CN117533956A - Crane hoisting operation safety monitoring and early warning method and system - Google Patents
Crane hoisting operation safety monitoring and early warning method and system Download PDFInfo
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- 238000000605 extraction Methods 0.000 claims abstract description 11
- 238000013519 translation Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 8
- 238000013528 artificial neural network Methods 0.000 claims description 6
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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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Abstract
The invention discloses a crane hoisting operation safety monitoring and early warning method and system, the scheme is ingenious in that when a crane works, image acquisition is carried out on the crane from at least two directions, then a plurality of image frames are acquired by utilizing a frame extraction mode based on acquired image data, the three-dimensional position of the crane in a working field is evaluated and determined according to acquisition information and characteristic identification positions of the same area in the image frames, meanwhile, an early warning area (working area) is set, the scheme is also used for judging whether potential safety hazards exist or not by judging fixed elements and moving elements in the working field of the crane and monitoring the distance relation between the fixed elements and the moving elements and the working area, so that emergency prompt is provided for background management personnel and field personnel.
Description
Technical Field
The invention relates to the technical field of crane safety, in particular to a safety monitoring and early warning method and system for crane lifting operation.
Background
The crane is used as an important heavy object transferring tool, and is widely applied to places with larger object transferring requirements such as wharfs, factories and warehouses, and the like, and because the places of work of the crane often need more personnel and carriers to carry out work coordination, the crane needs to carry out real-time monitoring and early warning on personnel or other moving objects nearby the crane in the working process so as to avoid collision or other dangerous accidents, at present, a more common safety monitoring scheme is to carry out on-site or background monitoring and early warning and evacuating personnel and objects which possibly cause the working risk of the crane in a manual mode, on one hand, the mode occupies manpower resources, on the other hand, the problem of difficult on-site condition backtracking and great subjective judgment specific gravity exists, in this case, some researchers propose to carry out induction detection on the working site of the crane in a mode of arranging sensors, and because the positions of the objects and the personnel are not regular, and other on-site factors (such as dust, water vapor and other suspended objects can interfere with the sensors when the crane is applied outdoors) easily cause the sensor misjudgment, and therefore, the auxiliary induction mode is also limited in a mode, especially easy to have a problem of mismonitoring; because the crane is used in the working place, the management personnel can often carry out image acquisition and recording, and in the scheme of carrying out auxiliary field safety monitoring by utilizing the data of image acquisition, some researchers carry out early warning by directly judging the distance between the personnel and the crane from an image picture, and the mode is based on a single camera, under the condition, a single image can only show a two-dimensional scene, and a large error exists in the judgment of the distance between the personnel and the crane or a hoisted object thereof, so that how to improve the reliability and the flexibility of the field safety monitoring of the crane is a research subject with positive practical significance.
Disclosure of Invention
Therefore, the invention aims to provide a crane hoisting operation safety monitoring and early warning method and system which are reliable in implementation, flexible in application and good in monitoring feedback result reference.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a crane lifting operation safety monitoring and early warning method comprises the following steps:
s01, responding to a work starting signal of the crane, and performing image monitoring on the crane from at least two directions through at least two image acquisition units to generate image monitoring data, wherein the image monitoring range covers an article lifted by the crane;
s02, acquiring image monitoring data, positioning and identifying a region where a crane in the image monitoring data is located so as to determine the outline of the crane and a lifted object thereof, and then setting a preset outline range region as a working region;
s03, positioning elements outside the working area in the image monitoring data according to the working area to determine moving elements in a preset range of a working area where the crane is located, and then generating and outputting early warning information according to preset conditions according to the distance change between the moving elements and the working area.
As one possible implementation manner, the crane comprises a portal frame, a translation assembly, a lifting assembly and a load trolley, wherein a track is arranged in a working field of the crane, the track is positioned on the working field below two sides of the portal frame, the translation assembly is connected to the lower ends of the two sides of the portal frame and is used for being in fit connection with the track, and is used for driving the portal frame to translate in the track, the load trolley is movably connected to a beam of the portal frame, and the lifting assembly is connected with the load trolley and is used for lifting articles to be transferred; the load trolley is used for driving the lifting assembly to move on the cross beam of the portal frame;
in S01, the area where at least two image acquisition units perform image acquisition covers the translation assembly, the lifting assembly and the load trolley of the crane, and the lifted object on the lifting assembly;
in addition, in this scheme S01, when generating image monitoring data, still real-time recording image acquisition unit carries out the attitude data and in the place of work position data when image acquisition, the attitude data includes: shooting angle data and pitch angle data.
