CN114920145A - Steel beam hoisting monitoring system and method based on machine vision and tension sensor - Google Patents

Abstract

The invention discloses a steel beam hoisting monitoring system based on machine vision and a tension sensor.A bridge floor hoist is connected to a beam section to be erected through a steel wire hoisting rope, and the tension sensor is arranged on the steel wire hoisting 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; the square reference targets are positioned at two sides of the bridge deck of the erected beam section; the square monitoring targets are located on two sides of a bridge deck at the end of the beam to be erected, and the square monitoring targets correspond to the square reference targets one to 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

Steel beam hoisting monitoring system and method based on machine vision and tension sensor

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 and a tension sensor.

Background

In the existing bridge girder construction, a cantilever assembling method is generally adopted for hoisting, 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 does not have a 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 a commander through naked eyes 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, a preferred embodiment of the present invention provides a machine vision and tension sensor 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, including a tension sensor, 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 a beam section to be erected through a steel wire lifting rope, and the tension sensor is installed on the steel wire lifting 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 in communication connection with the industrial camera, the intelligent computing terminal and the wireless network bridge respectively;

the square reference targets are positioned on two sides of the bridge deck of the erected beam section;

the square monitoring targets are located on two sides of a bridge deck at the end of a beam to be erected, and the square monitoring targets correspond to the square reference targets one to one.

Preferably, there are four tension sensors, there are four steel wire lifting ropes, which are respectively a tension sensor No. 1, a tension sensor No. 2, a tension sensor No. 3, and a tension sensor No. 4, and the four steel wire lifting ropes are respectively and correspondingly installed on the steel wire lifting rope No. 1, the steel wire lifting rope No. 2, and the steel wire lifting rope No. 3, and the installation conditions are the same, and are used for monitoring the tension of the steel wire lifting rope.

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.

In another aspect, a preferred embodiment of the present invention further provides a method for monitoring hoisting of a steel beam based on machine vision and a tension sensor, comprising the following steps:

s1, using a bridge deck crane to lift the beam section to be erected to a position approximately equal to the height of 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

Monitoring the tension values of 4 tension sensors in real time, and controlling a bridge crane by the intelligent computing terminal to adjust the beam section to be erected to autorotate by taking the X axis as an axis until the tension values of the tension sensors 2 and 4 are equal, and the tension values of the tension sensors 1 and 3 are equal, namely the tension values of two pairs of steel wire lifting ropes are respectively equal;

s3: angle of rotation about Y-axis monitoring

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: z-axis rotation angle monitoring

The intelligent computing terminal controls the bridge deck crane to adjust the beam section to be erected to rotate by taking the Z shaft as an axis until the tension values of the tension sensor No. 1 and the tension sensor No. 2 are equal, the readings of the tension sensor No. 3 and the tension sensor No. 4 are equal, namely the tension of two pairs of steel wire lifting ropes are respectively equal;

s5, monitoring displacement in the Y direction from the height direction

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 of the transverse bridge 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 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 move the beam section to be erected 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.

7. The machine vision and tension sensor based steel beam hoisting monitoring method according to claim 6, wherein the S4: 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 system based on the machine vision and the tension sensor is simple in structure, the monitoring method is strong in engineering field practicability, high in monitoring precision and low in operation and maintenance cost, and the system has the characteristics of unmanned real-time monitoring, wireless data transmission, intelligent auxiliary control and the like.

2. The steel beam hoisting monitoring method based on the machine vision and the tension sensor combines the machine vision technology and the tension sensor to be applied to a bridge girder erection project, the beam end to be erected is leveled through the tension sensor, the target image is collected and transmitted to the intelligent computing terminal through the industrial camera, the intelligent computing terminal identifies and processes the received target image, the space attitude of the beam end to be erected and the relative distance between the erected beam end and the beam end to be erected are calculated, the calculation result is uploaded to the cloud database, and a hoisting beam control command is sent out to be referenced by bridge crane operators.

3. According to the steel beam hoisting monitoring method based on the machine vision and the tension sensor, technicians can download data from the database at any place outside a 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 and a tension sensor.

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 schematic view of the present invention using a tension sensor to monitor a beam section to be erected.

