CN105293283A - Intelligent video monitoring system special for tower crane - Google Patents
Intelligent video monitoring system special for tower crane Download PDFInfo
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- CN105293283A CN105293283A CN201510787376.6A CN201510787376A CN105293283A CN 105293283 A CN105293283 A CN 105293283A CN 201510787376 A CN201510787376 A CN 201510787376A CN 105293283 A CN105293283 A CN 105293283A
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Abstract
An intelligent video monitoring system special for a tower crane comprises a camera assembly, a camera controller assembly, a monitor, a hook height sensor and a trolley amplitude sensor. The camera assembly comprises an integrated camera, a rotating cloud deck, an infrared light supplement lamp, a sealing shell and a fixing support. The camera controller assembly comprises a cloud deck controller, a cloud deck driver, a video tape recorder, a camera control panel and a stabilized voltage supply. The camera assembly is mounted at the root or head of a cantilever crane of the tower crane, the integrated camera is mounted in the sealing shell, and an angle sensor is mounted outside the sealing shell. The intelligent video monitoring system special for the tower crane is provided with an automatic tracing hook, an automatic focal length regulator and a special camera fixing device, and has the functions of effectively resisting shock and typhoon while ensuring the free swinging and monitoring properties of the camera.
Description
Technical field
A kind of tower machine of the present invention special intelligent video monitoring system, relates to tower machine monitoring field.
Background technology
Along with China's rapid development of economy, high-rise building gets more and more, and tower crane also does higher and higher, and jib is more and more longer, and area coverage is increasing, and tower machine operation operating mode is more and more difficult by the eye observation of people.In the urgent need to a kind of tower machine special intelligent video monitoring system, so that auxiliary driver's clearer observing tower machine operation operating mode, prevent industrial accident.Camera chain on Present Domestic market, is mainly used for the pick up camera of safety monitoring, there are no tower machine dedicated video monitored control system.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of tower machine special intelligent video monitoring system, having from motion tracking suspension hook, automatic focusing roll adjustment, and dedicated video camera anchor fitting; Can ensureing that pick up camera freely swings, beyond monitoring, possessing can effectively antidetonation, Anti-Typhoon function.
The technical solution adopted in the present invention is:
A kind of tower machine special intelligent video monitoring system, comprises pick up camera assembly, camera control unit assembly, monitoring device, height under hook sensor, dolly amplitude sensor.Described pick up camera assembly comprises integrated camera, rotary head, infrared light compensating lamp, seal casinghousing, fixed support.
Described camera control unit assembly comprises cradle head control plate, The Cloud Terrace actuator, video tape recorder, camera control mainboard, constant voltage power suspply.
Described pick up camera assembly is arranged on arm frame of tower crane root or arm frame of tower crane head, and integrated camera is arranged in seal casinghousing, outside described seal casinghousing, be provided with angular transducer.
The U-shaped structure of described fixed support, the middle part of described seal casinghousing is provided with fixing anchor ear, described fixing anchor ear is that diagonal angle is designed with anchor shaft, left side anchor shaft is connected by the center shaft of coupler with the rotary head be fixed on fixed support, and the right anchor shaft is connected by the anchor shaft of coupler with the infrared light compensating lamp be fixed on fixed support.Angular transducer, camera power supply line, signal/video line access camera control mainboard, constant voltage power suspply, NVR video tape recorder respectively by waterproof seat.
Described camera control mainboard comprises CPU, memory device, telltale, keyboard, indicator lamp, CAC bus interface, RS-485 interface;
Described CPU is used for the collection of sensor information, analysis, calculating and process;
Described memory device is used for the storage of data;
Described telltale is used for information displaying;
Described keyboard is for the setting to integrated camera control data, amendment, startup, reset;
Described indicator lamp is used for the instruction of status information;
Described CAC bus interface is connected with sensor communication;
Described RS-485 interface is connected with integrated camera, rotary head communication.
The RS-485 interface of described cradle head control plate is connected with the RS-485 interface of camera control mainboard, and the output interface of cradle head control plate is connected with the input interface of The Cloud Terrace actuator; The output port of The Cloud Terrace actuator is connected with the control port of rotary head.
The signal input port of described video tape recorder is connected with the RJ-45 port of integrated camera by RJ-45 interface, and the output port of described video tape recorder is VGA port, and VGA port is connected with telltale.500G-2TG hard disk is provided with, for storing the video information of integrated camera in video tape recorder.