As a preferred implementation option, preferably, the scheme S01 includes:
s011, arranging at least two image acquisition units in a working site of a crane, wherein each image acquisition unit is provided with an electric control cradle head for controlling an acquisition direction angle and a pitch angle of the image acquisition unit;
s012, uniformly distributing a plurality of characteristic marks made of fluorescent materials on two sides of the upper part and the lower part of a portal frame of the crane, a translation assembly, a lifting hook and a main body of a lifting assembly, a load trolley and lifted articles, and then debugging an image acquisition unit to enable one characteristic mark to be positioned in an image acquisition center of the image acquisition unit, wherein the image monitoring range covers the lifted articles of the crane;
s013, responding to a work starting signal of the crane, and starting the electric control cradle head and the image acquisition unit;
s014, performing image monitoring on the crane from at least two directions through at least two image acquisition units, and respectively generating image monitoring data.
As a preferred implementation option, the solution S02 preferably includes:
s021, acquiring image monitoring data generated by all image acquisition units in real time, and then performing frame extraction on all the image monitoring data according to a preset time point to obtain at least two image frames at the same time point;
s022, carrying out crane contour positioning on at least two image frames obtained by frame extraction, then determining a characteristic mark in the positioning contour in the image frames, and carrying out contour inversion on a crane covered by image acquisition at a preset time point and a hoisted object thereof according to the characteristic mark and the crane contour to generate contour data;
s023, setting a working area in a preset range according to the profile data, and judging the safety area range of the crane during working.
As a preferred implementation option, preferably, the scheme S022 includes:
s0221, respectively carrying out crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information;
s0222, determining feature identifiers in the positioning outline from corresponding image frames according to the positioning information, and then determining feature identifiers which are shared by two from at least two image frames;
s0223, acquiring attitude data and position data of an image acquisition unit corresponding to an image frame when the image is acquired according to acquisition time corresponding to the image frame, and then combining the position data and the attitude data of the image acquisition units corresponding to two image frames to determine the three-dimensional position of a common characteristic identifier of the two image frames in a working field;
s0224, establishing a virtual three-dimensional coordinate system, correspondingly generating characteristic identifiers of the determined three-dimensional positions in the working site in the virtual three-dimensional coordinate system, and then connecting the characteristic identifiers according to preset requirements by combining positioning information about crane profile positioning in the image frames so as to realize profile inversion of a crane covered by image acquisition at a preset time point and lifted articles thereof and generate profile data.
As a preferred implementation choice, in the present solution S03, preferably, when elements outside the working area in the image monitoring data are located according to the working area, fixed elements in a preset range of the working area where the crane is located are also determined, then according to the working movement direction of the crane and the position where the fixed elements are located, whether the working movement of the crane is interfered is determined, and then early warning information is generated and output according to the determination result.
As a preferred implementation option, preferably, the scheme S03 includes:
s031, positioning elements except the working areas in the image frames according to the working areas corresponding to the image frames of the image monitoring data at different time points to obtain a plurality of element information;
s032, judging a plurality of element information according to preset requirements, and then defining the positioned element information as a mobile element or a fixed element according to a judging result;
s033, determining the distance change between the mobile element and the working area according to the position change relation of the mobile element in the image monitoring data at different time points and the positions of the crane and the lifted object, and generating and outputting early warning information when the distance between the mobile element and the working area is smaller than a preset threshold value;
s034, judging the moving directions of the crane and the hoisted objects according to the positions of the crane and the hoisted objects in the image monitoring data at different time points, then carrying out moving interference judgment on fixed elements in the moving directions of the crane in the image monitoring data according to the moving directions, and generating and outputting early warning information when moving interference exists.
As a preferred implementation choice, preferably, in the method S032, the method for determining the multiple element information includes one of the following:
(1) The image area corresponding to the element information is used as an input item to be imported into a trained detection neural network so as to judge the image area as a fixed object or a movable object, and then the information definition of the positioned element is carried out as a movable element or a fixed element according to the judging result;
(2) And defining the information of the positioned element as a mobile element or a fixed element according to the position change condition of the object corresponding to the element information in the image acquisition data at different time points.
