CN114933245A - Safety boundary building system and method for electric power hoisting operation based on visual processing - Google Patents

Safety boundary building system and method for electric power hoisting operation based on visual processing Download PDF

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Publication number
CN114933245A
CN114933245A CN202210562726.9A CN202210562726A CN114933245A CN 114933245 A CN114933245 A CN 114933245A CN 202210562726 A CN202210562726 A CN 202210562726A CN 114933245 A CN114933245 A CN 114933245A
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China
Prior art keywords
light source
linear light
angle
electric power
safety boundary
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CN202210562726.9A
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Chinese (zh)
Inventor
胡文华
李�远
贾宏生
方熙
陈贵亮
丁巍
黄伟民
马凯
李翔
胡广润
张刚
王允富
王德时
李运祝
周永健
陆康
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Anhui Power Transmission and Transformation Engineering Co Ltd
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Anhui Power Transmission and Transformation Engineering Co Ltd
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Priority to CN202210562726.9A priority Critical patent/CN114933245A/en
Publication of CN114933245A publication Critical patent/CN114933245A/en
Priority to CN202310074663.7A priority patent/CN115806242B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • F16M11/32—Undercarriages for supports with three or more telescoping legs

Abstract

The invention relates to the technical field of electric power construction, in particular to a safety boundary building system and method for electric power hoisting operation based on visual processing. The system has: the device comprises an image acquisition mechanism, an identification unit, a distance measurement mechanism, a first linear light source, a second linear light source, a calculation unit and a control unit. The method is realized based on the system. The invention can identify two adjacent charged bodies based on the image acquisition mechanism and the identification unit, and can acquire the corresponding rotation angles and the corresponding distances of the image acquisition mechanisms at the first and second identified charged bodies, the rotation angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane can be calculated better through the calculation unit, then two light spots can be formed better on the ground by controlling the first linear light source and the second linear light source to operate, and the connecting line of the two light spots can be better used as a safety boundary line, so that the construction of the safety boundary is better realized.

Description

Safety boundary building system and method for electric power hoisting operation based on visual processing
Technical Field
The invention relates to the technical field of electric power construction, in particular to a safety boundary building system and method for electric power hoisting operation based on visual processing.
Background
In the power construction such as reconstruction and extension projects of transformer substations (substations), the construction process needs to be carried out under the condition that various power equipment operates; therefore, in the construction, the key point of safety management is to strengthen supervision and management on the adjacent electrified body on the construction site.
In such reconstruction and extension projects, the operating area and the charged body are required to reach a sufficient safety distance. However, in actual construction, the problem that the safety boundary is difficult to determine generally exists; the main reason is that in the current practical construction, the determination of the safe distance is obtained by manually adopting point-to-point measurement of tools such as tape gauges, but the safe boundary line is a line, and the determination method is difficult to ensure that each point on the straight line can keep enough safe distance with a charged body.
In addition, in the current construction process, after a safety boundary line is determined, identification of the safety boundary line is usually realized by setting a fence, and the method is difficult to realize active detection and alarm of boundary crossing operation, and particularly difficult to judge whether the current operation is boundary crossing in high-altitude operation.
Disclosure of Invention
The invention provides a safety boundary building system for electric power hoisting operation based on visual processing, which can solve the problem that a safety boundary is difficult to define in the existing electric power construction process.
According to the safety boundary building system for electric power hoisting operation based on visual processing of the present invention, it has:
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environment image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the direction of the optical axis of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical surface, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical surface, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measuring mechanism, the first linear light source, the second linear light source and the calculation unit.
Through the system, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, the corresponding rotation angles and the corresponding distances of the image acquisition mechanisms at the first and second identified charged bodies can be obtained, the rotation angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane can be better calculated through the calculation unit, then two light spots can be better formed at the ground by controlling the first linear light source and the second linear light source to operate, the connection line of the two light spots can be better used as a safety boundary line, and therefore the construction of the safety boundary can be better realized.
Preferably, the rotation axes of the first and second linear light sources are on the same vertical plane as the measurement reference point. The calculation error can be preferably reduced.
Preferably, the image acquisition mechanism, the distance measuring mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and are synchronously driven to rotate on the horizontal plane through a first driving mechanism. So that it can have the same initial angle, and thus can simplify the calculation preferably.