Described height under hook sensor is arranged on hoisting drum center shaft, and the signal wire (SW) of height under hook sensor is connected with the CAC bus interface of camera control mainboard.When the hoisting drum of suspension hook rotates, the center shaft of height under hook sensor can be driven to rotate, when centre axis dynamic sensor rotates, constantly height under hook signal be issued camera control mainboard by CAN after calculating.
Described dolly amplitude sensor is arranged on carriage walking drum center axle, and the signal wire (SW) of dolly amplitude sensor is connected with the CAC bus interface of camera control mainboard.When carriage walking reel rotates, the center shaft of dolly amplitude sensor can be driven to rotate, when centre axis dynamic sensor rotates, constantly dolly range signal be issued camera control mainboard by CAN after calculating.
A kind of tower machine video frequency monitoring method, during work, height under hook sensor, the signal of collection is constantly given camera control mainboard by dolly amplitude sensor, camera control mainboard by analysis, calculate height under hook and the current distance with pick up camera, straight line angle, and the control of issue an order at once rotary head rotates, in the process rotated, the angular transducer be arranged on integrated camera can by the angle signal of current camera, constantly feed back to camera control mainboard, when camera control mainboard finds that the angle of angular transducer is consistent with the angle of calculating, will to stop the rotation at once the rotation of The Cloud Terrace, through RS-485 issue an order, integrated camera is focused simultaneously, roll adjustment, its focal length value is made to reach optimum, visibility reaches peak, then video tape recorder is given through RJ-45, image is sent into hard disk and is stored by video tape recorder on the one hand, on the one hand image is sent into monitoring device to show, go round and begin again.
A kind of tower machine of the present invention special intelligent video monitoring system, technique effect is as follows:
1), according to height under hook sensor, dolly amplitude sensor feedack, after camera control mainboard COMPREHENSIVE CALCULATING, automatically adjusted by RS-485 bus and rotate whole monitoring head angle and focal length of camera, thus reach the object of intelligent video monitoring.
2), use this tower machine special intelligent video monitoring system can from motion tracking dolly amplitude and height under hook, automatic focusing, roll adjustment, driver does not need to do any work, just can best video effect automatic monitoring suspension hook in the video operating mode of any amplitude and any height, for the safe operation of tower machine provides safeguard.
Accompanying drawing explanation
Fig. 1 is principle of work block diagram of the present invention.
Fig. 2 is height under hook sensor of the present invention, dolly amplitude sensor schematic diagram.
Fig. 3 is the schematic diagram of angular transducer of the present invention.
Fig. 4 is rotary head control system schematic diagram of the present invention.
Fig. 5 is the layout of tower machine video system of the present invention.
Fig. 6 is camera control main board work schematic diagram of the present invention.
Detailed description of the invention
A kind of tower machine special intelligent video monitoring system, comprises pick up camera assembly, camera control unit assembly, monitoring device L7009, height under hook sensor CX-GD01, dolly amplitude sensor CX-FD01.
Monitoring device L7009 is the color monitor observed for driver monitoring.
Described pick up camera assembly comprises integrated camera WWA6205, rotary head (adopting stepping motor: 57H76), infrared light compensating lamp, seal casinghousing, fixed support.
Described camera control unit assembly comprises cradle head control plate STM32F103RE, The Cloud Terrace actuator HGTB6560, NVR video tape recorder DS-7804, camera control mainboard CX-SXJ01, constant voltage power suspply, control housing.
Described pick up camera assembly is arranged on arm frame of tower crane root or arm frame of tower crane head, and integrated camera is arranged in seal casinghousing, is provided with angular transducer CX-JD ± 90 outside described seal casinghousing.
The U-shaped structure of described fixed support, the middle part of described seal casinghousing is provided with fixing anchor ear, described fixing anchor ear is that diagonal angle is designed with anchor shaft, left side anchor shaft is connected by the center shaft of coupler with the rotary head be fixed on fixed support, and the right anchor shaft is connected by the anchor shaft of coupler with the infrared light compensating lamp be fixed on fixed support.Angular transducer, camera power supply line, signal/video line access camera control mainboard CX-SXJ01, constant voltage power suspply, NVR video tape recorder DS-7804 respectively by waterproof seat.