Based on the above, the invention also provides a crane lifting operation safety monitoring and early warning system, which comprises:
the plurality of image acquisition units are connected with the electric control cradle head and are used for carrying out image monitoring on the crane from at least two directions to generate image monitoring data, wherein the image monitoring range covers articles lifted by the crane;
the working control unit is used for responding to a working starting signal of the crane and controlling at least two image acquisition units to monitor the crane in at least two directions;
the profile positioning unit is used for acquiring image monitoring data, positioning and identifying the area where the crane is located in the image monitoring data so as to determine the profile of the crane and the lifted object thereof, and then setting the profile preset range area as a working area; the system is also used for positioning elements outside the working area in the image monitoring data according to the working area so as to determine moving elements in a preset range of the working area where the crane is located;
and the data processing unit is used for generating and outputting early warning information according to preset conditions according to the change of the distance between the mobile element and the working area.
Based on the above, the invention also provides a computer readable storage medium, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by a processor to realize the crane hoisting operation safety monitoring and early warning method.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: the technical scheme is ingenious in that when the crane works, image acquisition is carried out on the crane from at least two directions, then a plurality of image frames are acquired by utilizing a frame extraction mode based on acquired image data, the three-dimensional position of the crane in a working field is evaluated and determined according to acquisition information and characteristic identification positions of the same area in the image frames, meanwhile, an early warning area (working area) is set, and whether potential safety hazards exist or not is judged by judging fixed elements and moving elements in the working field of the crane and monitoring the distance relation between the fixed elements and the moving elements and the working area.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow diagram of one embodiment of the process of the present invention;
FIG. 2 is a schematic diagram of a brief implementation state of the invention when the scheme is applied, wherein the schematic diagram shows the situation that 4 image acquisition units acquire images of a crane from different angles;
FIG. 3 is a schematic flow chart showing one specific example implementation of the method step S01 of the scheme of the present invention;
FIG. 4 is a schematic flow chart showing one specific example implementation of step S02 of the method of the present invention;
FIG. 5 is a schematic diagram of the principle of estimating the image acquisition pose information corresponding to the positions of other feature identifiers through image frames in the method of the present invention;
FIG. 6 is a schematic flow chart of one specific example implementation of S022 in the method of the scheme of the invention;
FIG. 7 is a schematic diagram of a method of determining a three-dimensional spatial position of a common feature point in an image frame by two image acquisition units according to the present invention;
FIG. 8 is a schematic outline gesture illustration generated by linking feature identifiers in a virtual three-dimensional coordinate system in the method of the present invention;
fig. 9 is a schematic diagram of connection of unit modules of the system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present invention, but do not limit the scope of the present invention. Likewise, the following examples are only some, but not all, of the examples of the present invention, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present invention.
Referring to fig. 1, the method for monitoring and early warning safety of crane lifting operation according to this embodiment includes:
s01, responding to a work starting signal of the crane, and performing image monitoring on the crane from at least two directions through at least two image acquisition units to generate image monitoring data, wherein the image monitoring range covers an article lifted by the crane;
s02, acquiring image monitoring data, positioning and identifying a region where a crane in the image monitoring data is located so as to determine the outline of the crane and a lifted object thereof, and then setting a preset outline range region as a working region;
s03, positioning elements outside the working area in the image monitoring data according to the working area to determine moving elements in a preset range of a working area where the crane is located, and then generating and outputting early warning information according to preset conditions according to the distance change between the moving elements and the working area.
Fig. 2 shows a schematic implementation state diagram of the embodiment when the embodiment is applied and implemented, wherein the diagram shows the situation that 4 image acquisition units acquire images of a crane from different angles; because the image acquisition unit is arranged, the position of the image acquisition unit can be relatively fixed or can be in a mode of moving along with the crane, when the image acquisition unit needs to translate along with the crane, the arranged position of the image acquisition unit can need to be close to the crane based on a starting point of a simplified structure (if the image acquisition unit is arranged from a far place, a plurality of synchronous moving parts can be arranged, and the image acquisition unit can be directly connected with the crane when the image acquisition unit is arranged near the crane), so that the synchronous moving auxiliary parts can be arranged, and when the image acquisition unit moves along with the crane, the image acquisition unit can possibly vibrate and other problems to cause that a stable image cannot be shot, if the image acquisition unit is fixed at the installation position, the image acquisition unit is controlled by an electric control cradle head, so that the arranged position of the image acquisition unit can be relatively far away, and the crane and the information in the preset range of the crane can be acquired as far as possible, so that the follow-up safety monitoring is used.