Description of reference numerals: 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 crane, 8, an erected beam section, 9, a beam end to be erected, 10 and a tension sensor,

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, the image center connecting lines of L4, 6-1 and 6-2,

no. 10-1 and No. 1 tension sensors, No. 10-2 and No. 2 tension sensors, No. 10-3 and No. 3 tension sensors, and No. 10-4 and No. 4 tension sensors.

Detailed Description

The present invention is further described in 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 underlying 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, a preferred embodiment of the present invention provides a steel beam hoisting monitoring system based on machine vision and tension sensor to monitor the beam section 9 to be erected and the erected beam section 8, which facilitates the splicing of the two, comprising a tension sensor 10, an industrial camera 1, an intelligent computing terminal 2, a wireless bridge 3, a network switch 4, a square reference target 5, a square monitoring target 6, wherein,

the bridge deck crane 7 is connected to a beam section 9 to be erected through a steel wire lifting rope, and the tension sensor 10 is installed on the steel wire lifting rope;

the industrial camera 1 is fixed on the bridge floor 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 wireless network bridge 3;

the square reference targets 5 are positioned at two sides of the bridge deck of the erected beam section 8;

the square monitoring targets are located on two sides of a bridge deck at which a beam end 9 is to be erected, and the square monitoring targets 6 and the square reference targets 5 are consistent in number and correspond to one another.

The four tension sensors 10 are provided, the four steel wire lifting ropes are respectively a No. 1 tension sensor 10-1, a No. 2 tension sensor 10-2, a No. 3 tension sensor 10-3 and a No. 4 tension sensor 10-4, are respectively and correspondingly arranged on the No. 1 steel wire lifting rope, the No. 2 steel wire lifting rope, the No. 3 steel wire lifting rope and the No. 4 steel wire lifting rope, have the same installation working condition and are used for monitoring the tension of the steel wire lifting ropes.

The transmitting end of the wireless network bridge and the receiving end of the wireless network bridge are used in pairs to provide networks for the industrial camera 1 and the intelligent computing terminal 2.

The number of the square reference targets 5 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 deck of the erected beam section 8 and are completely and symmetrically distributed along the axial direction of the bridge, and the image center connecting line L3 of the number 1 square reference target 5-1 and the number 2 square reference target 5-2 is formed.

The number of the square monitoring targets 5 is two, namely a number 1 square monitoring target 6-1 and a number 2 square monitoring target 6-2 which are respectively arranged on two sides of a bridge floor of a beam section 9 to be erected and are completely and symmetrically distributed along the axial direction of the bridge, 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 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.

Another preferred embodiment of the present invention provides a steel beam hoisting monitoring method based on machine vision and a tension sensor, comprising the following steps:

s1, hoisting the beam section 9 to be erected to the position with the height approximate to that of the erected beam section 8 by using a bridge deck crane;

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;

specifically, whether the L3 and the L4 are parallel or not is monitored in real time, if the L3 and the L4 are not parallel, a hoisting command is sent, and the bridge deck crane is controlled to hoist so as to adjust the posture of the beam section 9 to be erected until the L4 is parallel to the L3.

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 between the No. 2 square monitoring targets 6-2 can determine information such as the relative elevation of the erected beam section 8 and the beam end 9 to be erected.

S2, monitoring the rotation angle around the X axis

Monitoring the tension values of 4 tension sensors in real time, and controlling the bridge crane to adjust the beam section to be erected to rotate by taking the X axis as the axis by the intelligent computing terminal until the tension values of the tension sensor No. 2 10-2 and the tension sensor No. 4 10-4 are equal, and the tension values of the tension sensor No. 1 10-1 and the tension sensor No. 3 10-3 are equal, namely the tension values of two pairs of steel wire lifting ropes are respectively equal;

s3: performing angle monitoring around Y axis

The intelligent computing terminal controls the bridge crane to adjust the beam section to be erected to rotate by taking the Y axis as an axis until L4 is parallel to L3;

