JP6867089B2 - Object detection system - Google Patents

Description

In the present invention, a worker who is working while lifting or lowering a suspended load by a crane, for example, a suspended load to be lifted or a worker working around a planned position (ball removal work place) to be suspended It relates to an object detection system for detection.

Conventionally, in the suspended load work by a crane, the suspended load or the suspended load is directly under the tip of the crane so that the worker does not come into contact with the suspended load during lifting or lowering, and in order to deal with the accidental drop of the suspended load. It is necessary to operate the crane after confirming that no workers have entered the caution range (hereinafter referred to as the "warning range") where the safety around the planned position for suspending the suspended load cannot be ensured. is there.
Therefore, conventionally, when suspending a load with a crane, the operator in the cockpit of the crane directly visually observes the work within the alert range around the suspended load (the position where the suspended load is planned to be suspended) directly under the tip of the crane. Judging that no personnel had invaded, he was operating the crane. In addition, when the alert range around the suspended load could not be seen directly by the operator in the cockpit of the crane, the safety of the workers was confirmed and the crane was operated according to the instructions of the signaler.

In addition, various techniques for further ensuring the safety of workers during crane work are disclosed. For example, Patent Document 1 discloses an approach warning system for issuing a warning when a suspended load of a crane and a worker approach each other within a predetermined distance in a plane. This approach warning system is attached to the tip of the boom or the hook of the crane to acquire the current position information of the tip or the hook of the boom, and the crane current position information acquisition means and the area where the crane is installed. The current position information acquisition means of the worker who acquires the current position information of the passing worker, the current position information of the tip or hook portion of the boom, and the current position information of the worker are compared, and the tip of the boom or the tip of the boom or An approach determining means for determining whether or not the hook portion and the worker have approached within a predetermined distance range in a plane around the tip or hook portion of the boom, and the tip or hook portion of the boom and the above. The worker is provided with an alarm generating means for generating an alarm when the worker approaches within a predetermined distance range in a plane centered on the tip of the boom or the hook portion.

Japanese Unexamined Patent Publication No. 2015-5152

However, the approach warning system described in Patent Document 1 described above has a complicated system configuration, and the entire system may be soaring, so that it is not easy to adopt the system from the viewpoint of cost. Moreover, in the worker's current position information acquisition means, for example, a GPS function, an image recognition device, an infrared temperature sensor, an proximity sensor, etc. are applied, but the configuration is complicated and the detection accuracy is high. May also affect.

The present invention has been made in view of this point, and it is possible to accurately detect the presence or absence of an object within the alert range directly below the tip of the crane during crane operation without complicating the configuration. An object of the present invention is to provide an object detection system.

According to the present invention, as a means for solving the above problems, the invention according to claim 1 is a crane camera arranged at the tip of a crane and having a range of attention immediately below the tip of the crane as an imaging range, and the crane camera. The color detecting means includes a color detecting means for detecting a designated color from an image captured by the camera and an alarm generating means for issuing an alarm based on a determination result by the color detecting means, and the color detecting means is a moving image from the crane camera. A still image generation unit for generating a camera still image from this moving image, a color detection unit that detects the designated color from the camera still image generated by the still image generation unit, and a color detection unit that detects the specified color. When the color range determination unit that determines whether or not the specified color range is equal to or greater than the predetermined range and the color range determination unit determines that the specified color range is equal to or greater than the predetermined range, the range is defined as the camera still image. The display unit is provided with a display unit for displaying so as to be superimposed on the camera, and the display unit displays a square mark so as to surround the range of the designated color detected by the color detection unit in the camera still image, and also displays the square. The mark is configured to be displayed in the designated color .
According to the first aspect of the present invention, the presence or absence of an object within the alert range directly below the tip of the crane can be detected with high accuracy. Specifically, first, a designated color to be detected in advance is input to the color detecting means. The designated color is the color of the object to be detected. Then, during the crane operation, the crane camera captures the alert range directly below the tip of the crane, and the image is transmitted to the color detecting means. Subsequently, the color detecting means detects a designated color from the image from the crane camera. Subsequently, the color detecting means transmits the detection signal to the alarm generating means, and the alarm generating means emits a warning sound. The objects to be detected are workers, materials and equipment, and the like. Specifically, in the invention of claim 1, the still image generation unit of the color detection means continuously generates a plurality of camera still images (for example, 15 frames / second) of one frame from the moving image from the crane camera. .. Subsequently, the color detection unit detects a designated color from each camera still image generated by the still image generation unit. Further, a range of designated colors to be detected (for example, the number of pixels) is input in advance to the color range determination unit, and a range of designated colors detected by the color detection unit by the color range determination unit (for example, the number of pixels). , The number of pixels) is determined whether or not it is equal to or greater than a predetermined range of a designated color input in advance, and a warning sound is emitted by the alarm generating means based on the determination result. As a result, the configuration of the color detecting means can be simplified, which can contribute to cost reduction. Moreover, the detection accuracy does not decrease. Further, the color detecting means includes a display unit that displays the range of the designated color so as to overlap the still image of the camera when the color range determination unit determines that the range of the designated color is equal to or larger than the predetermined range. In the image, a square mark can be displayed so as to surround the range of the designated color detected by the color detection unit, and the square mark can be displayed in the designated color.

