KR101811926B1 - Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same - Google Patents
Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same Download PDFInfo
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- KR101811926B1 KR101811926B1 KR1020150155710A KR20150155710A KR101811926B1 KR 101811926 B1 KR101811926 B1 KR 101811926B1 KR 1020150155710 A KR1020150155710 A KR 1020150155710A KR 20150155710 A KR20150155710 A KR 20150155710A KR 101811926 B1 KR101811926 B1 KR 101811926B1
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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
- B66C13/18—Control systems or devices
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- H04N5/2257—
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- B64C2201/127—
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- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Processing Or Creating Images (AREA)
Abstract
The present invention relates to a driving assistance system of a tower crane using an unmanned aerial vehicle capable of providing an image of a construction site photographed by an unmanned aerial vehicle to a driver in real time, and a method of providing images of a tower crane using the same. The driving assistance system of the tower crane using the unmanned aerial vehicle of the present invention includes a unmanned aerial vehicle unit and a server module. The unmanned aerial vehicle unit includes an unmanned aerial vehicle sensing unit including an unmanned aerial vehicle driving unit for providing a flight driving force to a body of the unmanned air vehicle, an unmanned aerial vehicle image sensing unit for acquiring image information, and an unmanned aerial vehicle GPS for sensing position information of the unmanned air vehicle body And a unmanned aerial vehicle control unit for transmitting the sensed information of the building to the unmanned aerial vehicle communication unit and applying the unmanned aerial vehicle driving control signal to the unmanned air vehicle driving unit. The server module includes a server communication unit that communicates with the unmanned aerial vehicle communication unit, a server storage unit that stores the preset building information, a server control unit that compares the image information of the building detected by the unmanned air vehicle sensing unit with the preset building information, And a server output unit for outputting comparison building information that is subjected to comparison processing by the server control unit. The preset building information includes building information modeling (BIM) information.
Description
The present invention relates to a driving assistance system for a tower crane, and more particularly, to a driving assistance system for a tower crane, And a method of providing images of a tower crane using the same.
Generally, a tower crane is installed in the construction site to transport various materials such as reinforcing bars and H beams to the target site.
The tower crane includes a mast that has risen vertically from the ground, a jib that is horizontally installed and rotated horizontally above the mast, and a trolley that horizontally moves on the jib. A hook is installed at the end of the trolley to carry the cargo with horizontal movement and vertical movement with the trolley. In the lower part of the jib, a cab having various operating mechanisms is provided.
These tower cranes rotate the jib, place the hooks on top of the weight to be lifted while moving the trolley on the gibbles, lower the hooks to lift the towers, lift the jibs, rotate the jibs, Move to the top of the target point. Then, the hook is lowered to place the lifting water at the target point.
Such a cargo transfer operation is performed by a driver who is in a high cab by manipulating the manipulator. The tower crane driver directly controls the overall operation of the tower crane such as the rotation of the jib, the linear movement of the trolley, the rising and falling of the hook, etc., by receiving the operation status from the ground driver through the receiver or radio.
As the construction of the building progresses, the tower crane rises in accordance with the height of the building. As a result, the driver's cab gets higher from the ground, the driver's viewpoint is farther away from the ground, and the range of blind areas where the driver's vision is obscured by the building due to the progress of the elevation increases.
The driver of the tower crane relies entirely on the signaling of the signal or the radios to the trolley and hook up or down operation in the blind spot. That is, a conventional method of operating a tower crane requires the driver to be instructed to operate the signal in a state in which the driver is not able to observe the ground condition at high distances far from the ground or at all. Therefore, it is difficult for the driver to actively drive and the operation is very inconvenient, and the efficiency of the operation is greatly reduced, and the risk of safety accidents is high.
To solve these problems, Korean Utility Model Registration No. 0191025 (Oct. 8, 2000), a CCTV camera having a zoom function is attached to a trolley horizontally moving on a jib of a tower crane, and a member or a hook A technique for preventing a collision with an obstacle itself is disclosed. Such a conventional technique is a method of driving a driver to prevent collision between an overhang member and an obstacle by transmitting image information shot by a CCTV camera in the cab in real time.
