CN115806242B - Safety boundary construction system and method for electric power hoisting operation based on visual processing - Google Patents
Safety boundary construction system and method for electric power hoisting operation based on visual processing Download PDFInfo
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- CN115806242B CN115806242B CN202310074663.7A CN202310074663A CN115806242B CN 115806242 B CN115806242 B CN 115806242B CN 202310074663 A CN202310074663 A CN 202310074663A CN 115806242 B CN115806242 B CN 115806242B
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- 238000010276 construction Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000000007 visual effect Effects 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 238000004364 calculation method Methods 0.000 claims abstract description 25
- 230000007613 environmental effect Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 3
- 239000011295 pitch Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
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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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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of power construction, in particular to a safety boundary construction system and method for power hoisting operation based on visual processing. The system has an image acquisition mechanism, an identification unit, a ranging mechanism, first and second linear light sources, a calculation unit, and a control unit. According to the method, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, corresponding rotation angles and corresponding distances of the image acquisition mechanism at the identified first charged body and the identified second charged body can be obtained, then 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, and then two light spots can be formed on the ground better through 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 used as a safety boundary line better. The invention can better realize the construction of the safety boundary.
Description
Technical Field
The invention relates to the technical field of power construction, in particular to a safety boundary construction system and method for power hoisting operation based on visual processing.
Background
In power construction such as a transformer substation (station) reconstruction project, the construction process is required to be carried out under the condition that various power equipment operates; therefore, in such construction, the important point of safety management is to strengthen the supervision and management of nearby live bodies on the construction site.
In such reconstruction and expansion projects, it is required that the operating area and the charged body have a sufficient safety distance. However, in actual construction, a problem that a safety boundary is difficult to determine is commonly existed; the main reason is that in the current practical construction, the determination of the safety distance is obtained by manually measuring the safety distance point by using tools such as a tape, but the safety boundary line is a line, and the determination method is difficult to ensure that each point on the line can keep enough safety distance with the charged body.
Disclosure of Invention
The invention provides a safety boundary construction system for electric power hoisting operation based on visual processing, which can overcome the problem that the safety boundary is difficult to define in the existing electric power construction process.
The invention relates to a safety boundary construction system for electric hoisting operation based on visual processing, which comprises a system main body, wherein the system main body comprises:
an image acquisition mechanism capable of rotating on a horizontal plane and for continuously acquiring an environmental image;
an identification unit for identifying a charged body in the environmental image acquired by the image acquisition means;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction is always parallel to the optical axis direction of the image acquisition mechanism, and the distance measuring mechanism is used for acquiring the distance between the charged body and the measuring reference point when the identification unit identifies the charged body;
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 plane, the first light ray and the ranging direction of the ranging mechanism are on the same vertical plane, an included angle is formed between the first light ray and the second light ray, and a 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;
a calculation unit for calculating rotation angles of the first and second linear light sources on the horizontal and vertical surfaces according to the corresponding rotation angles and the corresponding pitches of the image acquisition mechanisms at the identified first and second charged bodies; the method comprises the steps of,
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the ranging mechanism, the first linear light source, the second linear light source and the calculation unit.
Preferably, the rotation axes of the first and second linear light sources are on the same vertical plane as the measurement reference point.
Preferably, the system main body further comprises a first driving mechanism, and the image acquisition mechanism, the distance measuring mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and synchronously rotate on a horizontal plane under the driving of the first driving mechanism.
Preferably, an angle sensor is arranged at the first driving mechanism, and the angle sensor is used for collecting the rotation angle of the first driving mechanism.
Preferably, the system main body further comprises a second driving mechanism, and the first linear light source and the second linear light source are relatively fixedly arranged and synchronously rotate on the vertical surface under the driving of the second driving mechanism.
Preferably, the identification unit identifies the charged body in the environment image based on an image identification algorithm.
Preferably, the system further comprises a bracket, and the system main body is arranged at the bracket.