The invention according to claim 2 is characterized in that, in the invention according to claim 1 , the color detecting means can detect a plurality of the designated colors.
The invention of claim 2 is useful for detecting an object of each color, provided that the colors of the objects to be detected are different when there are a plurality of objects to be detected.

The invention according to claim 3 is characterized in that, in the invention according to claim 1 or 2 , the designated color is the color of a helmet worn by a worker within the photographing range.
According to the third aspect of the present invention, it is possible to detect an operator who has invaded the alert range immediately below the tip of the crane, and it is possible to ensure the safety of the operator during the crane operation.

According to the object detection system according to the present invention, it is possible to accurately detect the presence or absence of an object within the alert range directly below the tip of the crane during crane operation without complicating the configuration.

FIG. 1 is a schematic view showing a crane in which the object detection system according to the embodiment of the present invention is adopted. FIG. 2 is a schematic diagram of an object detection system according to an embodiment of the present invention. FIG. 3 is a flow chart of an object detection system according to an embodiment of the present invention. FIG. 4 is a flow chart in the still image processing step of the object detection system according to the embodiment of the present invention. FIG. 5 is a schematic view of a moving image captured from a crane camera of the object detection system according to the embodiment of the present invention and displaying a still image of the camera. FIG. 6 is a schematic view for explaining a usage example of the object detection system according to the embodiment of the present invention in a crane operation different from the crane operation shown in FIG.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to FIGS. 1 to 6.
The object detection system 1 according to the embodiment of the present invention goes to a warning range where the safety around the suspended load 3 or the planned position where the suspended load 3 is to be suspended cannot be ensured directly under the tip of the crane during crane operation. This is for detecting the intrusion of the worker 5. In the object detection system 1 according to the present embodiment, the object to be detected is the worker 5, but when the object to be detected is a material or equipment and the suspended load 3 is hung, the material or equipment or the like is at the position where the suspended load 3 is to be hung. This object detection system 1 can also be applied when confirming that there is no such thing.

As shown in FIG. 1, in the present embodiment, the crane 2 is a crane 2 that is arranged on the hoisting vessel 7 and can turn. A crane camera 10 is arranged at the tip of the crane 2. The crane camera 10 is oriented in a direction perpendicular to the deck of the crane vessel 7 by a swing mechanism, and the shooting direction from the crane camera 10 is a direction perpendicular to the deck of the crane vessel 7. Become. Then, the crane camera 10 shoots a moving image, and the warning range directly below the tip of the crane is the shooting range. The crane camera 10 is connected to the operation unit 11. By operating the operation unit 11, the crane camera 10 can perform a zoom function, a focus control, a front / rear / left / right swing function, and the like. The operation unit 11 is arranged in, for example, the cockpit 8 of the crane 2. As shown in FIG. 1, the viewing direction from the operator of the control room 8 of the crane 2 and the photographing direction from the crane camera 10 are different.