Preferably, an angle sensor is arranged at the first driving mechanism, and the angle sensor is used for acquiring the rotation angle of the first driving mechanism. The collection of angle data can be preferably realized.
Preferably, the first linear light source and the second linear light source are relatively fixedly arranged and synchronously driven to rotate on the vertical surface through a second driving mechanism. It is possible to preferably maintain the synchronous operation of the first and second linear light sources.
Preferably, the identification unit identifies the charged body in the environment image based on an image identification algorithm. The processing of the relevant data can be preferably realized.
Preferably, the system is arranged at a stand. The integration of the system can be preferably achieved.
In addition, the invention also provides a safety boundary building method for electric power hoisting operation based on visual processing, which comprises the following steps:
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
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And a second deflection angle
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And acquiring a corresponding first distance by a distance measuring mechanism
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And a second pitch
Figure 865950DEST_PATH_IMAGE004
；
Step S4, controlling the image acquisition mechanism to rotate to
Figure DEST_PATH_IMAGE005
At the position of the angle, the angle of the angle is equal to the angle of the angle,
Figure DEST_PATH_IMAGE007
step S5, controlling the first linear light source and the second linear light source to rotate
Figure 698777DEST_PATH_IMAGE008
At the position of the angle, the angle of the angle is equal to the angle of the angle,
Figure 793772DEST_PATH_IMAGE010
Figure 977629DEST_PATH_IMAGE012
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE013
in order to set the safety distance, the distance between the two parts is set,
Figure 878588DEST_PATH_IMAGE014
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
and step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line.
Through the steps S1-S6, the vertical distance between the detection point (i.e. the position where the whole system is located) and the connection line between two adjacent charged bodies can be preferably calculated automatically, so that manual measurement is not needed, and the measurement accuracy can be preferably ensured; based on the vertical distance, the safety distance can be preferably introduced, two light spots are formed on the ground through the first linear light source and the second linear light source, and a connecting line of the two light spots can be preferably used as a safety boundary line, so that the establishment of the safety boundary can be preferably realized.
Preferably, in step S1, the image capturing mechanism is driven to rotate by a first driving mechanism; in step S3, the acquisition of the rotation angle of the first driving mechanism is realized by an angle sensor provided at the first driving mechanism. The acquisition of the relevant angle data can be preferably achieved.
Preferably, in step S2, the recognition unit recognizes the charged object based on an image recognition algorithm. The identification of the charged object can be realized preferably by means of existing identification algorithms.
Drawings
Fig. 1 is a block diagram schematically illustrating a security boundary building system according to embodiment 1;
fig. 2 is a schematic flow chart of a security boundary establishing method in embodiment 1;
FIG. 3 is a schematic diagram showing a calculation principle of a calculation unit in embodiment 1;
FIG. 4 is one of schematic diagrams of the calculation principle of the calculation unit in embodiment 1;
FIG. 5 is a schematic diagram showing a calculation principle of a calculation unit in embodiment 1;
FIG. 6 is a schematic view showing the construction of a full boundary building apparatus according to embodiment 2;
FIG. 7 is a schematic view of the fitting of a mounting bracket and a support bracket according to embodiment 2;
FIG. 8 is a schematic structural view of the supporting frame of embodiment 2;
FIG. 9 is a schematic structural view of a mount in embodiment 2;
fig. 10 is a schematic structural view of a light source mounting block in embodiment 2.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples. It is to be understood that the examples are illustrative of the invention and not limiting.
Example 1
As shown in fig. 1, the present embodiment provides a safety boundary building system for electric hoisting operation based on visual processing, which includes:
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environmental image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the direction of the optical axis of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical surface, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical surface, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
Through the system, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, the corresponding rotation angles and the corresponding distances of the image acquisition mechanisms at the first and second identified charged bodies can be obtained, the rotation angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane can be better calculated through the calculation unit, then two light spots can be better formed at the ground by controlling the first linear light source and the second linear light source to operate, the connection line of the two light spots can be better used as a safety boundary line, and therefore the construction of the safety boundary can be better realized.
The distance measuring direction of the first light ray and the distance measuring mechanism is controlled to be on the same vertical plane, so that calculation can be preferably carried out on the vertical plane where the first light ray is located, and the control of the safety distance can be preferably realized; by controlling the plane formed by the first light ray and the second light ray to be parallel to the rotation axes of the first linear light source and the second linear light source, the establishment of the required safety margin line can be preferably achieved.
