CN116281636B - Anti-collision method and system for group tower operation - Google Patents
Anti-collision method and system for group tower operation Download PDFInfo
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- CN116281636B CN116281636B CN202310150457.XA CN202310150457A CN116281636B CN 116281636 B CN116281636 B CN 116281636B CN 202310150457 A CN202310150457 A CN 202310150457A CN 116281636 B CN116281636 B CN 116281636B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 124
- 239000010959 steel Substances 0.000 claims abstract description 124
- 238000012549 training Methods 0.000 claims abstract description 12
- 239000003550 marker Substances 0.000 claims description 44
- 238000006073 displacement reaction Methods 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims description 6
- 230000008275 binding mechanism Effects 0.000 claims description 5
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- 238000012545 processing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 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
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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Abstract
The invention relates to the technical field of intelligent safety detection of tower cranes, in particular to an anti-collision method and system for tower crane group operation, comprising the steps of performing characteristic training on a crane arm of an adjacent tower crane in the tower crane group operation by using a steel wire rope so as to identify characteristic information of the crane arm and the steel wire rope; acquiring spatial position information of a crane arm and a steel wire rope of an adjacent tower crane; acquiring real-time image information of obstacles around the crane boom and the steel wire rope; according to the acquired characteristic information, spatial position information and real-time picture information of surrounding obstacles of the crane boom and the steel wire rope, acquiring relative spatial position information of the crane boom and the steel wire rope of the adjacent tower crane, and judging whether the crane boom and the steel wire rope are likely to collide or not; according to the invention, the CNN is adopted to perform characteristic training on the crane boom and the steel wire rope to obtain the characteristic information of the crane boom and the steel wire rope, the spatial distance measurement is combined to obtain the spatial positions of the crane boom and the steel wire rope, and the judgment of the spatial distance is used for calculating and pre-judging whether the crane boom is likely to collide in the tower-clustering operation.
Description
Technical Field
The invention relates to the technical field of intelligent safety detection of tower cranes, in particular to a collision prevention method and a collision prevention system for tower crane operation.
Background
In a large number of construction sites, the phenomenon of tower-group operation is unavoidable. As a plurality of building sites are positioned in urban areas, the mass building projects are more and more, the tower crane usually has high rotation speed during operation in order to meet the overall construction progress, and the mass tower operation has complexity and uncertainty, so the huge potential safety hazard exists. The tower crane is operated at high altitude, and the hoisted object is often a material with large mass such as steel bar, and once the tower group operation collides, the loss of irreplaceable return is brought, so that the tower group anti-collision device has great significance for the research of the tower group operation anti-collision.
Disclosure of Invention
Object of the invention
The invention aims to solve the defects and difficulties of the prior detection technology, and provides a method and a system for preventing collision of group tower operation.
(II) technical scheme
In order to solve the above problems, a first aspect of the present invention provides a tower operation anti-collision method, including the following steps:
step S100, carrying out characteristic training on the lifting arms and the steel wire ropes of adjacent tower cranes in the tower grouping operation so as to identify characteristic information of the lifting arms and the steel wire ropes;
step S200, acquiring spatial position information of a crane arm and a steel wire rope of an adjacent tower crane;
step S300, acquiring real-time image information of obstacles around the crane boom and the steel wire rope;
step S400, acquiring the relative spatial position information of the crane arms and the steel wire ropes of adjacent tower cranes according to the acquired characteristic information, spatial position information and surrounding obstacle real-time picture information of the crane arms and the steel wire ropes, so as to pre-judge whether the crane arms and the steel wire ropes possibly collide in tower crane clustering operation through calculation;
if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning;
and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
As a technical solution of the present invention, the step S200 of obtaining spatial position information of the boom and the wire rope of the adjacent tower crane includes:
at least one camera is arranged at the fixed position of the crane arm and used for tracking and identifying a marker A and a marker B which are respectively arranged on the crane arm and the steel wire rope;
uniformly attaching a marker A in parallel at the camera visible position of the crane arm so as to obtain a real-time relative spatial position of the crane arm in an operating state;
and attaching a marker B on the bundling mechanism at the tail end of the steel wire rope to obtain the actual real-time relative spatial position of the steel wire rope along with the operation state of the crane boom.
As an aspect of the present invention, in the step S300, further includes:
analyzing and processing the acquired real-time image information of the obstacle to acquire the spatial distance between the obstacle and the crane boom and the wire rope in the running state;
the obstacle comprises a tower crane work piece which is strapped on the wire rope tail end bundling mechanism.
