CN105600693B - A kind of monitoring system of derrick crane - Google Patents
A kind of monitoring system of derrick crane Download PDFInfo
- Publication number
- CN105600693B CN105600693B CN201610151625.7A CN201610151625A CN105600693B CN 105600693 B CN105600693 B CN 105600693B CN 201610151625 A CN201610151625 A CN 201610151625A CN 105600693 B CN105600693 B CN 105600693B
- Authority
- CN
- China
- Prior art keywords
- camera
- suspension hook
- picture
- computing unit
- tower arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a kind of monitoring system of derrick crane, including：Image acquisition units, including be arranged on the first camera at driving cabin position and be arranged on the second camera of tower arm end, and two reference scales in front of two camera views respectively；Image procossing computing unit, the camera picture for photographing suspension hook is chosen in the image that image procossing computing unit is gathered from image acquisition units as calculating picture, and obtain the straight line line in calculating picture between suspension hook bottom and corresponding cam lens center, and the extended line of the straight line line or straight line line passes through the scale size of correspondence reference scale in picture, then on the basis of corresponding calculating benchmark, suspension hook the current location height parameter and range parameter actual relative to tower arm are calculated；Alarm unit, connects image procossing computing unit.Monitoring system of the present invention can make driver intuitively recognize the current running situation of tower crane, to reduce the potential safety hazard of tower crane operation.
Description
Technical field
The present invention relates to construction site derrick crane safe operation technical field, and in particular to one kind can be to tower lifting
The monitoring system for the derrick crane that machine suspension hook operating state is monitored.
Background technology
Derrick crane is the weight lifting haulage equipment commonly used in architectural engineering, abbreviation tower crane (also known as tower crane), swing arm
Revolving crane mounted in towering tower body top, working space is big, is mainly used in the vertical and water of material in housing construction
Flat conveying and the installation of building element.
Derrick crane at work, is supervised generally by the gesture of signalman, semaphore, intercom or closed-circuit television
Control its running environment.It is monitored by way of closed-circuit television and typically shoots running environment situation using one or more cameras, and
It is transmitted directly on video wall or display screen watch for driver.But it is due to that video wall or display screen are typically used
Polylith screen splicing is formed, and does not have a direct relation (simply local ring for i.e. every piece screen display between each picture
Border) so that driver needs to watch running situation and surrounding environment that polylith screen just can determine that current tower crane.As can be seen here,
There is defect used below in this mode：
First, it is not directly perceived enough, that is, fail to provide the quantization parameter of tower crane current operating conditions, it is impossible to make driver directly perceived
Assessment tower crane running situation, there is very big potential safety hazard for the shallow driver of experience, such as suspension hook exists
Run in tower arm far beyond safe range, suspension hook runs too high beyond altitude range etc. in tower arm；
2nd, alarm can not be carried out, i.e., when tower crane operation exceeds safe range, it is impossible to provide alarm signal with timely
Driver is reminded to note the driving of tower crane so that driver easily ignores some dangerous situations.
Certainly, also have by the way of sensor to gather every operational factor of derrick crane in the prior art, but
After a period of time, because depletion sensor can bring error, the normal work of derrick crane is influenceed.
The content of the invention
For the deficiency in the presence of prior art, the invention provides a kind of monitoring system of derrick crane, it leads to
Cross the cooperation of image acquisition units, image procossing computing unit and alarm unit so that driver can intuitively recognize that tower crane is worked as
Preceding running situation, to reduce the potential safety hazard of tower crane operation.
To achieve the above object, present invention employs following technical scheme：
A kind of monitoring system of derrick crane, derrick crane includes tower arm and slides the suspension hook in tower arm, tower arm
It is arranged on tower body, and the junction with tower body is provided with driving cabin, wherein the monitoring system includes：
Image acquisition units, it gathers suspension hook operation image, and including be arranged on the first camera at driving cabin position,
With the second camera for being arranged on tower arm end, derrick crane is hung with the first reference scale straight towards ground in tower arm
With the second reference scale, first reference scale is located in front of the visual field of the first camera, and by the visual field border of the first camera
Including including, second reference scale is located in front of the visual field of second camera, and the visual field border of second camera is included
Inside, the mounting means of the first camera and second camera in present position causes the field range of the two in tower arm
Between region have common factor, and tower arm can be covered to the image on ground；
Image procossing computing unit, it connects image acquisition units, first is preset with image procossing computing unit and is taken the photograph
As the real standard air line distance between head and the first reference scale is the first calculating benchmark A1 and second camera and the second reference
Real standard air line distance between chi is the second calculating benchmark A2, and image procossing computing unit is gathered from image acquisition units
Chosen in image and photograph the camera picture of suspension hook as calculating picture, and obtain in calculating picture suspension hook bottom with it is corresponding
Cam lens center between straight line line, and the straight line line or straight line line extended line pass through picture in correspondence
The size of the scale of reference scale, then on the basis of corresponding calculating benchmark, calculates suspension hook current location real relative to tower arm
The height parameter and range parameter on border, wherein when image procossing computing unit will appear from the picture conduct of the first camera of suspension hook
When calculating picture, calculating benchmark selection A1, when image procossing computing unit will appear from the picture conduct of the second camera of suspension hook
When calculating picture, calculating benchmark selection A2；
Alarm unit, it connects image procossing computing unit, and the suspension hook calculated based on image procossing computing unit is worked as
The front position height parameter actual relative to tower arm or range parameter send alarm signal.