It should be noted that, the implementation shown in fig. 2 is shown to be the case of the solution under the preferred condition, that is, the two sides of the crane are provided with the image acquisition units for image acquisition, in this case, as long as the coverage range of the image acquisition is the range to be monitored, the determination of the three-dimensional position of the crane can be better performed, and the more the number of the image acquisition units, the more the acquired information is, and the more the monitoring is facilitated.
Based on the geometric law, under the condition that the coordinates of one point in the known space are required to be determined, if the relative position of the second point is required to be known, if the relative position is calculated according to the data generated by the image acquisition unit, the information which is easy to acquire is mostly only the position information, the direction angle and the pitch angle when the image acquisition unit acquires the image, therefore, when the three-dimensional position of the second point in the space is required to be determined, other calculated information is also lacking, so when only one known point is required to be determined, the second point is required to be calculated, mostly only the direction and the approximate position of the second point relative to the first point are determined, and when the other second known point is introduced, the direction angle and the pitch angle of the second known point relative to the third point of the position to be determined and the three-dimensional coordinate position of the two known points can be directly used for establishing rays, and the intersection of the two rays is the coordinates of the third point in the space (as shown in fig. 7), therefore, when the image acquisition is performed, the image acquisition unit is required to hoist the crane from at least two directions, the image acquisition is required to generate the image, the monitored image is overlapped with the monitored image, and the monitored image is overlapped with the monitored object is lifted; in this way, the three-dimensional position of the image overlapping region can be determined by the image detection data generated by both.
Referring to fig. 2 as well, on the solution implementation object, as a possible implementation manner, further, the crane according to the present invention includes a gantry, a translation assembly, a lifting assembly and a load trolley, wherein a track is arranged in a working field of the crane, the track is positioned on the working field below two sides of the gantry, the translation assembly is connected to two lower ends of the gantry and is used for being cooperatively connected with the track, and is used for driving the gantry to translate on the track, the load trolley is movably connected to a beam of the gantry, and the lifting assembly is connected with the load trolley and is used for lifting an article to be transferred; the load trolley is used for driving the lifting assembly to move on the cross beam of the portal frame;
in S01, the area where at least two image acquisition units perform image acquisition covers the translation assembly, the lifting assembly and the load trolley of the crane, and the lifted object on the lifting assembly;
in addition, in this scheme S01, when generating image monitoring data, still real-time recording image acquisition unit carries out the attitude data and in the place of work position data when image acquisition, the attitude data includes: shooting angle data and pitch angle data.
As shown in fig. 3, in terms of hardware and basic preparation, as a preferred implementation option, the scheme S01 preferably includes:
s011, arranging at least two image acquisition units in a working field of a crane, wherein each image acquisition unit is provided with an electric control tripod head for controlling an acquisition direction angle and a pitch angle of the image acquisition unit, and posture data can be acquired in an auxiliary mode according to the electric control tripod head;
s012, uniformly distributing a plurality of characteristic marks made of fluorescent materials on two sides of the upper part and the lower part of a portal frame of the crane, a translation assembly, a lifting hook and a main body of a lifting assembly, a load trolley and lifted articles, and then debugging an image acquisition unit to enable one characteristic mark to be positioned in an image acquisition center of the image acquisition unit, wherein the image monitoring range covers the lifted articles of the crane;
s013, responding to a work starting signal of the crane, and starting the electric control cradle head and the image acquisition unit;
s014, performing image monitoring on the crane from at least two directions through at least two image acquisition units, and respectively generating image monitoring data.
As shown in fig. 4, as a preferred implementation option, the solution S02 preferably includes:
s021, acquiring image monitoring data generated by all image acquisition units in real time, and then performing frame extraction on all the image monitoring data according to a preset time point to obtain at least two image frames at the same time point;
s022, carrying out crane contour positioning on at least two image frames obtained by frame extraction, then determining a characteristic mark in the positioning contour in the image frames, and carrying out contour inversion on a crane covered by image acquisition at a preset time point and a hoisted object thereof according to the characteristic mark and the crane contour to generate contour data;
s023, setting a working area in a preset range according to the profile data, and judging the safety area range of the crane during working.