In addition, the invention also provides a safety boundary construction method for electric hoisting operation based on visual processing, which comprises the following steps:
s1, controlling an image acquisition mechanism to rotate and continuously acquiring an environment image;
step S2, identifying charged bodies appearing in the environment image through an identification unit, wherein the first charged body and the second charged body identified by the identification unit are respectively marked as a first charged body and a second charged body;
step S3, when the first charged body and the second charged body are identified, collecting the current rotation angle
And are respectively marked as a first deflection angle +.>
And a second deflection angle->
And the corresponding first distance +_ is obtained by the distance measuring mechanism>
And a second distance->
；
S4, controlling the image acquisition mechanism to rotate to an angle
At the position of the first part,
s5, controlling the first linear light source and the second linear light source to rotate to
At the angle of the beam,
wherein d is a set safety distance, and h is the distance between the rotation axes of the first linear light source and the second linear light source and the ground;
and S6, controlling the first linear light source and the second linear light source to work, and taking the connecting line of the projection light spots of the first linear light source and the second linear light source on the ground as a safety boundary line.
Preferably, in step S1, a first driving mechanism is disposed at the image capturing mechanism, where the first driving mechanism is used to drive the image capturing mechanism to rotate; in step S3, an angle sensor is disposed at the first driving mechanism, where the angle sensor is used to collect the rotation angle of the first driving mechanism.
Preferably, in step S2, the identification unit implements identification of the charged body based on an image identification algorithm.
The invention has the following beneficial effects:
1. through the design of the system main body, two adjacent charged bodies can be identified based on the image acquisition mechanism and the identification unit, corresponding rotation angles and corresponding distances of the image acquisition mechanisms at the identified first charged body and the identified second charged body 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 operation of the first linear light source and the second linear light source, 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 can be better realized;
2. by the method for constructing the safety boundary for the electric hoisting operation, the vertical distance between the detection point (namely the position of the whole system) and the adjacent two live body connection lines can be automatically calculated, so that manual measurement is not needed, and the measurement precision can be preferably ensured; based on the vertical distance, the safe 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 the connecting line of the two light spots can be preferably used as a safe boundary line, so that the establishment of the safe boundary can be preferably realized.
Drawings
FIG. 1 is a block diagram schematic of a safety margin building system in example 1;
FIG. 2 is a schematic flow chart of a safety boundary establishment method in embodiment 1;
fig. 3 is a schematic view of the calculation principle of the calculation unit in embodiment 1 in space;
fig. 4 is a schematic view of the calculation principle of the calculation unit in embodiment 1 on a horizontal plane;
fig. 5 is a schematic diagram of the calculation principle of the calculation unit in embodiment 1 on a vertical plane.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Referring to fig. 1, this embodiment provides a safety boundary construction system for electric power hoisting operation based on visual processing, including a system main body, the system main body includes:
an image acquisition mechanism capable of rotating on a horizontal plane and for continuously acquiring an environmental image;
an identification unit for identifying a charged body in the environmental image acquired by the image acquisition means;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction is always parallel to the optical axis direction of the image acquisition mechanism, and the distance measuring mechanism is used for acquiring the distance between the charged body and the measuring reference point when the identification unit identifies the charged body;
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 plane, the first light ray and the ranging direction of the ranging mechanism are on the same vertical plane, an included angle is formed between the first light ray and the second light ray, and a 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;
a calculation unit for calculating rotation angles of the first and second linear light sources on the horizontal and vertical surfaces according to the corresponding rotation angles and the corresponding pitches of the image acquisition mechanisms at the identified first and second charged bodies; the method comprises the steps of,
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the ranging 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, corresponding rotation angles and corresponding distances of the image acquisition mechanism at the identified first charged body and the identified second charged body 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 calculated better through the calculation unit, then two projection light spots can be formed at the ground better through controlling the first linear light source and the second linear light source to operate, and the connecting line of the two projection light spots can be used as a safety boundary line better, so that the construction of the safety boundary can be realized better.
The first light ray and the ranging direction of the ranging mechanism are controlled to be on the same vertical plane, so that calculation can be preferably performed on the vertical plane where the first light ray is located, and control of the safety distance can be preferably realized; the establishment of the desired safety margin can be preferably achieved 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.
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 control unit and calculation unit can realize based on the singlechip.
In this embodiment, the rotation axes of the first and second linear light sources are on the same vertical plane as the measurement reference point. So that the calculation error can be reduced preferably.