As a technical solution of the present invention, in step S400, it is pre-determined whether the collision between the boom and the wire rope is possible in the tower-crowd operation, including:
the method comprises the steps of carrying out a preset value a on the space distance between a crane arm of an adjacent tower crane and a steel wire rope, wherein the space distance is likely to collide;
the method comprises the steps of carrying out a preset value b on the space distance between steel wire ropes of adjacent tower cranes, wherein the space distance is likely to collide with the steel wire ropes;
the method comprises the steps of (1) carrying out a preset value c on the space distance between a crane arm of a tower crane and a steel wire rope and an obstacle, wherein the space distance is likely to collide;
if the calculated space distance between the lifting arm of the adjacent tower crane and the steel wire rope is smaller than the preset value a, controlling the lifting arm to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the steel wire ropes of the adjacent tower cranes is smaller than the preset value b, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the crane boom of the tower crane and the steel wire rope and the obstacle is smaller than the preset value c, controlling the crane boom to stop running and giving an alarm; otherwise, the crane arm continues to operate normally.
As a technical scheme of the invention, the marker A and the marker B are round single colors and can be locked by a computer, and are inconsistent with the crane boom and other objects in the picture information obtained in the step S300, the circle center characteristic point of the marker A is detected through Hough transformation, and the real-time spatial displacement of the marker B is obtained;
after detecting the circle center characteristic point of the marker A, the method comprises the following steps:
according to the displacement change of the circle center characteristic point of the tower crane boom in the running state, obtaining the deformation displacement of the tower crane boom;
calculating the deformation quantity of the crane boom according to the obtained deformation displacement of the crane boom of the tower crane, judging whether the crane boom should continue to operate, and stopping operating the crane boom if the deformation quantity of the crane boom is larger than the maximum parameter of the deformation quantity of the factory; if the deformation quantity of the crane arm is smaller than the maximum parameter of the factory deformation quantity, continuously judging whether the crane arm continuously operates under the deformation quantity is collided, if so, stopping operating the crane arm, otherwise, continuously operating the crane arm normally;
after acquiring the real-time spatial displacement of marker B, comprising:
acquiring a real-time space position of a wire rope tail end bundling mechanism according to the space displacement of the tower crane wire rope along with the marker B in the crane boom running state; if collision possibility exists in the space distance between the binding mechanisms of the adjacent tower crane wire ropes, the crane boom stops running, otherwise, the crane boom continues to normally run.
As a technical scheme of the present invention, if the deformation amount of the crane arm is smaller than the maximum parameter of the factory deformation amount, then continuously judging whether the crane arm continuously operates under the deformation amount generates collision, and further comprising:
acquiring characteristic points of deformation positions of the crane arm;
matching the characteristic points of the deformation positions according to the characteristic information of the crane arm in the normal state identified in the step S100, and searching the characteristic information corresponding to the characteristic points;
the deformation quantity of the crane arm is included in the searched characteristic information, and new characteristic information is redetermined;
and acquiring the actual relative spatial position of the crane arm according to the determined new characteristic information, and judging whether the crane arm collides under the relative spatial position.
As a technical scheme of the invention, after the deformation displacement of the crane boom of the tower crane is obtained and whether the crane boom should continue to operate is judged, the method also comprises the steps of recording, storing and updating data to form a historical database, and the historical database is used for immediately judging whether the crane boom continues to operate when the same or similar deformation quantity of the crane boom occurs after the moment t.
As one technical solution of the present invention, the determining whether to continue operating the boom immediately when the same or similar deformation occurs after the time t includes:
the deformation quantity of the crane boom in the current running state is obtained in real time;
traversing and searching the deformation quantity of the crane arm in the current running state in a historical database to inquire the same or similar deformation quantity data; if the deformation data which is the same as or similar to the current crane arm exists in the historical database, continuously inquiring whether the crane arm stops running or not when the deformation data in the historical database are generated, and if so, directly stopping the crane arm in the current running state; if the deformation data in the historical database are generated and collide after the crane arm runs for a period of time t0, judging that the deformation of the crane arm in the current running state also collides after the crane arm runs for a period of time t0, stopping the crane arm in the current running state, if the crane arm runs normally all the time after the deformation data in the historical database are generated, judging that the deformation of the crane arm in the current running state does not collide, and continuing to run the crane arm in the current running state;
and if the deformation data which are the same as or similar to the deformation data of the current crane boom exist in the historical database, updating the historical database.