However, since the CCTV camera is located on the trolley, the conventional technique as described above can provide only the image information of the vertical direction to the driver. Therefore, the assistant effect of the driver on the horizontal work such as the correction of the position of the lifting member in the actual field is greatly reduced.
SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the conventional art as described above, and it is an object of the present invention to provide an image of a construction site photographed by an unmanned aerial vehicle at a construction site in a cabin of a tower crane in real time, The present invention provides a driving assistance system of a tower crane using a unmanned aerial vehicle, and a method of providing an image of a tower crane using the same, which helps the driver more actively and aggressively operate the tower crane.
In order to solve the above-mentioned problems, the driving assistance system of the tower crane using the unmanned aerial vehicle of the present invention includes a unmanned aerial vehicle unit and a server module. The unmanned air vehicle body unit includes a unmanned vehicle body driving unit for providing a flying vehicle to a body of the unmanned air vehicle body, an unmanned aerial vehicle image sensing unit disposed in the unmanned air vehicle body for acquiring image information, An unmanned aerial vehicle sensing unit including GPS, a unmanned aerial vehicle communication unit for transmitting an unmanned aerial vehicle sensing signal including image information sensed by the unmanned aerial vehicle sensing unit, And a unmanned aerial vehicle control unit for transmitting an unmanned aerial vehicle drive control signal to the unmanned air vehicle driving unit. The server module includes a server communication unit for communicating with the unmanned aerial vehicle communication unit to receive the unmanned air vehicle control signal and transmitting the unmanned air vehicle control signal to the unmanned air vehicle control unit, a server storage unit for storing the preset building information, A server control unit for acquiring image information of the building sensed by the unmanned aerial vehicle sensing unit and comparing the acquired image information with the preset building information, and a server output unit for outputting the comparison building information that has been compared and processed by the server control unit. The preset building information includes building information modeling (BIM) information.
The image information acquired by the unmanned aerial vehicle image sensing unit is transmitted to the server control unit. The server control unit confirms the material of the building from the acquired image information. Based on the building information modeling (BIM) information, And superimposed image information can be formed by superimposing the succeeding mounting material information subsequent to the present final mounting material on the acquired image information.
The server control unit may output the superimposed image information through a server output unit.
The server output may include a display disposed within a construction site tower crane.
According to another aspect of the present invention, there is provided a method for providing an image of a tower crane, comprising the steps of: receiving an unmanned aerial vehicle control signal from an unmanned aerial vehicle unit by communicating with the unmanned air vehicle unit, And a server storage unit for storing pre-set building information, which is electrically connected to the server control unit and includes building information modeling (BIM) information, for operating a tower crane having a server module A providing step of providing an auxiliary system; The server control unit applies an unmanned aerial vehicle control signal including the position information of the unmanned aerial vehicle unit to the unmanned air vehicle unit through the server communication unit; An image information acquiring step of acquiring image information through an unmanned aerial vehicle image sensing unit for acquiring image information of a building based on the unmanned air vehicle control signal; And an image information output step of comparing the image information of the unmanned aerial vehicle sensing unit with the preset building information and superimposing the preset building information on the sensed image information to output the superimposed image information.
The method of claim 1, wherein the acquiring of the image information comprises: applying an unmanned aerial vehicle drive control signal to an unmanned air vehicle driving unit provided in the unmanned air vehicle unit according to position information of the unmanned air vehicle unit, A hovering step of applying a hovering control signal to the unmanned air vehicle driving unit so as to maintain a state shifted to predetermined position information in the position shifting step; And an image capturing step of capturing an image through the image sensing unit.
The image information processing step may include a BIM viewpoint image generation step of generating a BIM viewpoint image corresponding to the position information of the unmanned air vehicle unit by the server control unit, A BIM follow-up material position calculating step of calculating a BIM follow-up material position to superimpose the follow-up material information in the BIM viewpoint image on the sensed image information; And a superimposed image calculating step of superimposing the succeeding mounting material information on the BIM subsequent loading material position of the sensed image information to calculate the superimposed image.