Described camera control mainboard CX-SXJ01 comprises CPU, memory device, telltale, keyboard, indicator lamp, CAC bus interface, RS-485 interface, control relay.
Described CPU is used for the collection of sensor information, analysis, calculating and process;
Described memory device is used for the storage of data;
Described telltale is used for information displaying;
Described keyboard is for the setting to integrated camera control data, amendment, startup, reset;
Described indicator lamp is used for the instruction of status information;
Described CAC bus interface is connected with sensor communication;
Described RS-485 interface is connected with integrated camera, rotary head communication.
Described control relay is for controlling infrared light compensating lamp on/off.
The RS-485 interface of described cradle head control plate is connected with the RS-485 interface of camera control mainboard CX-SXJ01, and the output interface of cradle head control plate is connected with the input interface of The Cloud Terrace actuator; The output port of The Cloud Terrace actuator is connected with the control port of rotary head.
The signal input port of described NVR video tape recorder is connected with the RJ-45 port of integrated camera by RJ-45 interface, and intermediate medium is twisted-pair feeder.The output port of described NVR video tape recorder is VGA port, and VGA port is connected with telltale.500G-2TG hard disk is provided with, for storing the video information of integrated camera in NVR video tape recorder.
Described height under hook sensor CX-GD01 is arranged on hoisting drum center shaft, and the signal wire (SW) of height under hook sensor CX-GD01 is connected with the CAC bus interface of camera control mainboard CX-SXJ01.When the hoisting drum of suspension hook rotates, the center shaft of height under hook sensor CX-GD01 can be driven to rotate, when centre axis dynamic sensor rotates, constantly height under hook signal be issued camera control mainboard CX-SXJ01 by CAN after calculating.
Described dolly amplitude sensor CX-FD01 is arranged on carriage walking drum center axle, and the signal wire (SW) of dolly amplitude sensor CX-FD01 is connected with the CAC bus interface of camera control mainboard CX-SXJ01.When carriage walking reel rotates, the center shaft of dolly amplitude sensor can be driven to rotate, when centre axis dynamic sensor rotates, constantly dolly range signal be issued camera control mainboard CX-SXJ01 by CAN after calculating.
A kind of tower machine of the present invention special intelligent video monitoring system, the installation on tower machine:
A: integrated camera is at jib head:
Height under hook sensor CX-GD01 is arranged on the center output shaft of hoisting drum, dolly amplitude sensor CX-FD01 is on the center output shaft of hoisting drum, suspension hook pick up camera: namely pick up camera assembly is arranged on the jib of jib head, camera control mainboard CX-SXJ01 installs operator's compartment;
B: integrated camera is arranged on jib root:
Integrated camera WWA6205 is arranged on the jib of jib root, and height under hook sensor CX-GD01, dolly amplitude sensor CX-FD01, camera control unit main frame installation site are constant.
Height under hook sensor, dolly amplitude sensor schematic diagram are as shown in Figure 2.During work, hoisting drum center shaft drives the sensitive member with S/N magnetic pole to rotate together, 2SA-10 is converted into as sending to CPUSTM32F101C8T6 after impulse singla, by CPUSTM32F101C8T6 through computational analysis process, then the altitude signal of the suspension hook that hoists is converted thereof into, give camera control mainboard CX-SXJ01 by CAN, go round and begin again.Dolly amplitude sensor schematic diagram is identical with height under hook sensor.
The output shaft of height under hook sensor CX-GD01 is connected with the limiting device output shaft of hoisting drum; Fixed support is connected with limiting device adapter plate; Signal wire (SW) is moved operator's compartment to and is inputted seat with the signal of camera control mainboard CX-SXJ01 and be connected.
The output shaft of dolly amplitude sensor CX-FD01 is connected with the limiting device output shaft of carriage walking reel; Fixed support is connected with limiting device adapter plate; Signal wire (SW) is moved operator's compartment to and is inputted seat with the signal of camera control mainboard CX-SXJ01 and be connected.
Pick up camera assembly is made up of fixed support, rotary head, angular transducer, seal casinghousing, integrated camera, infrared light compensating lamp etc.Fixed support is connected with the jib of arm frame of tower crane root or head, rotary head shell is connected with fixed support, the center shaft of rotary head is connected with the anchor shaft of seal casinghousing, angular transducer is connected with seal casinghousing, integrated camera is arranged in seal casinghousing, infrared light compensating lamp with anchor shaft be connected with the anchor shaft of integrated camera.