The second aspect of the invention provides a tower-grouping operation anti-collision system, which comprises:
the training module is used for carrying out characteristic training on the lifting arms and the steel wire ropes of the adjacent tower cranes in the tower swarm operation so as to identify characteristic information of the lifting arms and the steel wire ropes;
the first acquisition module is used for acquiring the spatial position information of the boom and the steel wire rope of the adjacent tower crane;
the second acquisition module is used for acquiring real-time image information of obstacles around the crane boom and the steel wire rope;
the judging module is used for acquiring the relative spatial position information of the lifting arms of the adjacent tower cranes and the steel wire ropes according to the acquired characteristic information, spatial position information and surrounding obstacle real-time picture information of the lifting arms and the steel wire ropes, so as to pre-judge whether the lifting arms and the steel wire ropes possibly collide in tower clustering operation through calculation;
if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning;
and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
As an aspect of the present invention, the present invention further includes:
the threshold module is used for presetting a value a for the space distance between the crane arm of the adjacent tower crane and the steel wire rope, wherein the space distance is likely to collide with the steel wire rope;
the method comprises the steps of carrying out a preset value b on the space distance between steel wire ropes of adjacent tower cranes, wherein the space distance is likely to collide with the steel wire ropes;
the method comprises the steps of (1) carrying out a preset value c on the space distance between a crane arm of a tower crane and a steel wire rope and an obstacle, wherein the space distance is likely to collide;
if the calculated space distance between the lifting arm of the adjacent tower crane and the steel wire rope is smaller than the preset value a, controlling the lifting arm to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the steel wire ropes of the adjacent tower cranes is smaller than the preset value b, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the crane boom of the tower crane and the steel wire rope and the obstacle is smaller than the preset value c, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
the marking module is used for uniformly attaching a marker A in parallel at the camera visible position of the crane boom so as to obtain the real-time relative spatial position of the crane boom in the running state, and attaching a marker B on the bundling mechanism at the tail end of the steel wire rope so as to obtain the actual real-time relative spatial position of the steel wire rope in the running state along with the crane boom.
The technical scheme of the invention has the following beneficial technical effects:
according to the invention, CNN is adopted to perform characteristic training on the crane boom and the steel wire rope of the tower crane to obtain the characteristic information of the crane boom and the steel wire rope, the spatial distance measurement is combined to obtain the spatial positions of the crane boom and the steel wire rope, and whether the crane boom is likely to collide in the tower-clustering operation is pre-judged by safety judgment calculation of the spatial distance;
the invention also utilizes the historical data of the crane arm operation, and rapidly judges whether the currently operated crane arm has collision risk according to the historical data.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flow chart of a second method of the present invention;
FIG. 3 is a block diagram of a system of the present invention;
FIG. 4 is an example of a collision in accordance with the present invention;
FIG. 5 is a crash example two of the present invention;
fig. 6 is a collision example three in the present invention.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
In actual tower-assembling operation, the lifting arms of adjacent tower cranes are located in different vertical spaces, collision can not be generated between the two lifting arms in a normal state, and under the condition that the installation density of the tower cranes is denser in a construction environment, as the steel wire ropes are in a working state, swing amplitude can occur along with the operation of the lifting arms, so that the possibility that the steel wire ropes of the lifting arms located above collide with the lifting arms located below and the possibility that the steel wire ropes of the lifting arms located above collide with the steel wire ropes of the lifting arms located below can occur.
Since the strapping mechanism at the tail end of the wire rope can be used for strapping large-mass workpieces or large objects, collision between the two workpieces/objects or collision with the wire rope of the crane arm can occur.
In the actual tower-grouping operation, although the lifting arms of the adjacent towers are positioned in different vertical spaces, in the actual operation, the lifting arms positioned above may deform during operation, thereby causing collision with the lifting arms positioned below.