The operation assistance system of the tower crane using the unmanned aerial vehicle according to the present invention having the above-described structure can be implemented by a building information modeling (BIM) information To provide the tower crane driver with the ability to operate the tower crane with high operational accuracy and to actively cope with sudden situations.
1 is a block diagram of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 shows an application example of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 illustrates an example of building information modeling (BIM) information that can be provided through a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
4 to 6 are control flowcharts for explaining a method of providing an image of a tower crane using a driving assist system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 7 is a diagram for explaining a step of adjusting a gimbal in an image providing method of a tower crane using a driving assist system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
8 is a diagram illustrating an output image of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
Hereinafter, a driving assistance system of a tower crane using an unmanned aerial vehicle according to the present invention and a method of providing images of a tower crane using the same will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an application example of a driving assistance system of a tower crane using an unmanned aerial vehicle .
1 and 2, a
The unmanned
The unmanned aerial
The unmanned aerial
The unmanned
The unmanned aerial vehicle
Unmanned aerial vehicle sensor information including building information, unmanned aerial vehicle position information, and unmanned aerial vehicle distance information such as detected unmanned aerial vehicle image information of the unmanned aerial
The unmanned
The unmanned aerial
1, the
The
The
The
The
More specifically, the driving
Building Information Modeling (BIM) information refers to 3D modeling that is used in the field of architecture. It is a program that simulates a building on a computer program before building. The basic form of building information modeling (BIM) information is a 3D model and contains all the element information necessary for construction. In particular, it is possible to express the progress of the construction process according to the time, so that the user can confirm the construction of each process by 3D modeling as needed. The construction site image photographed from the unmanned aerial vehicle is primarily transmitted to the
Building information including the acquired sensed image information is stored in the unmanned aerial
Meanwhile, the driving
The unmanned aerial
In addition, the driving
The unmanned
Hereinafter, a method of providing an image of a tower crane by a driving
First, as shown in FIG. 4, a providing step S10 is performed in which a
Next, an initialization step (S20) is performed in which the
Next, the unmanned
In the movement step S31, the unmanned
Next, the unmanned
Next, the unmanned
On the other hand, in the image information acquisition step S30, the gimbal adjustment step S33 may be performed before the image pickup step S34. In the gimbal adjustment step S33, the unmanned
7, the
After the image information acquisition step S30 is completed, the
6, the image information processing step S40 includes a BIM viewpoint image generating step S41, a coordinate axis matching step S42, a BIM following material position calculating step S43, an overlap image calculating step S43, S44).
First, the
At this time, the
Next, a BIM follow-up material position calculation step S43 is performed to calculate a BIM follow-up material position for superimposing the follow-up material information in the BIM viewpoint image on the sensed image information, and in the superimposed image calculation step S44, And superimposes the subsequent loading material information on the BIM subsequent loading material position of the sensed image information to generate a superimposed image. In this process, the
The output image IMG generated in the image information output step S50 is output to a display or the like installed in the cabin C of the tower crane T so that the driver of the tower crane moves the succeeding material to the fixed position of the building B So that it can be transported accurately.
During the provision of the image of the tower crane by the driving
As described above, the driving
As shown in Fig. 2, the diagrid structure is a structural system in which the outermost elevation of the building B is composed of a diagonal bird and a beam member. The diagrid structure is not only constructed by inclining a new diagonal member but also has several diagonal layers formed in a new diagonal module. To keep the slope of the diagonal new member, the member is tilted from the ground and lifted up to the tower crane (T). Since the tower crane T must keep the slope of the diagonal bird while the two diagonal birds are joined to the node, precise operation of the tower crane T is required.
Conventionally, the distance between the cabin (C) of the tower crane (T) and the junction of the diagrid node is too long for the driver to visually confirm, and the tower crane driver relies on the radio of the ground- T), the operation accuracy and operation efficiency are inferior.