When an image frame with a plurality of feature identifiers is extracted from the image monitoring data as shown in fig. 5, it can be determined that the state data acquired by the image has a more direct relationship with the center point M of the image frame, that is, the state data of the point corresponding to the image frame is the corresponding state data when the point M is at the center of the picture, and by establishing the data vector between the point M and other points, the state data when the other points are moved to the center of the picture can be deduced, so that the state data of the image acquisition unit when all the feature identifiers in the image frame are moved to the center of the picture can be acquired, and then the position of the common feature point of the two image frames in space can be judged according to the intersecting condition by the rays established by establishing rays with the corresponding data of the other image frames (as shown in fig. 7) in combination with the position information of the image acquisition unit.
As shown in fig. 6, in the calculation of the profile data, as a preferred implementation option, the scheme S022 preferably includes:
s0221, respectively carrying out crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information;
s0222, determining feature identifiers in the positioning outline from corresponding image frames according to the positioning information, and then determining feature identifiers which are shared by two from at least two image frames;
s0223, acquiring attitude data and position data of an image acquisition unit corresponding to an image frame when the image is acquired according to acquisition time corresponding to the image frame, and then combining the position data and the attitude data of the image acquisition units corresponding to two image frames to determine the three-dimensional position of a common characteristic identifier of the two image frames in a working field;
s0224, establishing a virtual three-dimensional coordinate system, correspondingly generating characteristic identifiers of the determined three-dimensional positions in the working site in the virtual three-dimensional coordinate system, and then connecting the characteristic identifiers according to preset requirements by combining positioning information about crane profile positioning in the image frames so as to realize profile inversion of a crane covered by image acquisition at a preset time point and lifted articles thereof, and generating profile data (shown in figure 8).
Since there are not only some movable elements in the work site, there are also some fixtures that may interfere with the operation of the crane. As a preferred implementation choice, in the present solution S03, preferably, when elements outside the working area in the image monitoring data are located according to the working area, fixed elements in a preset range of the working area where the crane is located are also determined, then according to the working movement direction of the crane and the position where the fixed elements are located, whether the working movement of the crane is interfered is determined, and then early warning information is generated and output according to the determination result.
In terms of the judgment of the moving element and the fixed element, as a preferred implementation choice, the scheme S03 preferably includes:
s031, positioning elements except the working areas in the image frames according to the working areas corresponding to the image frames of the image monitoring data at different time points to obtain a plurality of element information;
s032, judging a plurality of element information according to preset requirements, and then defining the positioned element information as a mobile element or a fixed element according to a judging result;
s033, determining the distance change between the mobile element and the working area according to the position change relation of the mobile element in the image monitoring data at different time points and the positions of the crane and the lifted object, and generating and outputting early warning information when the distance between the mobile element and the working area is smaller than a preset threshold value;
s034, judging the moving directions of the crane and the hoisted objects according to the positions of the crane and the hoisted objects in the image monitoring data at different time points, then carrying out moving interference judgment on fixed elements in the moving directions of the crane in the image monitoring data according to the moving directions, and generating and outputting early warning information when moving interference exists.
In the screening of the element information, as a preferred implementation choice, preferably, in the method S032, the method for determining the plurality of element information includes one of the following:
(1) The image area corresponding to the element information is used as an input item to be imported into a trained detection neural network so as to judge the image area as a fixed object or a movable object, and then the information definition of the positioned element is carried out as a movable element or a fixed element according to the judging result; the main principle of the auxiliary detection by using the detection neural network is to judge the type of the object corresponding to the element information, for example, moving the object which can move at any time, such as a person, a carrier, etc., marking the moving element, constructing a packing box and a building as fixed element marks, then guiding the fixed element marks into the neural network, training the fixed element marks to converge, and obtaining the detection neural network for evaluating whether the object to be detected is a fixed element or a moving element.
(2) And defining the information of the positioned element as a mobile element or a fixed element according to the position change condition of the object corresponding to the element information in the image acquisition data at different time points.