Thus, as shown in fig. 1, the method for preventing collision of tower group operation provided by the first aspect of the present invention includes the following steps: characteristic training is carried out on the lifting arms and the steel wire ropes of the adjacent tower cranes in the tower swarm operation so as to identify characteristic information of the lifting arms and the steel wire ropes; acquiring spatial position information of a crane arm and a steel wire rope of an adjacent tower crane; acquiring real-time image information of obstacles around the crane boom and the steel wire rope; according to the acquired characteristic information, spatial position information and real-time picture information of surrounding obstacles of the crane boom and the steel wire rope, acquiring relative spatial position information of the crane boom and the steel wire rope of the adjacent tower crane, and judging whether the crane boom and the steel wire rope are likely to collide in tower-clustered operation or not through calculation; if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning; and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
Because in this application, the real-time spatial positions of the boom and the wire rope mounted below the boom need to be acquired to achieve tracking of the real-time positions of the boom and the wire rope. Therefore, acquiring spatial position information of the boom and the wire rope of the adjacent tower crane in the step comprises the following steps:
at least one camera is arranged at the fixed position of the crane arm, and in the embodiment, the camera is used for tracking and identifying a marker A and a marker B which are respectively arranged on the crane arm and the steel wire rope; uniformly attaching a marker A in parallel at the camera visible position of the crane arm so as to obtain a real-time relative spatial position of the crane arm in an operating state; and attaching a marker B on the bundling mechanism at the tail end of the steel wire rope to obtain the actual real-time relative spatial position of the steel wire rope along with the operation state of the crane boom.
Due to the existence of the obstacle in the working environment, the collision between the crane arm and the steel wire rope not only exists between the crane arm and the steel wire rope, but also can exist between the crane arm and the steel wire rope and the obstacle.
Therefore, the acquired real-time image information of the obstacle is analyzed and processed to acquire the spatial distance between the obstacle and the crane boom and the wire rope in the running state.
Since the binding mechanism at the bottom of the wire rope may bind large workpieces, such as large-mass steel bars, when the boom is operated, the wire rope swings in the operating state, and even if no collision condition is detected, there is a possibility that collision occurs between the large workpieces and the large workpieces or the wire rope.
Therefore, in the present embodiment, the tower crane work pieces that have been strapped by the wire rope end strapping mechanism are regarded as obstacles. In theory, the tower crane work piece which is bound on the wire rope tail end binding mechanism and the wire rope keep relatively static movement.
I.e. the obstacle taken by the camera on the adjacent tower crane comprises the work pieces that have been strapped by the strapping means on the wire of the adjacent tower crane.
In this embodiment, the pre-judging whether the collision between the boom and the wire rope is possible in the tower-crowd operation includes: the method comprises the steps that a preset value a is carried out on the space distance between a crane arm of an adjacent tower crane and a steel wire rope, wherein the space distance is likely to collide; the method comprises the steps of carrying out a preset value b on the space distance between steel wire ropes of adjacent tower cranes, wherein the space distance is likely to collide with the steel wire ropes; the method comprises the steps of (1) carrying out a preset value c on the space distance between a crane arm of a tower crane and a steel wire rope and an obstacle, wherein the space distance is likely to collide;
if the calculated space distance between the lifting arm of the adjacent tower crane and the steel wire rope is smaller than the preset value a, controlling the lifting arm to stop running and giving an alarm; otherwise, the crane boom continues to normally run; if the calculated space distance between the steel wire ropes of the adjacent tower cranes is smaller than the preset value b, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run; if the calculated space distance between the crane boom of the tower crane and the steel wire rope and the obstacle is smaller than the preset value c, controlling the crane boom to stop running and giving an alarm; otherwise, the crane arm continues to operate normally.
In one particular embodiment:
the camera is arranged at the fixed position of the tower crane boom (crane boom) for tower group operation, which is convenient to observe, and the outline of the whole crane boom and the steel wire rope (at least the steel wire rope bundling mechanism) can be enabled to be in the shooting range of the camera, so that the internal and external parameters of the camera calibration at the moment are obtained (specifically, the camera is manually calibrated by using a Zhang Zhengyou calibration method after being fixed, and the internal and external parameters of the camera at the moment are obtained).
The system adopts a computer to communicate with a camera and a tower crane controller in a wired or wireless mode, runs a binocular vision detection program to track the space position of the crane arm during the operation of the group tower, sends a signal to the tower crane controller when the collision factor is possibly generated, and is usually a Programmable Logic Controller (PLC), when receiving an instruction that the crane arm is possibly collided when the distance of the crane arm is too close, the PLC sends an instruction to a rotation limiter in an emergency, the tower crane rotation limiter is started, and the two crane arms stop running.
The alarm is adopted to send instructions to the computer for starting, and the alarm is started simultaneously with the tower crane rotation limiter, so that the alarm has the warning effect on tower crane operators and other works.
Because the crane boom is in a moment position change under the running state, the binocular vision detection program disclosed by the invention comprises the steps of utilizing CNN to train the characteristics of the crane boom and the steel wire rope of the tower crane, tracking the movements of the crane boom and the steel wire rope, three-dimensional matching based on SURF characteristic points, calculating three-dimensional information and the like, so that the space positions of the crane boom and the steel wire rope during the tower swarming operation are tracked, and the description is omitted.