s4: performing Z-axis rotation angle monitoring

The intelligent computing terminal controls the bridge crane to adjust the beam section to be erected to rotate by taking the Z axis as an axis until the tension values of the tension sensor 10-1 No. 1 and the tension sensor 10-2 No. 2 are equal, the readings of the tension sensor 10-3 No. 3 and the tension sensor 10-4 No. 4 are equal, namely the tension of the two pairs of steel wire lifting ropes are equal respectively;

s5, monitoring displacement in the Y direction from the height direction

The intelligent computing terminal calculates the relative height difference between the beam section 9 to be erected and the erected beam section 8 in real time, sends a hoisting instruction, and controls the bridge crane to move the beam section 9 to be erected along the Y-axis direction until the relative height difference between the beam section 9 to be erected and the erected beam section 8 is 0;

s6, monitoring the displacement of the transverse bridge in the Z direction

The intelligent computing terminal controls the bridge crane to move the beam section 9 to be erected along the Z-axis direction until L1 is perpendicular to L3 and L2 is perpendicular to L3;

s7, monitoring displacement along the bridge direction (X direction)

And the intelligent computing terminal controls the bridge crane to move the beam section to be erected along the X-axis direction until the beam section 9 to be erected and the erected beam section 8 are close to each other and are spliced.

The steps S1, S2 and S3 are performed to rotate the beam segment 9 to be erected around the X-axis direction, the Y-axis direction and the Z-axis direction, respectively, and finally the beam segment 9 to be erected can be adjusted to be kept 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 splicing the beam section 9 to be erected and the erected beam section 8.

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 and a tension sensor is used for monitoring a beam section to be erected and an erected beam section and facilitating splicing of the beam section and the erected beam section, and is characterized by comprising the tension sensor, 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 floor crane is connected to a beam section to be erected through a steel wire lifting rope, and the tension sensor is installed on the steel wire lifting 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 in communication connection with the industrial camera, the intelligent computing terminal and the wireless network bridge respectively;

the square reference targets are positioned on two sides of the bridge deck of the erected beam section;

the square monitoring targets are located on two sides of a bridge deck at the end of a beam to be erected, and the square monitoring targets correspond to the square reference targets one to one.

2. The steel beam hoisting monitoring system based on machine vision and tension sensor as claimed in claim 1, wherein there are four tension sensors, and there are four steel wire lifting ropes, respectively No. 1 tension sensor, No. 2 tension sensor, No. 3 tension sensor, No. 4 tension sensor, which are respectively correspondingly mounted on No. 1 steel wire lifting rope, No. 2 steel wire lifting rope, No. 3 steel wire lifting rope, and the same mounting conditions are used for monitoring the tension of the steel wire lifting rope.

3. The steel beam hoisting monitoring system based on the machine vision and the tension sensor 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.

4. The machine vision and tension sensor based steel beam hoisting monitoring system of claim 1, wherein 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 a 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.

5. The steel beam hoisting monitoring system based on the machine vision and the tension sensor is characterized in that 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.

6. A steel beam hoisting monitoring method based on machine vision and a tension sensor 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

Monitoring the tension values of 4 tension sensors in real time, and controlling a bridge crane by the intelligent computing terminal to adjust the beam section to be erected to autorotate by taking the X axis as an axis until the tension values of the tension sensors 2 and 4 are equal, and the tension values of the tension sensors 1 and 3 are equal, namely the tension values of two pairs of steel wire lifting ropes are respectively equal;

s3: angle of rotation monitoring about Y-axis

The intelligent computing terminal controls the bridge crane to adjust the beam section to be erected to rotate by taking the Y axis as an axis until L4 is parallel to L3;

s4: z-axis rotation angle monitoring

The intelligent computing terminal controls the bridge crane to adjust the beam section to be erected to rotate by taking the Z shaft as an axis until the tension values of the tension sensor No. 1 and the tension sensor No. 2 are equal, and the readings of the tension sensor No. 3 and the tension sensor No. 4 are equal;

s5, monitoring displacement in the Y direction from the height direction

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 of the transverse bridge 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 L1 is perpendicular to L3 and L2 is perpendicular to L3;

s7, monitoring displacement of longitudinal bridge in X direction

And the intelligent computing terminal controls the bridge crane to move the beam section to be erected 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.

7. The machine vision and tension sensor-based steel beam hoisting monitoring method according to claim 6, wherein 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.

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