As shown in FIG. 2, the operation unit 11 is electrically connected to the color detecting means 12. The moving image from the crane camera 10 is transmitted to the color detecting means 12 via the operation unit 11. The color detecting means 12 is designated from a still image generation unit 17 for capturing a moving image from the crane camera 10 and generating a camera still image from the moving image, and a camera still image generated by the still image generating unit 17. A color detection unit 18 that detects a color, a color range determination unit 19 that determines whether or not a range (for example, the number of pixels) of a designated color detected by the color detection unit 18 is equal to or greater than a predetermined range, and the color range determination. When the unit 19 determines that the range of the designated color is equal to or greater than a predetermined range, the unit 19 includes a display unit 20 that displays the range so as to overlap the still image of the camera.

The still image generation unit 17 takes in the moving image from the crane camera 10 and continuously generates the camera still image from the moving image at, for example, 15 frames / second. A plurality of colors to be detected are input to the color detection unit 18 in advance. With reference to FIG. 5, this color is the color of the helmet 23 worn by the worker 5. For example, if a plurality of workers 5 wear helmets 23 having different colors, all the colors of the plurality of helmets 23 are input in advance in the color detecting means 12.

The color detection unit 18 is for detecting a plurality of designated colors input in advance from each camera still image generated by the still image generation unit 17. A range of designated colors to be detected (for example, the number of pixels) is input to the color range determination unit 19 in advance. The color range determination unit 19 determines whether or not the range of the designated color (for example, the number of pixels) detected by the color detection unit 18 is equal to or greater than the predetermined range of the designated color input in advance. Further, in the display unit 20, when the color range determination unit 19 determines that the range of the designated color is equal to or greater than the predetermined range, the display unit 20 displays the range so as to overlap the still image of the camera. As shown in FIG. 5, the display unit 20 can recognize the range in which the designated color is detected in the camera still image, that is, the color range of the helmet 23 worn by the worker 5 in the present embodiment. For example, a square mark 25 is displayed as a detection mark so as to surround the range. As the color for displaying the square mark 25, it is better to use a designated color, that is, a color to be detected. In the present embodiment, the color detecting means 12 is mounted on an electronic computer (not shown) such as a personal computer. The electronic calculator is arranged at a place where the monitor can be visually recognized by the operator of the control room 8 of the crane 2.

The color detecting means 12 is connected to the alarm generating means 13. The alarm generating means 13 warns when the color range determining unit 19 of the color detecting means 12 determines that the range of the designated color detected by the color detecting unit 18 is equal to or greater than the predetermined range of the designated color input in advance. It is configured to make a sound. In the present embodiment, the alarm generating means 13 is also mounted on the electronic calculator in the same manner as the color detecting means 12.

Next, the operation of the object detection system 1 according to the embodiment of the present invention will be described with reference to FIGS. 3 and 4.
As shown in FIG. 3, for example, when a crane operation for lifting a suspended load 3 is performed by a crane 2, the photographing step S1 is started before the crane operation. In the photographing step S1, a moving image of a warning range around the suspended load 3 is photographed by the crane camera 10 directly under the tip of the crane.
Next, the video capture step S2 is performed. In the video capture step S2, the moving image from the crane camera 10 is captured in the still image generation unit 17 of the color detecting means 12.

Next, the still image generation step S3 is performed. In the still image generation step S3, the moving image from the crane camera 10 is continuously generated by the still image generation unit 17 of the color detecting means 12, for example, at 15 frames / second.
Next, the still image processing step S4 is performed. In the still image processing step S4, the color detection unit 18, the color range determination unit 19, and the display unit 20 of the color detection means 12 combine the plurality of camera still images generated in the still image generation step S3 (still image generation unit 17). On the other hand, the following processing is sequentially performed.

That is, in the still image processing step S4, as shown in FIG. 4, first, the still image acquisition step S41 is performed. In the still image acquisition step S41, the color detection unit 18 of the color detection means 12 sequentially acquires each camera still image generated by the still image generation unit 17.
Next, the color detection determination step S42 is performed. In the color detection determination step S42, the color detection unit 18 of the color detection means 12 determines whether or not a predetermined color specified in advance in the camera still image is detected. As a result, if the designated color is detected by the color detection unit 18, the process proceeds to the next color range determination step S43, and if not detected, the process is completed.