In this embodiment, the system main body further includes a first driving mechanism, and the image acquisition mechanism, the ranging mechanism, the first linear light source and the second linear light source are relatively fixed and are capable of synchronously rotating on a horizontal plane under the driving of the first driving mechanism. So that it can have the same initial angle, and thus the calculation can be preferably simplified.
The first driving mechanism can adopt a stepping motor, so that the precise control of the angle can be better realized.
In this embodiment, an angle sensor is disposed at the first driving mechanism, and the angle sensor is used for collecting a rotation angle of the first driving mechanism. Therefore, the acquisition of angle data can be better realized.
In this embodiment, the system main body further includes a second driving mechanism, where the first linear light source and the second linear light source are relatively fixed and can be driven by the second driving mechanism to rotate synchronously on a vertical plane. So that the synchronous operation of the first linear light source and the second linear light source can be preferably maintained.
The second driving mechanism can adopt a stepping motor, so that the precise control of the angle can be better realized.
In this embodiment, the recognition unit recognizes the charged body in the environment image based on the image recognition algorithm. So that the processing of the relevant data can be preferably realized.
The system in this embodiment is disposed at a stand. Thus, the integration of the system can be preferably realized. That is, the system in the present embodiment can also include, for example, a bracket at which the system main body can be disposed.
The bracket is mainly used for realizing proper height of the system main body when the system main body is used on a construction site, so that the existing tripod can be selected. The support is not related to the improvement point of the invention, so the description is omitted.
It will be appreciated that this embodiment is a preferred embodiment and can therefore be provided with a stand. In fact, the brackets are only used to provide a conventional support function and are not necessarily configured components in practical applications.
With reference to fig. 2, based on the system in the present embodiment, the present embodiment further provides a safety boundary construction method for electric hoisting operation based on visual processing, which includes the following steps:
s1, controlling an image acquisition mechanism to rotate and continuously acquiring an environment image;
step S2, identifying charged bodies appearing in the environment image through an identification unit, wherein the first charged body and the second charged body identified by the identification unit are respectively marked as a first charged body and a second charged body;
step S3, when the first charged body and the second charged body are identified, collecting the current rotation angles and respectively recording the current rotation angles as first deflection angles
And a second deflection angle->
And the corresponding first distance +_ is obtained by the distance measuring mechanism>
And a second distance
；
S4, controlling the image acquisition mechanism to rotate to
Angle of (E)>
S5, controlling the first linear light source and the second linear light source to rotate to
At the angle of the beam,
wherein d is a set safety distance, and h is the distance between the rotation axes of the first linear light source and the second linear light source and the ground;
and S6, controlling the first linear light source and the second linear light source to work, and taking the connecting line of the 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 (namely the position of the whole system) and the connecting line of two adjacent charged bodies can be automatically calculated, so that manual measurement is not needed, and the measurement precision can be better ensured; based on the vertical distance, the safe 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 the connecting line of the two light spots can be preferably used as a safe boundary line, so that the establishment of the safe boundary can be preferably realized.
As shown in connection with fig. 3:
in step S1, at the beginning of the measurement, the whole system (actually the whole system is disposed at a device, so that the whole system can be preferably disposed anywhere) can be disposed at the construction area, where the image acquisition mechanism, the first linear light source and the second linear light source can have an initial, same initial angle on the horizontal plane;
then, the image acquisition mechanism can be controlled to rotate by taking the initial angle as 0 DEG, and environmental images can be continuously acquired in the rotating process; specifically, the corresponding environment image can be shot every time an angle is rotated;
in step S2, during the acquisition of the environmental image, after each time of shooting the environmental image, the identification unit identifies whether the charged body exists in the center of the image, thereby completing the identification of the first charged body and the second charged body; and acquiring a first deflection angle corresponding to the first charged body and the second charged body
And a second deflection angle->
First distance->
And a second distance->
；
In FIG. 3, a first deflection angle
Is +.BAC, second deflection angle +.>
For +.BAD, the first distance +.>
For the length of line segment AC, second distance +.>
Is the length of line segment AD;
in step S3, the angle of rotation of the first linear light source and the second linear light source in the horizontal plane is calculated and acquired by the calculation unit
And the angle of rotation required in the vertical plane +.>
；
In FIG. 3, angle
Namely +.BAE, angle +.>
Namely, EAF is the angle;
in step S4, referring to fig. 4, the calculating unit may calculate the angle of ++ace on the horizontal plane, and then may preferably obtain the angle
, wherein ,
meanwhile, the vertical distance L between the measuring point and the connecting line of the first charged body and the second charged body, namely the length of a line segment AE, can be obtained;
in step S5, as shown in connection with FIG. 5, the computing unit can compare the angles on the vertical plane of the line segment AE
Calculating;
in fig. 5, the safety distance d is the length of a 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 can be controlled to work preferably, so that a light spot F and a light spot H are formed on the ground, and a connecting line of the light spot F and the light spot H is a safety boundary line.