Based on the above, the embodiment further provides a crane lifting operation safety monitoring and early warning system, which includes:
the plurality of image acquisition units are connected with the electric control cradle head and are used for carrying out image monitoring on the crane from at least two directions to generate image monitoring data, wherein the image monitoring range covers articles lifted by the crane;
the working control unit is used for responding to a working starting signal of the crane and controlling at least two image acquisition units to monitor the crane in at least two directions;
the profile positioning unit is used for acquiring image monitoring data, positioning and identifying the area where the crane is located in the image monitoring data so as to determine the profiles of the crane and the lifted articles thereof, setting the area with the preset profile range as a working area, and positioning elements outside the working area in the image monitoring data according to the working area so as to determine the moving elements of the preset range of the working area where the crane is located;
and the data processing unit is used for generating and outputting early warning information according to preset conditions according to the change of the distance between the mobile element and the working area.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description is only a partial embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. The safety monitoring and early warning method for the hoisting operation of the crane is characterized by comprising the following steps of:
s01, responding to a work starting signal of the crane, and performing image monitoring on the crane from at least two directions through at least two image acquisition units to generate image monitoring data, wherein the image monitoring range covers an article lifted by the crane;
s02, acquiring image monitoring data, positioning and identifying a region where a crane in the image monitoring data is located so as to determine the outline of the crane and a lifted object thereof, and then setting a preset outline range region as a working region;
s03, positioning elements outside the working area in the image monitoring data according to the working area to determine moving elements in a preset range of a working area where the crane is located, and then generating and outputting early warning information according to preset conditions according to the distance change between the moving elements and the working area.
2. The crane lifting operation safety monitoring and early warning method according to claim 1, wherein the crane comprises a portal frame, a translation assembly, a lifting assembly and a load trolley, wherein rails are arranged in a working field of the crane, the rails are positioned on the working field below two sides of the portal frame, the translation assembly is connected to the lower ends of the two sides of the portal frame and is used for being matched with the rails and driving the portal frame to translate in the rails, the load trolley is movably connected to a beam of the portal frame, and the lifting assembly is connected with the load trolley and is used for lifting articles to be transferred; the load trolley is used for driving the lifting assembly to move on the cross beam of the portal frame;
in S01, the area where at least two image acquisition units perform image acquisition covers the translation assembly, the lifting assembly and the load trolley of the crane, and the lifted object on the lifting assembly;
when generating image monitoring data, the attitude data and the position data in the work site when the image acquisition unit acquires the images are recorded in real time, wherein the attitude data comprise: shooting angle data and pitch angle data.
3. The crane lifting operation safety monitoring and early warning method according to claim 2, wherein S01 comprises:
s011, arranging at least two image acquisition units in a working site of a crane, wherein each image acquisition unit is provided with an electric control cradle head for controlling an acquisition direction angle and a pitch angle of the image acquisition unit;
s012, uniformly distributing a plurality of characteristic marks made of fluorescent materials on two sides of the upper part and the lower part of a portal frame of the crane, a translation assembly, a lifting hook and a main body of a lifting assembly, a load trolley and lifted articles, and then debugging an image acquisition unit to enable one characteristic mark to be positioned in an image acquisition center of the image acquisition unit, wherein the image monitoring range covers the lifted articles of the crane;
s013, responding to a work starting signal of the crane, and starting the electric control cradle head and the image acquisition unit;
s014, performing image monitoring on the crane from at least two directions through at least two image acquisition units, and respectively generating image monitoring data.
4. The crane lifting operation safety monitoring and early warning method according to claim 3, wherein S02 comprises:
s021, acquiring image monitoring data generated by all image acquisition units in real time, and then performing frame extraction on all the image monitoring data according to a preset time point to obtain at least two image frames at the same time point;
s022, carrying out crane contour positioning on at least two image frames obtained by frame extraction, then determining a characteristic mark in the positioning contour in the image frames, and carrying out contour inversion on a crane covered by image acquisition at a preset time point and a hoisted object thereof according to the characteristic mark and the crane contour to generate contour data;
s023, setting a working area in a preset range according to the profile data, and judging the safety area range of the crane during working.