In this embodiment, range finding mechanism can include laser range finder, and first linear light source and second linear light source can include laser generator, and image acquisition mechanism can include the camera, and the control unit and the computational unit can be based on the singlechip realization.
In this embodiment, the rotation axes of the first and second linear light sources and the measurement reference point are on the same vertical plane. The calculation error can be preferably reduced.
In this embodiment, image acquisition mechanism, range finding mechanism, first linear light source and second linear light source relatively fixed set up and all drive the rotation in step on the horizontal plane through a actuating mechanism. So that it can have the same initial angle, and thus can simplify the calculation preferably.
Wherein, first actuating mechanism can adopt step motor, so can realize the accurate control of angle better.
In this embodiment, an angle sensor is disposed at the first driving mechanism, and the angle sensor is configured to collect a rotation angle of the first driving mechanism. The collection of angle data can be preferably realized.
In this embodiment, the first linear light source and the second linear light source are relatively fixedly disposed and synchronously driven to rotate on the vertical surface through a second driving mechanism. It is possible to preferably maintain the synchronous operation of the first and second linear light sources.
Wherein, second actuating mechanism can adopt step motor, so can realize the accurate control of angle better.
In this embodiment, the identification unit identifies the charged body in the environmental image based on an image identification algorithm. The processing of the relevant data can be preferably realized.
The system in this embodiment is disposed at a support 10. The integration of the system can be preferably achieved.
With reference to fig. 2, based on the system in this embodiment, this embodiment further provides a method for building a safety boundary for electric power hoisting operation based on visual processing, which includes the following steps:
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing, by a recognition unit, charged bodies appearing in the environmental image, where the first and second charged bodies recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
Figure 503605DEST_PATH_IMAGE001
And a second deflection angle
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And acquiring a corresponding first distance by a distance measuring mechanism
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And a second pitch
Figure 410884DEST_PATH_IMAGE004
；
Step S4, controlling the image acquisition mechanism to rotate to
Figure 155986DEST_PATH_IMAGE005
At the position of the angle, the angle of the angle is equal to the angle of the angle,
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step S5, controlling the first linear light source and the second linear light source to rotate
Figure 751232DEST_PATH_IMAGE008
At the position of the angle, the angle is equal to the angle,
Figure 259574DEST_PATH_IMAGE010
Figure 124762DEST_PATH_IMAGE012
wherein the content of the first and second substances,
Figure 998040DEST_PATH_IMAGE013
in order to set the safety distance between the two parts,
Figure 115556DEST_PATH_IMAGE014
the distance between the rotating axes of the first linear light source and the second linear light source and the ground;
and step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line.
Through the steps S1-S6, the vertical distance between the detection point (i.e. the position where the whole system is located) and the connection line between two adjacent charged bodies can be preferably calculated automatically, so that manual measurement is not needed, and the measurement accuracy can be preferably ensured; based on the vertical distance, the safety distance can be preferably introduced, two light spots are formed on the ground through the first linear light source and the second linear light source, and a connecting line of the two light spots can be preferably used as a safety boundary line, so that the establishment of the safety boundary can be preferably realized.
As shown in connection with fig. 3:
in step S1, at the beginning of the measurement, the whole set of system (actually the whole set of system is installed at a device, so it can be installed anywhere better) can be installed at the construction area, and the image capturing mechanism, the first linear light source and the second linear light source can have an initial and same initial angle on the horizontal plane;
then, the image acquisition mechanism can be controlled to rotate by taking the initial angle as 0 degree, and the environmental image can be continuously acquired in the rotating process; specifically, the corresponding environment image can be shot every time the environment image is rotated by an angle;
in step S2, in the process of acquiring the environment image, after each time the environment image is captured, the recognition unit recognizes whether a charged body exists in the center of the image, and thus recognizes the first charged body and the second charged body; and obtaining a first deflection angle corresponding to the first and second charged bodies
Figure 162010DEST_PATH_IMAGE001
And a second deflection angle
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And a first pitch
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And a second pitch
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；
In FIG. 3, the first deflection angle
Figure 846752DEST_PATH_IMAGE001
Is < BAC and a second deflection angle
Figure 483270DEST_PATH_IMAGE002
Is < BAD, first spacing
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Is the length of line segment AC, the second pitch
Figure 787529DEST_PATH_IMAGE004
Is the length of the line segment AD;
in step S3, the calculation unit calculates and acquires the angle of rotation required by the first and second linear light sources in the horizontal plane
Figure 379047DEST_PATH_IMAGE005
And the angle of rotation required in the vertical plane
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；
In FIG. 3, angle
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Is angle BAE, angle
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Is < EAF;
in step S4, in conjunction with fig. 4, the calculating unit can calculate on the horizontal plane to obtain the angle of ═ ACD, and then can preferably obtain the angle
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Wherein, in the step (A),
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meanwhile, the vertical distance L between the measuring point and the connecting line of the first charged body and the second charged body and the length of the line segment AE can be obtained;
in step S5, as shown in connection with fig. 5, the calculation unit can angle diagonally on the vertical plane of the wire section AE
Figure 395731DEST_PATH_IMAGE008
Calculating;
in fig. 5, the safety distance d is the length of the line segment FG, the length of the line segment OG is equal to L, and the length of the line segment OM is the distance h between the rotation axes of the first and second linear light sources and the ground;
in step S6, the first linear light source and the second linear light source are preferably controlled to operate, so as to form a light spot F and a light spot H on the ground, where the connection line between the light spot F and the light spot H is the safety boundary line.