Compared to prior art, the present invention at least includes following beneficial effect：
The monitoring system of derrick crane of the present invention gathers crane hook operation image by image acquisition units, and
Reference scale based on suspension hook operation image and setting, suspension hook run location is calculated relative to tower arm using image procossing computing unit
Actual height parameter and range parameter, then sends report according to the height parameter and range parameter that calculate by alarm unit
Alert signal.Whole monitoring system can effectively aid in driver to know the directly perceived of crane hook running status, effectively reduce tower crane
Potential safety hazard present in running.
Brief description of the drawings
Fig. 1 is the monitoring system structural representation of derrick crane of the present invention；
Fig. 2 arranges schematic diagram for the camera of monitoring system of the present invention；
Fig. 3 is used as calculating for the picture of the first camera of the image procossing computing unit of the present invention to photograph suspension hook
Schematic diagram calculation during picture；
Fig. 4 is used as calculating for the picture of second camera of the image procossing computing unit of the present invention to photograph suspension hook
Schematic diagram calculation during picture；
Fig. 5 is image procossing computing unit of the present invention by the shooting image of the first camera and/or second camera
The schematic diagram merged.
Embodiment
In order that technological means, creation characteristic, reached purpose that the present invention is realized more understand and are apparent to effect,
The present invention is further elaborated with reference to the accompanying drawings and detailed description：
Referring to Fig. 1 and with reference to Fig. 2-4, the present invention proposes a kind of monitoring system of derrick crane, derrick crane bag
Include tower arm 10 and slide the suspension hook 11 in tower arm 10, tower arm 10 is arranged on tower body 12, and is set in the junction with tower body 12
Driving cabin 13 is equipped with, the monitoring system mainly includes image acquisition units, image procossing computing unit and alarm unit, its
In：
Image acquisition units, it gathers suspension hook operation image, and the first camera including being arranged at driving cabin position
The A and second camera B for being arranged on the end of tower arm 10, derrick crane be hung with tower arm 10 straight towards ground
One reference scale and the second reference scale, first reference scale are located in front of the first camera A visual field, and by the first camera A
Visual field border include including, second reference scale is located in front of the second camera B visual field, and by second camera B's
Including visual field border is included, the mounting means of the first camera A and second camera B in present position causes regarding for the two
Wild scope has common factor in the intermediate region of tower arm 10, and can cover tower arm 10 to the image on ground；
Image procossing computing unit, it connects image acquisition units, first is preset with image procossing computing unit and is taken the photograph
As the real standard air line distance between head A and the first reference scale is the ginsengs of the first calculating benchmark A1 and second camera B and second
It is the second calculating benchmark A2 to examine the real standard air line distance between chi, and image procossing computing unit is gathered from image acquisition units
Image in choose and photograph the camera picture of suspension hook as calculating picture, and obtain in calculating picture suspension hook bottom with it is relative
Straight line line between the cam lens center answered, and the extended line of the straight line line or straight line line pass through right in picture
The scale size of reference scale is answered, then on the basis of corresponding calculating benchmark, suspension hook current location is calculated relative to tower arm 10
Actual height parameter and range parameter, wherein when image procossing computing unit will appear from the first camera A of suspension hook picture
During as calculating picture, calculating benchmark selection A1, when image procossing computing unit will appear from the second camera B of suspension hook picture
During as calculating picture, calculating benchmark selection A2；
Alarm unit, it connects image procossing computing unit, and the suspension hook calculated based on image procossing computing unit is worked as
The front position height parameter actual relative to tower arm 10 or range parameter send alarm signal.
In above-mentioned monitoring system, for image procossing computing unit, it specifically may include there are following three kinds of situations：
When suspension hook is run in tower arm into the first camera A visual field, image procossing computing unit is just adopted from image
The first camera A picture is chosen in collection unit as picture is calculated, then acquisition calculates suspension hook bottom in picture and taken the photograph with first
As the extended line of the straight line line between head A optical centers, and the straight line line or straight line line passes through the first ginseng in picture
Examine the scale size (i.e. the two intersection) of chi, and on the basis of the first calculating benchmark A1, calculate suspension hook current location relative to
Tower arm 10 actual height parameter and range parameter.
