following steps:
s1, using the bridge deck crane 7 to hoist the beam section to be erected to the position which is approximately the height of the erected beam section 8;
taking the longitudinal bridge direction as an X axis, the elevation direction as a Y axis and the transverse bridge direction as a Z axis, wherein the X axis, the Y axis and the Z axis are intersected at a circular point O, and the plane XOZ is horizontal;
the method comprises the steps that an industrial camera lens faces downwards vertically, after videos and photos are shot, video and photo information is transmitted to an intelligent computing terminal, the intelligent computing terminal can know the number of pixels occupied by a square reference target No. 1 5-1, a square reference target No. 2 5-2, a square monitoring target No. 1-1 and a square monitoring target No. 2 6-2 in the photos after image processing is carried out, the corresponding relation between the pixels and the actual geometric dimension can be obtained, the distance between the industrial camera and a shot object can be determined by searching a calibration data relation line (the corresponding relation line of the shooting distance, the geometric dimension and the pixels of the industrial camera is calibrated in a laboratory in advance), and the distance between the industrial camera and the shot object can be determined, so that the distance between the industrial camera and the square reference target No. 1, the square reference target No. 2 5-2 and the square monitoring target No. 1, the distance between the industrial camera and the shot object can be determined, The distance of the No. 2 square monitoring target 6-2 can determine the relative elevation equidistance information of the erected beam section 8 and the beam end 9 to be erected.
S2, monitoring the rotation angle around the X axis
The intelligent computing terminal 2 controls the bridge crane 7 to adjust the beam section to be erected to rotate by taking the X axis as an axis until the sizes of the side B1 of the No. 1 square monitoring target 6-1 and the side B1 of the No. 2 square monitoring target 6-2 in the industrial camera are equal;
s3: angle of rotation monitoring about Y-axis
The intelligent computing terminal 2 controls the bridge crane 7 to adjust the beam sections to be erected to rotate by taking the Y axis as an axis until an image center connecting line L4 of the No. 1 square monitoring target 6-1 and the No. 2 square monitoring target 6-2 is parallel to an image center connecting line L3 of the No. 1 square reference target 5-1 and the No. 2 square reference target 5-2;
s4 monitoring the rotation angle around Z axis
The intelligent computing terminal 2 controls the bridge crane 7 to adjust the beam sections to be erected to rotate by taking the Z axis as an axis until the edges of the No. 1 square monitoring target 6-1, the No. 2 square monitoring target 6-2d B1, the B2, the B3 and the B4 in the industrial camera are consistent and equal to a preset value;
s5, monitoring displacement around Y axis
The intelligent computing terminal 2 calculates the relative height difference between the beam section to be erected and the erected beam section 8 in real time, the intelligent computing terminal 2 sends a hoisting instruction, and the bridge floor crane 7 is controlled to move the beam section to be erected along the Y-axis direction until the relative height difference between the beam section to be erected and the erected beam section 8 is 0;
s6, monitoring the displacement in the Z direction
The intelligent computing terminal 2 controls the bridge crane 7 to move the beam section to be erected along the Z-axis direction until a line L1 is perpendicular to L3, and L2 is perpendicular to L3;
s7, monitoring displacement in X direction
The intelligent computing terminal sends a hoisting instruction, controls the bridge crane 7 to adjust the beam section to be erected to move along the X-axis direction until the beam section to be erected and the erected beam section are close to each other, and completes splicing.
In step S1, step S2, and step S3, the beam segment 9 to be erected rotates around the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, and finally, the adjustment can be performed so that the beam segment 9 to be erected remains horizontal.
And S4, S5 and S6 respectively perform translation in the X-axis direction, the Y-axis direction and the Z-axis direction on the beam section 9 to be erected, and finally achieve splicing of the beam section 9 to be erected and the erected beam section 8.
Preferably, the S3: monitoring the rotation angle around the Y axis, specifically comprising the following steps:
the intelligent computing terminal 2 monitors whether the L3 and the L4 are parallel or not in real time, and if the L3 and the L4 are not parallel, the intelligent computing terminal 2 controls the bridge crane 7 to move the beam section to be erected along the Y-axis direction until the L4 is parallel to the L3.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (7)
1. A steel beam hoisting monitoring system based on machine vision is used for monitoring a beam section to be erected and an erected beam section and facilitating splicing of the two, and is characterized by comprising an industrial camera, an intelligent computing terminal, a wireless network bridge, a network switch, a square reference target and a square monitoring target, wherein,
the bridge deck crane is connected to the beam section to be erected through a steel wire lifting rope;
the industrial camera is fixed on the bridge deck crane, so that a lens of the industrial camera is vertically downward;
the network switch is respectively in communication connection with the industrial camera, the intelligent computing terminal and the wireless network bridge transmitting terminal;
the square reference targets are positioned on two sides of an upper bridge floor of the erected beam section;
the square monitoring targets are located on two sides of an upper bridge deck of the beam end to be erected, and the square monitoring targets correspond to the square reference targets one to one.