The electric machine control line of rotary head is connected with the output line of The Cloud Terrace actuator, angular transducer signal wire (SW) inputs seat with the signal of camera control mainboard CX-SXJ01 and is connected, the control line of integrated camera is connected with camera control mainboard CX-SXJ01, video line is connected with video tape recorder, and infrared light compensating lamp control line is connected with camera control mainboard CX-SXJ01.
The schematic circuit diagram of angular transducer are as shown in Figure 3: during work, rotary head drives seal casinghousing to rotate, seal casinghousing drives angular transducer to rotate together, and signal is given camera control mainboard CX-SXJ01 by CAN by angular transducer, goes round and begins again.
Rotary head control system schematic diagram as shown in Figure 4.During work, the signal that camera control mainboard CX-SXJ01 sends here according to angular transducer CX-JD ± 90, calculate by analysis, think need to rotary head carry out rotation adjustment time, which will be issued to direction to cradle head control plate STM32F by RS-485, rotate the control command of how many degree, after cradle head control plate STM32F receives order, by analysis, order The Cloud Terrace actuator HGTB6560 to the A phase of stepping motor 57H76 or B phase power transmission, cradle head control plate STM32F is according to calculating the pulse being sent regulation by CLK to The Cloud Terrace actuator HGTB6560 simultaneously, make the anglec of rotation of stepping motor 57H76 just in time consistent with the angle that camera control mainboard CX-SXJ01 requires, detect through angular transducer CX-JD ± 90, if find that the rotation error of rotary head exceedes the scope of setting, camera control mainboard CX-SXJ01 can be corrected through calculating issue an order again, until its rotation error is less than the scope of setting, goes round and begins again,
Camera to automatically track suspension hook and automatic focusing roll adjustment mechanism:
1. the layout of tower machine video system illustrates, as shown in Figure 5.
One of A-----pick up camera attachment point;
The random site that B------dolly is present;
The random site of C-------height under hook;
The random distance of D-------pick up camera and suspension hook;
Suspension hook is from the foundation of motion tracking, automatic focusing roll adjustment model, in work, the information of camera control mainboard CX-SXJ01 Real-time Collection height under hook sensor C, dolly amplitude sensor B, then according to Pythagorean theorem, we can calculate the distance of tower machine camera lens A and suspension hook C at any time at any time, the i.e. length on D limit and the angle of AB and AC, so just can adjust camera angle by driven by program stepping motor 57H76, and remove according to Pythagorean theorem the focal length adjusting pick up camera, thus reach best supervision effect.
Camera control mainboard CX-SXJ01 fundamental diagram as shown in Figure 6.CX-SXJ01 host circuit is made up of telltale, keyboard interface circuit, signal indicating circuit, CPUSTM32F101C8T6, clock circuit DS1302, memory circuitry 24C256, watchdog circuit HP705, CAN circuit SN65HVD230 and RS485 interface circuit etc., during work, keyboard circuit is responsible for operation, is arranged and control, CPUSTM32F101C8T6 is responsible for the collection of information, analysis and process, memory circuitry 24C256 is responsible for the storage of program, and signal indicating circuit is responsible for the warning instruction of camera status.CAN communication circuit is responsible for and height under hook sensor CX-GD01, dolly amplitude sensor CX-FD01, CX-JD ± 90 communication of camera angle sensor; RS485 communicating circuit is connected with motor control panel STM32F101C8T6 and WWA6205, and infrared lamp controls to be realized by 74L04, optocoupler TLP521 and relay; Go round and begin again.
A kind of tower machine video frequency monitoring method, during work, height under hook sensor CX-GD01, the signal of collection is constantly given camera control mainboard CX-SXJ01 by dolly amplitude sensor CX-FD01, camera control mainboard CX-SXJ01 by analysis, calculate height under hook and the current distance with pick up camera, straight line angle, and the vertical digital rotary head of the control of issue an order at once rotates, in the process rotated, angular transducer CX-JD ± 90 be arranged on pick up camera can by the angle signal of current camera, constantly feed back to camera control mainboard CX-SXJ01, when camera control mainboard CX-SXJ01 finds that the angle of angular transducer CX-JD ± 90 is consistent with the angle of calculating, the The Cloud Terrace 57H76 that will stop the rotation at once rotates, through RS-485 issue an order, integrated camera WWA6205 is focused simultaneously, roll adjustment, its focal length value is made to reach optimum, visibility reaches peak, then NVR video tape recorder DS-7804 is given through RJ-45, image is sent into hard disk and is stored by video tape recorder on the one hand, on the one hand image is sent into monitoring device L7009 to show, go round and begin again.