When suspension hook is run in tower arm into the second camera B visual field, image procossing computing unit is just adopted from image
Collect the picture that second camera B is chosen in unit as picture is calculated, then acquisition calculates suspension hook bottom in picture and taken the photograph with second
As the extended line of the straight line line between head B optical centers, and the straight line line or straight line line passes through the second ginseng in picture
Examine the scale size (i.e. the two intersection) of chi, and on the basis of the second calculating benchmark A2, calculate suspension hook current location relative to
Tower arm 10 actual height parameter and range parameter.
When suspension hook is run in tower arm to the first camera A and second camera B common region, i.e., simultaneously positioned at the
In one camera A and second camera B picture, image procossing computing unit is just chosen wherein from image acquisition units at random
The picture of one camera is obtained as picture is calculated, then to be calculated in picture in suspension hook bottom and camera (A/B) camera lens
Straight line line between the heart, and the extended line of the straight line line or straight line line are big by the scale of correspondence reference scale in picture
Small (i.e. the two intersection), and on the basis of corresponding calculating benchmark (A1/A2), suspension hook current location is calculated relative to tower arm
10 actual height parameters and range parameter.
Wherein, because the first reference scale is arranged in front of the first camera A visual field, and by the first camera A visual field
Border include including (referring to Fig. 3), as long as therefore in monitoring visual field of the suspension hook in the first camera A, then the first camera clap
The extended line of straight line line or straight line line in the image frame taken the photograph between suspension hook and the first cam lens center just begins
(the first reference i.e. in the extended line and picture of straight line line or straight line line of corresponding scale can be read from the first reference scale eventually
The scale of chi intersection).Similarly, it is also the same (referring to Fig. 4) for the second reference scale.Add, described first
The mounting means of camera A and second camera B in present position causes the field range of the two to have in the intermediate region of tower arm 10
Occur simultaneously, and tower arm 10 can be covered to the image on ground, therefore operation of the suspension hook in tower arm, all the time can by the first camera A with/
Or taken by second camera B.
Image procossing computing unit calculating suspension hook current location is relative in foundation the above, monitoring system of the present invention
In the method for the actual height parameter of tower arm 10 and range parameter, following step is mainly included：
Using photograph suspension hook the first camera picture as calculate picture exemplified by, with reference to Fig. 3 analysis, when suspension hook is in tower
When q positions are run on arm, the height relative to tower arm is qr (i.e. h1), the amplitude relative to tower arm is gr (i.e. l1)：
Step 1: calculating in real space in the scale size position o and the first cam lens of the first reference scale
Straight line line og between heart g apart from a, and real space cathetus line og with tower arm is occupied in perpendicular regards
Wild angle x, calculation formula is：
Wherein, h represents the scale size for the first reference scale that image procossing computing unit is obtained from picture is calculated,
L represents the first calculating benchmark A1, i.e. l=A1；
【Here, " the scale size position " is suspension hook and the in described the first camera picture in aforementioned schemes
Straight line line (or extended line of straight line line) between one cam lens center and the first reference scale intersection in picture
Scale size position, is only mapped to real space】
Step 2: calculating the straight line line in real space between suspension hook current location q and the first cam lens center g
Qg apart from a1, calculation formula is：
Wherein, pxa is represented to calculate in picture in the scale size position of the first reference scale and the first cam lens
Graph line distance between the heart, pxa1Represent to calculate the image in picture between suspension hook bottom and the first cam lens center
Air line distance, the two is by image procossing computing unit according to suspension hook bottom in the calculating picture of acquisition and the first cam lens
The extended line of straight line line or straight line line between center is calculated；【Here, the image-forming principle of camera is based primarily upon,
I.e. graph line ratio of distances constant is equal to the ratio between real space air line distance】
Step 3: with the visual field angle x calculated and apart from a1As calculating parameter calculate suspension hook current location relative to
The actual height parameter h of tower arm1With range parameter l1, now range parameter l1Represent horizontal range of the suspension hook apart from driving cabin
l1', calculation formula is：h1=sin (x) * a1, l1=l1'=cos (x) * a1。
In figure 3, when suspension hook continues to run until s positions, then the suspension hook height actual relative to tower arm is then changed into st, width
Degree is then changed into gt, and computational methods are consistent with the above.
For second camera, referring to Fig. 4, when suspension hook is run in tower arm into the second camera B visual field
(such as q ' positions), the picture that image procossing computing unit just chooses second camera B from image acquisition units is used as calculating
Picture, now the height parameter h actual relative to tower arm of q ' positions where suspension hook1For：h1=sin (x) * a1, range parameter l1Then
Represent horizontal range l of the suspension hook apart from tower arm end1”：l1=l1"=cos (x) * a1, remaining step is with above-mentioned with the first shooting
The picture of head is identical as calculation when calculating picture.Similarly, when suspension hook proceeds to s ' positions, then suspension hook is relative
Then it is changed into s ' t ' in the actual height of tower arm, amplitude is then changed into g ' t ', and computational methods are consistent with the above.