In the process, the image acquisition mechanism, the distance measurement mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and are synchronously driven to rotate on the horizontal plane through the first driving mechanism, so that the image acquisition mechanism, the distance measurement mechanism, the first linear light source and the second linear light source can have the same initial angle, and calculation can be better simplified.
In the process, the first light ray and the distance measuring direction of the distance measuring mechanism are controlled to be on the same vertical plane, so that the angle of ^ BAE can be better taken as the angle
Figure 459502DEST_PATH_IMAGE005
And thus can preferably facilitate the calculation.
Referring to fig. 5, point a is a position of a measurement reference point of the distance measuring mechanism, point M is a position of rotation axes of the first linear light source and the second linear light source, and point K is a position of rotation axes of the first linear light source and the second linear light source, so that by setting the rotation axes of the first linear light source and the second linear light source to be on the same vertical plane as the measurement reference point, the same calculation reference can be preferably ensured, and thus calculation errors can be preferably reduced.
In the above process, by ensuring that the plane formed by the first light ray and the second light ray is parallel to the rotation axes of the first linear light source and the second linear light source, it can be better ensured that the connecting line of the two light spots can be kept parallel to the connecting line of the two charged bodies.
In the present embodiment, the set safety interval d can be set to 6m, for example.
In step S1 of this embodiment, a first driving mechanism drives the image capturing mechanism to rotate; in step S3, the acquisition of the rotation angle of the first driving mechanism is realized by an angle sensor provided at the first driving mechanism. The acquisition of the relevant angle data can be preferably achieved.
In step S2 of the present embodiment, the recognition unit recognizes the charged object based on the image recognition algorithm. The identification of the charged object can be realized preferably by means of existing identification algorithms.
Specifically, the image recognition algorithm in the present embodiment can adopt a YOLO-based target detection algorithm.
Example 2
With reference to fig. 6 to 10, the present embodiment provides a safety boundary building apparatus for electric hoisting operation based on visual processing, which includes a support 10, and the system of embodiment 1 is disposed at the support 10.
The bracket 10 in this embodiment includes a mounting bracket 11 rotatably disposed on a horizontal plane, the mounting bracket 11 has a bottom mounting plate 11a located at a lower portion and a top mounting plate 11b located at an upper portion, and the bottom mounting plate 11a and the top mounting plate 11b are relatively fixedly disposed;
the top mounting disc 11b is provided with a horizontally arranged top mounting surface 11b1, an image acquisition mechanism 1 and a distance measuring mechanism 2 are arranged at the position of the top mounting surface 11b1, and the distance measuring direction of the distance measuring mechanism 2 is parallel to the optical axis direction of the image acquisition mechanism; the image acquisition mechanism 1 is used for acquiring an environment image, and the distance measurement mechanism 2 is used for acquiring the distance between the environment image and an object in the distance measurement direction to measure;
the bottom layer mounting plate 11a is provided with a light source mounting frame 11c which can rotate on a vertical surface, the light source mounting frame 11c is provided with a light source mounting surface 11c1 which is parallel to the rotation axis of the light source mounting frame, a first linear light source 3 and a second linear light source 4 are arranged on the light source mounting surface 11c1, and an included angle is formed between the first linear light source 3 and the second linear light source 4; the first linear light source 3 and the second linear light source 4 are used for forming a projected light spot on the ground.