In the above process, the image acquisition mechanism, the ranging 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 ranging mechanism, the first linear light source and the second linear light source can have the same initial angle, and calculation can be preferably simplified.
In the above process, the angle of the BAE can be preferably used as the angle by controlling the first light ray and the ranging direction of the ranging mechanism to be on the same vertical plane
Thus, the calculation can be preferably facilitated.
Referring to fig. 5, the point a is the position of the measurement reference point of the distance measuring mechanism, the point M is the position of the rotation axes of the first linear light source and the second linear light source, and the point K is the position of the first linear light source and the second linear light source, so that the rotation axes of the first linear light source and the second linear light source and the measurement reference point are on the same vertical plane, the same calculation reference can be preferably ensured, and the calculation error 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 preferably ensured that the connection line of the two light spots can be kept parallel to the connection line of the two charged bodies.
In the present embodiment, the set safety distance d can be set to, for example, 6m.
In step S1 of the present embodiment, a first driving mechanism is disposed at the image capturing mechanism, where the first driving mechanism is used to drive the image capturing mechanism to rotate; in step S3, an angle sensor is disposed at the first driving mechanism, where the angle sensor is used to collect the rotation angle of the first driving mechanism. So that the acquisition of the related angle data can be preferably realized.
In step S2 of the present embodiment, the identification unit implements identification of the charged body based on the image identification algorithm. Therefore, the identification of the charged body can be realized by means of the existing identification algorithm.
Specifically, the image recognition algorithm in the present embodiment can employ a YOLO-based target detection algorithm.
In this embodiment, the range finding mechanism can include a laser range finder, the first linear light source and the second linear light source can include a laser generator, and the image acquisition mechanism can include a camera.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (10)
1. Electric power hoist and mount operation is with safe boundary system of buildding based on vision processing, including the system main part, its characterized in that: the main body of the system comprises a main body of the system,
an image acquisition mechanism capable of rotating on a horizontal plane and for continuously acquiring an environmental image;
an identification unit for identifying a charged body in the environmental image acquired by the image acquisition means;
the distance measuring mechanism is provided with a measuring reference point, the distance measuring direction is always parallel to the optical axis direction of the image acquisition mechanism, and the distance measuring mechanism is used for acquiring the distance between the charged body and the measuring reference point when the identification unit identifies the charged body;
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 plane, the first light ray and the ranging direction of the ranging mechanism are on the same vertical plane, an included angle is formed between the first light ray and the second light ray, and a 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;
a calculation unit for calculating rotation angles of the first and second linear light sources on the horizontal and vertical surfaces according to the corresponding rotation angles and the corresponding pitches of the image acquisition mechanisms at the identified first and second charged bodies; the method comprises the steps of,
and the control unit is used for controlling the operation of the image acquisition mechanism, the identification unit, the ranging mechanism, the first linear light source, the second linear light source and the calculation unit.
2. The vision-processing-based safety boundary construction system for electric hoisting operations of claim 1, wherein: the rotation axes of the first linear light source and the second linear light source are on the same vertical plane with the measurement datum point.
3. The vision-processing-based safety boundary construction system for electric hoisting operations of claim 1, wherein: the system main body further comprises a first driving mechanism, and the image acquisition mechanism, the distance measuring mechanism, the first linear light source and the second linear light source are relatively fixedly arranged and driven by the first driving mechanism to synchronously rotate on a horizontal plane.