5. The crane lifting operation safety monitoring and early warning method as claimed in claim 4, wherein S022 comprises:
s0221, respectively carrying out crane contour positioning on at least two image frames obtained by frame extraction to generate positioning information;
s0222, determining feature identifiers in the positioning outline from corresponding image frames according to the positioning information, and then determining feature identifiers which are shared by two from at least two image frames;
s0223, acquiring attitude data and position data of an image acquisition unit corresponding to an image frame when the image is acquired according to acquisition time corresponding to the image frame, and then combining the position data and the attitude data of the image acquisition units corresponding to two image frames to determine the three-dimensional position of a common characteristic identifier of the two image frames in a working field;
s0224, establishing a virtual three-dimensional coordinate system, correspondingly generating characteristic identifiers of the determined three-dimensional positions in the working site in the virtual three-dimensional coordinate system, and then connecting the characteristic identifiers according to preset requirements by combining positioning information about crane profile positioning in the image frames so as to realize profile inversion of a crane covered by image acquisition at a preset time point and lifted articles thereof and generate profile data.
6. The method for monitoring and early warning safety of crane lifting operation according to claim 5, wherein in S03, when elements outside the working area in the image monitoring data are positioned according to the working area, fixed elements in a preset range of the working area where the crane is located are also determined, then according to the working movement direction of the crane and the position where the fixed elements are located, whether the working movement of the crane is interfered is judged, and early warning information is generated and output according to the judging result.
7. The crane lifting operation safety monitoring and early warning method according to claim 6, wherein S03 comprises:
s031, positioning elements except the working areas in the image frames according to the working areas corresponding to the image frames of the image monitoring data at different time points to obtain a plurality of element information;
s032, judging a plurality of element information according to preset requirements, and then defining the positioned element information as a mobile element or a fixed element according to a judging result;
s033, determining the distance change between the mobile element and the working area according to the position change relation of the mobile element in the image monitoring data at different time points and the positions of the crane and the lifted object, and generating and outputting early warning information when the distance between the mobile element and the working area is smaller than a preset threshold value;
s034, judging the moving directions of the crane and the hoisted objects according to the positions of the crane and the hoisted objects in the image monitoring data at different time points, then carrying out moving interference judgment on fixed elements in the moving directions of the crane in the image monitoring data according to the moving directions, and generating and outputting early warning information when moving interference exists.
8. The method for monitoring and early warning safety of crane lifting operation according to claim 7, wherein in S032, the method for judging the plurality of element information comprises one of the following steps:
(1) The image area corresponding to the element information is used as an input item to be imported into a trained detection neural network so as to judge the image area as a fixed object or a movable object, and then the information definition of the positioned element is carried out as a movable element or a fixed element according to the judging result;
(2) And defining the information of the positioned element as a mobile element or a fixed element according to the position change condition of the object corresponding to the element information in the image acquisition data at different time points.
9. The utility model provides a hoist operation safety monitoring early warning system which characterized in that, it includes:
the plurality of image acquisition units are connected with the electric control cradle head and are used for carrying out image monitoring on the crane from at least two directions to generate image monitoring data, wherein the image monitoring range covers articles lifted by the crane;
the working control unit is used for responding to a working starting signal of the crane and controlling at least two image acquisition units to monitor the crane in at least two directions;
the profile positioning unit is used for acquiring image monitoring data, positioning and identifying the area where the crane is located in the image monitoring data so as to determine the profile of the crane and the lifted object thereof, and then setting the profile preset range area as a working area; the system is also used for positioning elements outside the working area in the image monitoring data according to the working area so as to determine moving elements in a preset range of the working area where the crane is located;
and the data processing unit is used for generating and outputting early warning information according to preset conditions according to the change of the distance between the mobile element and the working area.
10. A computer-readable storage medium, characterized by: the storage medium stores at least one instruction, at least one section of program, code set or instruction set, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the crane hoisting operation safety monitoring and early warning method according to one of claims 1 to 8.
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| CN117776065A (en) * | 2024-02-27 | 2024-03-29 | 河北圣丰自动化科技有限公司 | Construction lifting platform safety state monitoring method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117776065A (en) * | 2024-02-27 | 2024-03-29 | 河北圣丰自动化科技有限公司 | Construction lifting platform safety state monitoring method and system |
| CN117776065B (en) * | 2024-02-27 | 2024-04-30 | 河北圣丰自动化科技有限公司 | Construction lifting platform safety state monitoring method and system |
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