On the other hand, when the driving
As described above, the driving assistance system of the tower crane using the unmanned aerial vehicle and the image providing method of the tower crane using the same according to the present invention can acquire image information of the building B through the unmanned aerial vehicle unit, And output the image to the tower crane driver in a comparative manner.
The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
100 ... Operation assistant system of tower crane using unmanned vehicle
200 ...
220 ... unmanned air
231 ... unmanned aerial
233 ... unmanned
250 ... unmanned aerial
270 ... unmanned aerial
272 ...
310 ...
330 ...
350 ... server output section
Claims (7)
The server control unit applies an unmanned aerial vehicle control signal including the position information of the unmanned aerial vehicle unit to the unmanned air vehicle unit through the server communication unit;
An image information acquiring step of acquiring image information through an unmanned aerial vehicle image sensing unit for acquiring image information of a building based on the unmanned air vehicle control signal; And
And an image information output step of comparing image information of the unmanned aerial vehicle sensing unit with preset building information and superimposing the preset building information on the sensed image information to output superimposed image information,
The image information acquiring step includes:
According to the position information of the unmanned aerial vehicle unit, the unmanned aerial vehicle driving control signal is applied to the unmanned air vehicle driving unit provided in the unmanned air vehicle unit, and the unmanned air vehicle position detection signal of the unmanned air vehicle GPS provided in the unmanned air unit is compared with the position information A position shifting step of shifting the position by the position shifting,
A hovering step of applying a hovering control signal to the unmanned air vehicle driving unit so as to maintain a state shifted to predetermined position information in the moving step;
And an image capturing step of capturing an image through the unmanned aerial vehicle image sensing unit,
The image information acquisition step (S30) further comprises a gimmick-step adjustment step (S33) executed before the image-photographing step (S34)
In the gimbal adjustment step S33, the unmanned aerial vehicle controller 240 applies the unmanned aerial vehicle adjustment control signal to the unmanned air vehicle driver 220 to tilt the unmanned air unit 200 at a predetermined angle, The tilting operation is performed by the tilting operation of the unmanned aerial vehicle unit 200 and the unmanned aerial vehicle laser sensor 233 of the unmanned air unit 200 detects the distance between the unmanned air unit 200 and the building B, Compares the detected distances during the tilting operation of the unmanned aerial vehicle laser sensor 233 to identify the angular positions corresponding to the minimum distances to correspond to the minimum distances among the sensed distances between the unmanned air vehicle unit 200 and the building B And the position of the unmanned aerial object image sensing unit (231) is adjusted by activating the gimbal drive unit (272) at an angle that is the same as the angle of the ground.
Wherein the image information processing step comprises:
A BIM viewpoint image generation step of the server control unit generating a BIM viewpoint image corresponding to the position information of the unmanned aerial vehicle unit,
A coordinate axis matching step of comparing coordinate axes of the sensed image information with coordinate axes of the BIM viewpoint image to match the coordinate axes;
A BIM follow-up material location calculating step of calculating a BIM follow-up material location to superimpose the follow-up material information in the BIM viewpoint image on the sensed image information;
And a superimposed image calculating step of superimposing the subsequent mounting material information on the BIM subsequent mounting material position of the sensed image information to calculate a superimposed image.
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CN107879260B (en) * | 2017-10-11 | 2019-11-05 | 武汉科技大学 | Tower crane collision avoidance system and security system based on BIM |
CN108319741A (en) * | 2017-12-12 | 2018-07-24 | 上海建工五建集团有限公司 | Tower crane arrangement methods of comparison and selection based on BIM and system |
CN108646731B (en) * | 2018-04-17 | 2023-09-05 | 上海创昂智能技术有限公司 | Unmanned vehicle field end control system and control method thereof |
JPWO2022210873A1 (en) * | 2021-03-31 | 2022-10-06 | ||
KR102687125B1 (en) * | 2022-09-29 | 2024-07-22 | 주식회사 인우랩 | Drone multi-interface video transmission/reception and control method, and system using the same |
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