Through the scheme, the support 10 can be preferably used as a measuring point, the identification of the adjacent charged bodies and the measurement of the distance between the adjacent charged bodies and the measuring point are realized, the distance between the measuring point and the connecting line of the adjacent charged bodies can be preferably acquired based on the parameter, and then 2 projection light spots can be formed on the ground by preferably adjusting the angles of the first linear light source 3 and the second linear light source 4 based on the vertical distance, and the connecting line of the 2 projection light spots can be preferably used as a safety boundary line.
The safety boundary line drawn based on the method can be better parallel to the connecting line of the corresponding adjacent charged bodies, and the safety distance can be better ensured.
A processor 5 is arranged at the mounting rack 11, and the processor 5 is provided with an identification unit, a calculation unit and a control unit;
the identification unit is used for identifying a charged body in the environment image acquired by the image acquisition mechanism, and the ranging mechanism is provided with a measurement reference point and is used for acquiring the distance between the charged body and the measurement reference point when the charged body is identified by the identification unit;
the calculating unit is used for calculating the rotating angles of the first linear light source and the second linear light source on the horizontal plane and the vertical plane according to the corresponding rotating angles and the corresponding distances of the image acquisition mechanisms at the identified first electrified body and the second electrified body;
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
Automatic processing of the relevant data can be preferably achieved.
The rotation axis of the light source mounting bracket 11c is on the same vertical plane as the measurement reference point. The measurement error can be preferably reduced.
The first linear light source 3 is used for generating a first light ray, the second linear light source 4 is used for generating a second light ray, the first light ray and the distance measuring direction of the distance measuring mechanism 2 are on the same vertical plane, and an included angle is formed between the first light ray and the second light ray. The alignment of the angular reference can be preferably achieved.
The mounting frame 11 is rotatably matched with a support frame 12, a first driving mechanism 6 is fixedly arranged at the support frame 12, and the first driving mechanism 6 is used for driving the mounting frame 11 to rotate. The rotatable arrangement of the mounting bracket 11 can be preferably achieved.
The support frame 12 is provided with a heightening rod 12a and a support frame mounting part 12b arranged at the upper part of the heightening rod 12a, and the support frame mounting part 12b is provided with a mounting part bottom plate 12b1 matched with the heightening rod 12a and a mounting part top plate 12b2 matched with the mounting frame 11; a first driving mechanism mounting cavity 12b3 for arranging the first driving mechanism 6 is formed between the mounting portion bottom plate 12b1 and the mounting portion top plate 12b2, a matching through hole 12b4 is formed in the middle of the mounting portion top plate 12b2, and a coupling portion 11a1 for power coupling with the first driving mechanism 6 is formed at the position of the bottom mounting plate 11a corresponding to the matching through hole 12b 4. The mounting of the first drive mechanism 6 can be preferably achieved.
The outer periphery of the matching through hole 12b4 is formed with a positioning circular groove 12b5, and a positioning circular ring 11a2 which is in clearance fit with the positioning circular groove 12b5 is formed at the position of the bottom layer mounting plate 11a corresponding to the positioning circular groove 12b 5. Therefore, the positioning circular groove 12b5 and the positioning circular ring 11a2 can form better matching.
The first driving mechanism 6 adopts a stepping motor, and an angle sensor is arranged at the first driving mechanism 6. The acquisition of the angle data can be preferably realized.
The lower mounting plate 11a is formed with a hinge bracket 11a3, the light source mounting bracket 11c is formed with a hinge shaft 11c1 for rotatably engaging with the hinge bracket 11a3, and a central axis of the hinge shaft 11c1 constitutes a rotation axis of the light source mounting bracket 11 c. The rotatable connection of the underlying mounting plate 11a can be preferably formed.
The bottom installation plate 11a is formed with a notch 11a4 corresponding to the hinge bracket 11a 3. Therefore, the first linear light source 3 and the second linear light source 4 disposed at the light source mounting bracket 11c are preferably not shielded.
The hinge shaft 11c1 is in power connection with a second driving mechanism 7, and the second driving mechanism 7 adopts a stepping motor. It is possible to preferably realize the rotation control of the floor mounting tray 11 a.
The lower part of the supporting frame 12 is provided with a supporting leg 13. So that the deployment is facilitated.