Claims (7)
1. a tower machine special intelligent video monitoring system, comprise pick up camera assembly, camera control unit assembly, monitoring device, height under hook sensor, dolly amplitude sensor, it is characterized in that, described pick up camera assembly comprises integrated camera, rotary head, infrared light compensating lamp, seal casinghousing, fixed support; Described camera control unit assembly comprises cradle head control plate, The Cloud Terrace actuator, video tape recorder, camera control mainboard, constant voltage power suspply; Described pick up camera assembly is arranged on arm frame of tower crane root or arm frame of tower crane head, and integrated camera is arranged in seal casinghousing, outside described seal casinghousing, be provided with angular transducer;
The U-shaped structure of described fixed support, the middle part of described seal casinghousing is provided with fixing anchor ear, fixing anchor ear is that diagonal angle is designed with anchor shaft, left side anchor shaft is connected with the rotary head be fixed on fixed support by coupler, and the right anchor shaft is connected with the infrared light compensating lamp be fixed on fixed support by coupler; Angular transducer, camera power supply line, signal/video line are by accessing camera control mainboard, constant voltage power suspply, video tape recorder respectively.
2. a kind of tower machine special intelligent video monitoring system according to claim 1, it is characterized in that, described camera control mainboard comprises CPU, memory device, telltale, keyboard, indicator lamp, CAC bus interface, RS-485 interface;
Described CPU is used for the collection of sensor information, analysis, calculating and process;
Described memory device is used for the storage of data;
Described telltale is used for information displaying;
Described keyboard is for the setting to integrated camera control data, amendment, startup, reset;
Described indicator lamp is used for the instruction of status information;
Described CAC bus interface is connected with sensor communication;
Described RS-485 interface is connected with integrated camera, rotary head communication.
3. a kind of tower machine special intelligent video monitoring system according to claim 1, it is characterized in that, the RS-485 interface of described cradle head control plate is connected with the RS-485 interface of camera control mainboard, and the output interface of cradle head control plate is connected with the input interface of The Cloud Terrace actuator; The output port of The Cloud Terrace actuator is connected with the control port of rotary head.
4. a kind of tower machine special intelligent video monitoring system according to claim 1; it is characterized in that; the signal input port of described video tape recorder is connected with the RJ-45 port of integrated camera by RJ-45 interface, and the output port of described video tape recorder is VGA port, and VGA port is connected with telltale; Hard disk is provided with, for storing the video information of integrated camera in video tape recorder.
5. a kind of tower machine special intelligent video monitoring system according to claim 1, it is characterized in that, described height under hook sensor is arranged on hoisting drum center shaft, and the signal wire (SW) of height under hook sensor is connected with the CAC bus interface of camera control mainboard.
6. a kind of tower machine special intelligent video monitoring system according to claim 1, it is characterized in that, described dolly amplitude sensor is arranged on carriage walking drum center axle, and the signal wire (SW) of dolly amplitude sensor is connected with the CAC bus interface of camera control mainboard.
7. adopt the tower machine video frequency monitoring method of any one tower machine special intelligent video monitoring system as described in claim 1 ~ 6, it is characterized in that, during work, height under hook sensor, the signal of collection is constantly given camera control mainboard by dolly amplitude sensor, camera control mainboard by analysis, calculate height under hook and the current distance with pick up camera, straight line angle, and the control of issue an order at once rotary head rotates, in the process rotated, the angular transducer be arranged on integrated camera can by the angle signal of current camera, constantly feed back to camera control mainboard, when camera control mainboard finds that the angle of angular transducer is consistent with the angle of calculating, will to stop the rotation at once the rotation of The Cloud Terrace, through RS-485 issue an order, integrated camera is focused simultaneously, roll adjustment, its focal length value is made to reach optimum, visibility reaches peak, then video tape recorder is given through RJ-45, image is sent into hard disk and is stored by video tape recorder on the one hand, on the one hand image is sent into monitoring device to show.
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