The deformation of the crane arm in the running state, namely in the working process, influences the judgment of the actual relative space position.
Therefore, in a specific real-time scheme, the markers A and B are circular single colors and can be locked by a computer, and are inconsistent with the crane boom and other objects in the picture information obtained in the step S300, the circle center characteristic point of the marker A is detected through Hough transformation, and the real-time spatial displacement of the marker B is obtained;
it should be noted that, in order to prevent the camera on the adjacent tower crane from generating the false recognition condition, the colors of the markers arranged on the two adjacent tower cranes should be different.
After detecting the circle center characteristic point of the marker A, the method comprises the following steps:
according to the displacement change of the circle center characteristic point of the tower crane boom in the running state, obtaining the deformation displacement of the tower crane boom; calculating the deformation quantity of the crane boom according to the obtained deformation displacement of the crane boom of the tower crane, judging whether the crane boom should continue to operate, and stopping operating the crane boom if the deformation quantity of the crane boom is larger than the maximum parameter of the deformation quantity of the factory; if the deformation quantity of the crane arm is smaller than the maximum parameter of the factory deformation quantity, continuously judging whether the crane arm continuously operates under the deformation quantity is collided, if so, stopping operating the crane arm, otherwise, continuously operating the crane arm normally;
after acquiring the real-time spatial displacement of marker B, comprising:
acquiring a real-time space position of a wire rope tail end bundling mechanism according to the space displacement of the tower crane wire rope along with the marker B in the crane boom running state; if collision possibility exists in the space distance between the binding mechanisms of the adjacent tower crane wire ropes, the crane boom stops running, otherwise, the crane boom continues to normally run.
Referring to fig. 4 and 5, since the booms 10 of the adjacent two towers are installed up and down in the vertical space in the actual working environment, the possibility of collision between the booms 10 of the adjacent two towers is very small, and in addition, the wire rope 20 is swung in the actual working.
Therefore, the wire rope 20 of the boom 10 located above collides with the boom 10 located below, and also collides with the wire rope 20 of the boom 10 located below.
There is a collision between the wire rope 20 for the boom 10 located above and the boom 10 located below:
the space positions of the crane arm and the steel wire rope are identified by utilizing cameras on the adjacent tower cranes, the space distance between the crane arm and the steel wire rope can be determined, and whether the crane arm and the steel wire rope collide is judged through the presetting of the safety distance.
The camera obtains the space position of the marker B on the strapping mechanism 30 at the end of the wire rope 20 of the upper crane boom 10, that is, the real-time space position of the strapping mechanism 30 can be obtained, and since the wire rope 20 is kept in a stretched state at all times, the space position of any point on the wire rope 20 can be obtained theoretically by utilizing the triangle relationship, and then according to the space position of the crane boom (i.e., the lower crane boom) of the adjacent tower crane, whether the possibility of collision exists on the wire rope 20 (including the strapping mechanism 30) located above corresponding to the horizontal position of the lower crane boom can be judged.
Under the condition that swing exists between the steel wire ropes positioned on the upper lifting arm and the steel wire ropes positioned on the lower lifting arm, the space positions of any point on the two steel wire ropes can be obtained by utilizing the space positions of the bundling mechanisms at the tail ends of the two steel wire ropes, and whether collision possibility exists between the two steel wire ropes can be judged through whether crossing or approaching space coordinates occur.
The circular marker A is uniformly attached to the visible position of the crane boom of the tower crane in parallel before the installation of the tower crane; the camera is arranged at a fixed position relative to the crane arm, and can be used for visualizing all circular markers A on the crane arm and obtaining the focal length of the camera and the horizontal distance from the camera to each marker A at the moment; wireless communication is realized between the camera and a ground computer; and the computer is communicated with the tower crane controller.
After knowing the focal length of the camera and the fixed horizontal distance from the camera to the marker A, the circle center displacement of the marker, namely the deformation displacement of the crane arm, can be obtained through calculation.
For the determination of the center position in the present invention, the RGB color space of the camera input can be converted into the HSV color space by color space conversion, which is often used to detect and recognize colors because the HSV color space is a color space that is relatively close to colors seen by the human eye. The detection of the monochromatic marker circle is realized through Hough transformation, and when the image space is a circle, the parameter space after transformation is a cone. The circle center detection of the marker is based on the detection of the marker circle. And after Hough transformation is carried out on any edge point on the circumference, unique cones are corresponding to the unique cones in the space. For the detected circumferential edge points, a cone cluster is obtained after transformation, and all cones intersect at a point in the parameter space, and the point is the center of a circle.