4. A vision-processing-based safety boundary construction system for electric hoisting operations as claimed in claim 3, characterized in that: the first driving mechanism is provided with an angle sensor, and the angle sensor is used for collecting the rotation angle of the first driving mechanism.
5. The vision-processing-based safety boundary construction system for electric hoisting operations of claim 1, wherein: the system main body also comprises a second driving mechanism, wherein the first linear light source and the second linear light source are relatively and fixedly arranged and synchronously rotate on a vertical surface under the driving of the second driving mechanism.
6. The vision-processing-based safety boundary construction system for electric hoisting operations of claim 1, wherein: the identification unit identifies the charged body in the environmental image based on an image identification algorithm.
7. The vision-processing-based safety boundary construction system for electric hoisting operations of claim 1, wherein: the system also comprises a bracket, and the system main body is arranged at the bracket.
8. The safety boundary construction method for the electric power hoisting operation based on the visual processing is realized based on the safety boundary construction system for the electric power hoisting operation based on the visual processing, which comprises the following steps:
s1, controlling an image acquisition mechanism to rotate and continuously acquiring an environment image;
step S2, identifying charged bodies appearing in the environment image through an identification unit, wherein the first charged body and the second charged body identified by the identification unit are respectively marked as a first charged body and a second charged body;
step S3, when the first charged body and the second charged body are identified, collecting the current rotation angles and respectively recording the current rotation angles as first deflection angles
And a second deflection angle->
And the corresponding first distance +_ is obtained by the distance measuring mechanism>
And a second distance->
；/>
S4, controlling the image acquisition mechanism to rotate to
At the angle of the beam,
s5, controlling the first linear light source and the second linear light source to rotate to
At the angle of the beam,
wherein ,
to set the safety distance>
The distance between the rotation axes of the first linear light source and the second linear light source and the ground is set;
and S6, controlling the first linear light source and the second linear light source to work, and taking the connecting line of the 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 visual processing-based safety boundary construction method for electric hoisting operation according to claim 8, wherein: in the step S1, a first driving mechanism is arranged at the image acquisition mechanism and is used for driving the image acquisition mechanism to rotate; in step S3, an angle sensor is disposed at the first driving mechanism, where the angle sensor is used to collect the rotation angle of the first driving mechanism.
10. The visual processing-based safety boundary construction method for electric hoisting operation according to claim 8, wherein: in step S2, the identification unit realizes the identification of the charged body based on the image identification algorithm.
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| CN202210562726.9A CN114933245A (en) | 2022-05-23 | 2022-05-23 | Safety boundary building system and method for electric power hoisting operation based on visual processing |
| CN2022105627269 | 2022-05-23 |
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| CN202310074663.7A Active CN115806242B (en) | 2022-05-23 | 2023-02-07 | Safety boundary construction system and method for electric power hoisting operation based on visual processing |
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| JP2005121820A (en) * | 2003-10-15 | 2005-05-12 | Olympus Corp | Image observing device |
| CN101670980A (en) * | 2009-09-01 | 2010-03-17 | 中国石油化工集团公司 | Device for dynamically measuring distance between hoisted article and hoisting arm in high-altitude hoisting process |
| WO2018107330A1 (en) * | 2016-12-12 | 2018-06-21 | SZ DJI Technology Co., Ltd. | Method and system for stabilizing a payload |
| CN110371857A (en) * | 2019-07-26 | 2019-10-25 | 中南大学 | A kind of traveling crane positioning system fault detection method |
| CN111750858B (en) * | 2019-12-11 | 2022-12-27 | 广州极飞科技股份有限公司 | Route generation method and device, electronic equipment and storage medium |
| CN112225078A (en) * | 2020-10-19 | 2021-01-15 | 中建(天津)工业化建筑工程有限公司 | Safe anti-collision system for hoisting machinery based on laser sensing technology |
| CN113682965A (en) * | 2021-09-03 | 2021-11-23 | 浙江硕实机械有限公司 | Automatic safety control system and control method for crane operation |
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2022
- 2022-05-23 CN CN202210562726.9A patent/CN114933245A/en not_active Withdrawn
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2023
- 2023-02-07 CN CN202310074663.7A patent/CN115806242B/en active Active
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| CN115806242A (en) | 2023-03-17 |
| CN114933245A (en) | 2022-08-23 |
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