2. The machine vision-based steel beam hoisting monitoring system as claimed in claim 1, wherein the wireless network bridge comprises a transmitting end and a receiving end, and the transmitting end and the receiving end are used in pairs to provide a network for the industrial camera and the intelligent computing terminal.
3. The machine vision-based steel beam hoisting monitoring system as claimed in claim 1, wherein there are two square reference targets, 1 and 2, respectively, which are respectively disposed on two sides of the bridge floor of the erected beam segment, and the image center connecting line of the 1 and 2 square reference targets is L3.
4. The machine vision-based steel beam hoisting monitoring system as claimed in claim 3, wherein the number of the square monitoring targets is two, namely, a 1-number square monitoring target and a 2-number square monitoring target which are respectively arranged on two sides of a bridge floor of a beam section to be erected, and the image center connecting line of the 1-number square monitoring target and the 2-number square monitoring target is L4;
the two square monitoring targets correspond to the two square reference targets one by one, the image center connecting line of the No. 1 square reference target and the No. 1 square monitoring target is L1, and the image center connecting line of the No. 2 square reference target and the No. 2 square monitoring target is L2.
5. The machine vision-based steel beam hoisting monitoring system is characterized in that the No. 1 square reference target, the No. 2 square reference target, the No. 1 square monitoring target and the No. 2 square monitoring target are squares, the four sides of the squares are B1, B2, B3 and B4, and the side lengths of the four sides are B;
wherein the side B1 of square monitoring target No. 1 and the side B1 of square monitoring target No. 2 are both parallel to the X-axis.
6. A steel beam hoisting monitoring method based on machine vision is characterized by comprising the following steps:
s1, using a bridge deck crane to hoist the beam section to be erected to the position which is approximately as high as the erected beam section;
taking the longitudinal bridge direction as an X axis, the elevation direction as a Y axis and the transverse bridge direction as a Z axis, wherein the X axis, the Y axis and the Z axis are intersected at a circular point O, and the plane XOZ is horizontal;
s2, monitoring the rotation angle around the X axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the X axis as an axis until the sizes of the side B1 of the No. 1 square monitoring target and the side B1 of the No. 2 square monitoring target in the industrial camera are equal;
s3: angle of rotation monitoring about Y-axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the Y axis as an axis until an image center connecting line L4 of the No. 1 square monitoring target and the No. 2 square monitoring target is parallel to an image center connecting line L3 of the No. 1 square reference target and the No. 2 square reference target;
s4 monitoring the rotation angle around Z axis
The intelligent computing terminal controls the bridge crane to adjust the beam sections to be erected to rotate by taking the Z axis as an axis until the No. 1 square monitoring target, the No. 2 square monitoring target dB1 side, the B2 side, the B3 side and the B4 side in the industrial camera are uniform and equal to a preset value;
s5, monitoring displacement around Y axis
The intelligent computing terminal calculates the relative height difference between the beam section to be erected and the erected beam section in real time, and sends a hoisting instruction to control the bridge deck crane to move the beam section to be erected along the Y-axis direction until the relative height difference between the beam section to be erected and the erected beam section is 0;
s6, monitoring the displacement in the Z direction
The intelligent computing terminal controls the bridge crane to move the beam section to be erected along the Z-axis direction until a line L1 is perpendicular to L3 and L2 is perpendicular to L3;
s7, monitoring displacement in X direction
And the intelligent computing terminal controls the bridge deck crane to adjust the beam section to be erected to move along the X-axis direction until the beam section to be erected and the erected beam section are close to each other, and the splicing is completed.
7. The machine vision-based steel beam hoisting monitoring method of claim 4,
the step of S3: monitoring the rotation angle around the Y axis, specifically comprising the following steps:
and the intelligent computing terminal monitors whether the L3 and the L4 are parallel or not in real time, and if the L3 and the L4 are not parallel, the intelligent computing terminal controls the bridge deck crane to move the beam section to be erected along the Y-axis direction until the L4 is parallel to the L3.
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