Because the tower crane boom is a moving object, the boom and camera should ideally remain relatively stationary, although the camera moves with the boom. However, deformation displacement is generated when the crane boom of the tower crane lifts the heavy object, so that the displacement movement of the tower crane needs to be tracked, and the displacement movement can be converted into the tracking of the characteristic points of the marker, namely the center of the marker. Specifically, the invention adopts a mode of combining the Camshift algorithm with the Kalman algorithm to track the target.
Referring to fig. 6, in the case where the crane arm located above is deformed in the operating state, since the deformed crane arm is slightly different from the above-identified spatial position in its actual spatial position, the slight difference still has the possibility of causing collision between the two crane arms, so as to further improve safety, in the present invention:
if the deformation amount of the crane arm is smaller than the maximum parameter of the factory deformation amount, continuously judging whether the crane arm continuously runs under the deformation amount and collides, and further comprising the steps of:
as shown in fig. 2, obtaining characteristic points of deformation positions of the crane arm; matching the characteristic points of the deformation positions according to the identified characteristic information of the crane boom in a normal state, and searching the characteristic information corresponding to the characteristic points; the deformation quantity of the crane arm is included in the searched characteristic information, and new characteristic information is redetermined; and acquiring the actual relative spatial position of the crane arm according to the determined new characteristic information, and judging whether the crane arm collides under the relative spatial position.
For example, for deformation of the crane arm, in a specific embodiment, a camera may be disposed at a fixed position of the tower crane, where the camera is used to identify the spatial position of the marker a on the crane arm of the tower crane, so as to determine the specific deformation displacement of the crane arm. Thereby determining whether a collision with the underlying boom is likely to occur.
In order to improve the control of the crane arm, the invention utilizes the historical data of the crane arm operation, and judges the safety of the current operation of the crane, namely whether collision occurs or not by comparing the historical data with the data in the current crane arm operation state.
Thus, in some embodiments, after the deformation displacement of the crane boom is obtained and it is determined whether the crane boom should continue to operate, the method further includes recording, storing and updating data to form a historical database for immediately making a determination of whether to continue to operate the crane boom when the same or similar deformation occurs after time t.
Specifically, for example, the determination of whether to continue operating the boom is made immediately when the same or similar deformation amount occurs after the time t, including:
the deformation quantity of the crane boom in the current running state is obtained in real time; traversing and searching the deformation quantity of the crane arm in the current running state in a historical database to inquire the same or similar deformation quantity data; if the deformation data which is the same as or similar to the current crane arm exists in the historical database, continuously inquiring whether the crane arm stops running or not when the deformation data in the historical database are generated, and if so, directly stopping the crane arm in the current running state; if the deformation data in the historical database are generated and collide after the crane arm runs for a period of time t0, judging that the deformation of the crane arm in the current running state also collides after the crane arm runs for a period of time t0, stopping the crane arm in the current running state, if the crane arm runs normally all the time after the deformation data in the historical database are generated, judging that the deformation of the crane arm in the current running state does not collide, and continuing to run the crane arm in the current running state;
and if the deformation data which are the same as or similar to the deformation data of the current crane boom exist in the historical database, updating the historical database. Since the data not queried is data which is not generated in the past operation of the crane arm, the crane arm is stored to fill the history database. In this state, the boom still makes a determination as to whether to stop operation in the manner of the determination described above.
Similarly, the historical database can also record and store swing data of the steel wire ropes so as to judge whether the steel wire ropes of the crane arm positioned above and the crane arm positioned below and the steel wire ropes thereof can collide or not in subsequent operation.