In this embodiment, range finding mechanism can include laser range finder, and first linear light source and second linear light source can include laser generator, and image acquisition mechanism can include the camera, and the treater can be based on the singlechip realization.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims (10)

1. Safe boundary system of buildding for electric power hoist and mount operation based on vision processing has:
the image acquisition mechanism can rotate on a horizontal plane and is used for continuously acquiring an environment image;
the identification unit is used for identifying the charged body in the environment image acquired by the image acquisition mechanism;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction of the distance measuring mechanism is always parallel to the direction of the optical axis of the image collecting mechanism, and the distance measuring mechanism is used for collecting the distance between the charged body and the measuring reference point when the charged body is identified by the identification unit;
the distance measuring device comprises a first linear light source and a second linear light source, wherein the first linear light source is used for generating a first light ray, the second linear light source is used for generating a second light ray, the first linear light source and the second linear light source can synchronously rotate on a vertical surface, the first light ray and the distance measuring direction of the distance measuring mechanism are on the same vertical surface, an included angle is formed between the first light ray and the second light ray, and the plane formed by the first light ray and the second light ray is parallel to the rotating axis of the first linear light source and the rotating axis of the second linear light source;
a calculating unit for calculating the rotation angles of the first and second linear light sources on the horizontal plane and the vertical plane according to the corresponding rotation angles and the corresponding distances of the image capturing mechanisms at the identified first and second charged bodies; and
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the distance measurement mechanism, the first linear light source, the second linear light source and the calculation unit.
2. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 1, characterized in that: the rotation axes of the first linear light source and the second linear light source are on the same vertical plane with the measuring reference point.
3. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 1, characterized in that: the image acquisition mechanism, the distance measuring mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and are synchronously driven to rotate on the horizontal plane through a first driving mechanism.
4. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 2, characterized in that: an angle sensor is arranged at the first driving mechanism and used for collecting the rotating angle of the first driving mechanism.
5. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 1, characterized in that: the first linear light source and the second linear light source are relatively fixedly arranged and synchronously driven to rotate on the vertical surface through a second driving mechanism.
6. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 1, characterized in that: the identification unit identifies the charged body in the environment image based on an image identification algorithm.
7. The safety boundary building system for electric power hoisting operation based on visual processing according to claim 1, characterized in that: the system is arranged at a support (10).
8. The safety boundary building method for electric power hoisting operation based on visual processing comprises the following steps:
s1, controlling the image acquisition mechanism to rotate and continuously acquiring the environmental image;
step S2, recognizing the charged bodies appearing in the environment image through a recognition unit, wherein the first charged body and the second charged body recognized by the recognition unit are respectively marked as a first charged body and a second charged body;
step S3, when the first electrified body and the second electrified body are identified, collecting the current rotation angles and recording the current rotation angles as first deflection angles respectively
Figure 344203DEST_PATH_IMAGE001
And a second deflection angle
Figure 808682DEST_PATH_IMAGE002
And acquiring a corresponding first distance by a distance measuring mechanism
Figure 743140DEST_PATH_IMAGE003
And a second pitch
Figure 736504DEST_PATH_IMAGE004
；
Step S4, controlling the image acquisition mechanism to rotate to
Figure 21992DEST_PATH_IMAGE005
At the position of the angle, the angle is equal to the angle,
Figure 759003DEST_PATH_IMAGE006
step S5, controlling the first linear light source and the second linear light source to rotate to
Figure 547968DEST_PATH_IMAGE007
At the position of the angle, the angle of the angle is equal to the angle of the angle,
Figure 243391DEST_PATH_IMAGE008
Figure DEST_PATH_IMAGE009
wherein, the first and the second end of the pipe are connected with each other,
Figure 16175DEST_PATH_IMAGE010
in order to set the safety distance between the two parts,
Figure DEST_PATH_IMAGE011
is a first linear light sourceAnd the distance between the rotation axis of the second linear light source and the ground;
and step S6, controlling the first linear light source and the second linear light source to work, and taking a connecting line of projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line.
9. The safety boundary building method for electric power hoisting operation based on visual processing according to claim 8, characterized in that: in step S1, a first driving mechanism drives the image capturing mechanism to rotate; in step S3, the acquisition of the rotation angle of the first driving mechanism is realized by an angle sensor provided at the first driving mechanism.
10. The safety boundary building method for electric power hoisting operation based on visual processing according to claim 8, characterized in that: in step S2, the recognition unit recognizes the charged object based on the image recognition algorithm.
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