Next, in the color range determination step S43, the color range determination unit 19 of the color detection means 12 determines whether or not the range of the designated color detected in the color detection determination step S42 is equal to or greater than a predetermined range. For example, as shown in FIG. 5, if the designated color to be detected is the color of the helmet 23 worn by the worker 5, the color range determination unit 19 previously corresponds to the area of the helmet 23 in a plan view. Is input as a predetermined range (for example, the number of pixels) of the specified color, and the range of the specified color (for example, the number of pixels) detected in the still image of the camera is compared with the predetermined range. .. As a result, when the color range determination unit 19 of the color detection means 12 determines that the range of the designated color detected in the color detection determination step S42 is equal to or greater than the predetermined range, the next mark display step S44 and the warning sound Proceeding to the generation step S45, when it is determined that the range of the designated color detected in the color range determination step S43 is smaller than the predetermined range, the process is completed.

Next, in the mark display step S44, as shown in FIG. 5, the display unit 20 of the color detecting means 12 displays a designated color in the camera still image (in this embodiment, the color of the helmet 23 worn by the worker 5). A square mark 25 is displayed so as to surround the range of. In the present embodiment, the square mark 25 is displayed so as to surround the range of the designated color in the camera still image on the monitor of the electronic calculator.
Further, at the same time as the mark display step S44, the warning sound generation step S45 is performed. In the warning sound generation step S45, the warning sound is emitted by the alarm generating means 13. In the present embodiment, a warning sound is emitted from the electronic calculator. As a result, the operator in the control room 8 of the crane 2 can confirm whether or not the worker 5 has invaded the alert range around the suspended load 3.

As described above, the object detection system 1 according to the embodiment of the present invention uses the color detection means 12 for detecting the color of the helmet 23 of the worker 5 from the image captured by the crane camera 10 and the color detection means 12. Since it is provided with an alarm generating means 13 that generates an alarm when the color of the helmet 23 of the worker 5 is detected, the alert range directly below the tip of the crane during crane work without complicating the configuration. The intrusion of the worker 5 into the inside can be detected with high accuracy, and the safety of the worker 5 can be improved.

Further, in the object detection system 1 according to the embodiment of the present invention, the color detection means 12 captures at least a moving image from the crane camera 10, and a still image generation unit 17 for generating a camera still image from the moving image. And a color detection unit 18 that detects the color of the helmet 23 of the worker 5 from the camera still image generated by the still image generation unit 17, so that the configuration can be simplified and the cost can be reduced. Can contribute to. Moreover, the detection accuracy does not decrease.

As shown in FIG. 6, when the suspended load 3 is suspended behind the superstructure 31 of the breakwater 30, the landing location cannot be directly visually recognized by the operator in the control room 8 of the crane 2. There is. Under such circumstances, the suspended load 3 is suspended according to the instruction of the signaler (not shown). However, by using the object detection system 1 according to the present embodiment, the operator in the control room 8 of the crane 2 confirms the positional relationship between the suspended load 3 and the ball removing work place and the presence or absence of the worker 5. This makes it possible to further ensure the safety of the worker 5. In addition, the object detection system 1 according to the present embodiment can also be used for crane work in onshore construction, building construction work, and the like.

1 object detection system, 2 cranes, 10 crane cameras, 12 color detection means, 13 alarm generation means, 17 still image generator, 18 color detector, 23 helmet

Claims (3)

A crane camera that is placed at the tip of the crane and whose shooting range is the alert range directly below the tip of the crane.
A color detecting means for detecting a designated color from an image taken by the crane camera, and
An alarm generating means that issues an alarm based on a determination result by the color detecting means, and
With
The color detecting means includes a still image generation unit for capturing a moving image from the crane camera and generating a camera still image from the moving image.
A color detection unit that detects the designated color from the camera still image generated by the still image generation unit, and
A color range determination unit that determines whether or not the range of the designated color detected by the color detection unit is equal to or greater than a predetermined range,
When the color range determination unit determines that the designated color range is equal to or greater than a predetermined range, the color range determination unit includes a display unit that displays the range so as to overlap the camera still image.
The display unit is configured to display the square mark in the camera still image so as to surround the range of the designated color detected by the color detection unit, and to display the square mark in the designated color. An object detection system characterized by that. The object detection system according to claim 1, wherein the color detecting means can detect a plurality of the designated colors. The object detection system according to claim 1 or 2, wherein the designated color is the color of a helmet worn by a worker within the shooting range.

Images