As shown in fig. 3, a second aspect of the present invention proposes a tower operation collision avoidance system, comprising:
the training module is used for training the tower crane boom comprising the hanging steel wire rope so as to identify the characteristic information of the boom; the first acquisition module is used for acquiring the spatial position information of the crane boom; the second acquisition module is used for acquiring real-time picture information of obstacles around the crane arm; the judging module is used for acquiring the relative spatial position information of the crane arm according to the acquired characteristic information, spatial position information and surrounding obstacle real-time picture information of the crane arm, so as to pre-judge whether the crane arm is likely to collide in the tower-crowd operation through calculation; if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning; and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
The invention further comprises a threshold module, a control module and a control module, wherein the threshold module is used for presetting the possible collision distance of the crane boom; when the calculated distance between two adjacent crane arms and/or any crane arm and the obstacle is smaller than the preset value, controlling the crane arms to stop running and giving an alarm; and when the calculated distance between the two adjacent crane arms and/or any crane arm and the obstacle is greater than the preset value, the crane arms continue to normally operate. And the marking module is used for uniformly attaching markers in parallel at the visible position of the crane arm so as to obtain the actual real-time relative spatial position of the crane arm in the running state.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The anti-collision method for the group tower operation is characterized by comprising the following steps of:
step S100, carrying out characteristic training on the lifting arms and the steel wire ropes of adjacent tower cranes in the tower grouping operation so as to identify characteristic information of the lifting arms and the steel wire ropes;
step S200, acquiring spatial position information of a crane arm and a steel wire rope of an adjacent tower crane;
step S300, acquiring real-time image information of obstacles around the crane boom and the steel wire rope;
step S400, acquiring the relative spatial position information of the crane arms and the steel wire ropes of adjacent tower cranes according to the acquired characteristic information, spatial position information and surrounding obstacle real-time picture information of the crane arms and the steel wire ropes, so as to pre-judge whether the crane arms and the steel wire ropes possibly collide in tower crane clustering operation through calculation;
if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning;
and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
2. The method for preventing collision in tower assembly operation according to claim 1, wherein the step S200 of obtaining spatial position information of the boom and the wire rope of the adjacent tower crane comprises:
at least one camera is arranged at the fixed position of the crane arm and used for tracking and identifying a marker A and a marker B which are respectively arranged on the crane arm and the steel wire rope;
uniformly attaching a marker A in parallel at the camera visible position of the crane arm so as to obtain a real-time relative spatial position of the crane arm in an operating state;
and attaching a marker B on the bundling mechanism at the tail end of the steel wire rope to obtain the actual real-time relative spatial position of the steel wire rope along with the operation state of the crane boom.
3. The tower operation collision avoidance method of claim 2 wherein in step S300 further comprises:
analyzing and processing the acquired real-time image information of the obstacle to acquire the spatial distance between the obstacle and the crane boom and the wire rope in the running state;
the obstacle comprises a tower crane work piece which is strapped on the wire rope tail end bundling mechanism.
4. The method for preventing collision of a tower crane according to claim 1, wherein the step S400 of pre-determining whether collision of the boom and the wire rope is possible in the tower crane comprises:
the method comprises the steps of carrying out a preset value a on the space distance between a crane arm of an adjacent tower crane and a steel wire rope, wherein the space distance is likely to collide;
the method comprises the steps of carrying out a preset value b on the space distance between steel wire ropes of adjacent tower cranes, wherein the space distance is likely to collide with the steel wire ropes;
the method comprises the steps of (1) carrying out a preset value c on the space distance between a crane arm of a tower crane and a steel wire rope and an obstacle, wherein the space distance is likely to collide;
if the calculated space distance between the lifting arm of the adjacent tower crane and the steel wire rope is smaller than the preset value a, controlling the lifting arm to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the steel wire ropes of the adjacent tower cranes is smaller than the preset value b, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the crane boom of the tower crane and the steel wire rope and the obstacle is smaller than the preset value c, controlling the crane boom to stop running and giving an alarm; otherwise, the crane arm continues to operate normally.
5. The method for preventing collision in tower grouping operation according to claim 3, wherein the markers a and B are circular single colors and can be locked by a computer, and are inconsistent with the crane boom and other objects in the picture information obtained in the step S300, the circle center characteristic point of the marker a is detected through Hough transformation, and the real-time spatial displacement of the marker B is obtained;
after detecting the circle center characteristic point of the marker A, the method comprises the following steps:
according to the displacement change of the circle center characteristic point of the tower crane boom in the running state, obtaining the deformation displacement of the tower crane boom;
calculating the deformation quantity of the crane boom according to the obtained deformation displacement of the crane boom of the tower crane, judging whether the crane boom should continue to operate, and stopping operating the crane boom if the deformation quantity of the crane boom is larger than the maximum parameter of the deformation quantity of the factory; if the deformation quantity of the crane arm is smaller than the maximum parameter of the factory deformation quantity, continuously judging whether the crane arm continuously operates under the deformation quantity is collided, if so, stopping operating the crane arm, otherwise, continuously operating the crane arm normally;
after acquiring the real-time spatial displacement of marker B, comprising:
acquiring a real-time space position of a wire rope tail end bundling mechanism according to the space displacement of the tower crane wire rope along with the marker B in the crane boom running state; if collision possibility exists in the space distance between the binding mechanisms of the adjacent tower crane wire ropes, the crane boom stops running, otherwise, the crane boom continues to normally run.
6. The tower crane operation collision avoidance method according to claim 5, wherein if the deformation of the crane arm is less than the maximum parameter of the factory deformation, continuing to determine whether the crane arm continuing to operate under the deformation will collide, further comprising:
acquiring characteristic points of deformation positions of the crane arm;
matching the characteristic points of the deformation positions according to the characteristic information of the crane arm in the normal state identified in the step S100, and searching the characteristic information corresponding to the characteristic points;
the deformation quantity of the crane arm is included in the searched characteristic information, and new characteristic information is redetermined;
and acquiring the actual relative spatial position of the crane arm according to the determined new characteristic information, and judging whether the crane arm collides under the relative spatial position.
7. The method of claim 6, wherein after obtaining deformation displacement of the crane boom and determining whether the crane boom should continue to operate, further comprising recording, storing and updating data to form a historical database for immediately making a determination of whether to continue to operate the crane boom when the same or similar deformation amount occurs after time t.
8. The tower operation collision avoidance method of claim 7 wherein said boom immediately makes a determination of whether to continue operating the boom when the same or similar amount of deformation occurs after time t, comprising:
the deformation quantity of the crane boom in the current running state is obtained in real time;
traversing and searching the deformation quantity of the crane arm in the current running state in a historical database to inquire the same or similar deformation quantity data; if the deformation data which is the same as or similar to the current crane arm exists in the historical database, continuously inquiring whether the crane arm stops running or not when the deformation data in the historical database are generated, and if so, directly stopping the crane arm in the current running state; if the deformation data in the historical database are generated and collide after the crane arm runs for a period of time t0, judging that the deformation of the crane arm in the current running state also collides after the crane arm runs for a period of time t0, stopping the crane arm in the current running state, if the crane arm runs normally all the time after the deformation data in the historical database are generated, judging that the deformation of the crane arm in the current running state does not collide, and continuing to run the crane arm in the current running state;
and if the deformation data which are the same as or similar to the deformation data of the current crane boom exist in the historical database, updating the historical database.
9. A crowd tower operation collision avoidance system, comprising:
the training module is used for carrying out characteristic training on the lifting arms and the steel wire ropes of the adjacent tower cranes in the tower swarm operation so as to identify characteristic information of the lifting arms and the steel wire ropes;
the first acquisition module is used for acquiring the spatial position information of the boom and the steel wire rope of the adjacent tower crane;
the second acquisition module is used for acquiring real-time image information of obstacles around the crane boom and the steel wire rope;
the judging module is used for acquiring the relative spatial position information of the lifting arms of the adjacent tower cranes and the steel wire ropes according to the acquired characteristic information, spatial position information and surrounding obstacle real-time picture information of the lifting arms and the steel wire ropes, so as to pre-judge whether the lifting arms and the steel wire ropes possibly collide in tower clustering operation through calculation;
if the judgment result is that collision occurs, stopping the operation of the crane arm and sending out an alarm warning;
and if the judgment result is that collision cannot occur, the crane boom continues to normally operate.
10. The tower operation collision avoidance system of claim 9 further comprising:
the threshold module is used for presetting a value a for the space distance between the crane arm of the adjacent tower crane and the steel wire rope, wherein the space distance is likely to collide with the steel wire rope;
the method comprises the steps of carrying out a preset value b on the space distance between steel wire ropes of adjacent tower cranes, wherein the space distance is likely to collide with the steel wire ropes;
the method comprises the steps of (1) carrying out a preset value c on the space distance between a crane arm of a tower crane and a steel wire rope and an obstacle, wherein the space distance is likely to collide;
if the calculated space distance between the lifting arm of the adjacent tower crane and the steel wire rope is smaller than the preset value a, controlling the lifting arm to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the steel wire ropes of the adjacent tower cranes is smaller than the preset value b, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
if the calculated space distance between the crane boom of the tower crane and the steel wire rope and the obstacle is smaller than the preset value c, controlling the crane boom to stop running and giving an alarm; otherwise, the crane boom continues to normally run;
the marking module is used for uniformly attaching a marker A in parallel at the camera visible position of the crane boom so as to obtain the real-time relative spatial position of the crane boom in the running state, and attaching a marker B on the bundling mechanism at the tail end of the steel wire rope so as to obtain the actual real-time relative spatial position of the steel wire rope in the running state along with the crane boom.
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