It is that in above-mentioned monitoring system, warning level is provided with the alarm unit as the preferred embodiment of the invention
Value, the alarm threshold value includes nearly spacing threshold value, when alarm unit is worked as based on the suspension hook obtained from image procossing computing unit
The front position range parameter l actual relative to tower arm1' close to the nearly spacing threshold value when, nearly spacing alarm signal is sent to carry
Operating personnel's suspension hook of waking up is excessively near apart from tower body.Here, the nearly spacing threshold value is preferably 1-2m, i.e., suspension hook is apart from driving cabin l1'
Only it is left 1-2m distance (i.e. l1'=1-2m), with regard to carrying out alarm operation.
Wherein, the alarm threshold value also includes remote spacing threshold value, when alarm unit is based on from image procossing computing unit
The suspension hook current location of the acquisition range parameter l actual relative to tower arm1" close to the remote spacing threshold value when, send remote spacing
Alarm signal is to remind operating personnel that suspension hook is run too far in tower arm.Here, the remote spacing threshold value is preferably 1-2m, that is, is hung
Hook is apart from tower arm end l1" only it is left 1-2m distance (i.e. l1"=1-2m), with regard to carrying out alarm operation.
Wherein, the alarm threshold value also includes high spacing threshold value, when alarm unit is based on from image procossing computing unit
The suspension hook current location of the acquisition height parameter h actual relative to tower arm1During close to the high spacing threshold value, high spacing report is sent
Alert signal is too high to remind operating personnel's suspension hook to be run in tower arm.Here, the high spacing threshold value is preferably 1-2m, i.e. suspension hook
Only it is left 1-2m distance (i.e. h apart from tower arm1=1-2m), with regard to carrying out alarm operation.
It is than more preferably technical scheme, the nearly spacing alarm signal, remote spacing alarm signal and high spacing alarm letter
Number it is set to different type of alarms.It can so cause driver when observing different type of alarms, you can quickly
Know the current positional information of suspension hook.
As another application scheme of monitoring system of the present invention, when tower arm is rotated in the horizontal direction, also pass through
First camera and second camera gather the working environment image of the multiple angles of crane；Wherein, described image processing is calculated
The working environment image that unit also includes respectively collecting the first camera and second camera carries out data fusion, is risen
The panoramic picture of heavy-duty machine working environment.Then, image-display units can be added in monitoring system, image-display units are connected
Described image handles computing unit, and the panoramic picture that now image-display units can obtain image procossing computing unit is one
Shown on block display screen, the display screen is arranged in driving cabin (or can also cloth simultaneously for driver's viewing
It is placed in the Control Room in construction site, for background work, personnel check).By such application mode, driver need to only see one
Block screen just can determine the surrounding environment and running situation of current tower crane, find dangerous situation, and adjustment driver behavior is kept away in time
Exempt from accident.
Wherein, it is that image procossing computing unit obtains the first camera and second camera for the part of data fusion
Identical part is merged in each angle working environment image taken, and the technology that different parts is spliced is obtained with this
The panoramic picture of derrick crane working environment.Referring to Fig. 5, if image procossing computing unit is obtained from image acquisition units
3 images, respectively 1,2,3, that image procossing computing unit can then be merged part overlapping in 1 and 2,2 and 3,
Spliced to form a Zhang Quanjing picture in nonoverlapping part.
After panoramic picture is obtained, height parameter and amplitude that can be according to the suspension hook calculated before relative to tower arm
Parameter, generates the threedimensional model of a tower crane running status, therefore can show one on one piece of display screen and operate in
(environment is the true environment around tower crane to tower crane real-time three-dimensional figure in true environment, and tower crane is given birth to as one according to data certainly
Into threedimensional model), then can combine alarm unit, early warning or alarm are carried out to the running status of tower crane.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (9)
1. a kind of monitoring system of derrick crane, derrick crane includes tower arm and slides the suspension hook in tower arm, tower arm is set
It is placed on tower body, and the junction with tower body is provided with driving cabin, it is characterised in that including：
Image acquisition units, it gathers suspension hook operation image, and including the first camera being arranged at driving cabin position and sets
The second camera in tower arm end is put, derrick crane is hung with straight in tower arm towards first reference scale on ground and
Two reference scales, first reference scale is located in front of the visual field of the first camera, and the visual field border of the first camera is included
Inside, second reference scale is located in front of the visual field of second camera, and including the visual field border of second camera is included,
The mounting means of first camera and second camera in present position causes the field range of the two in tower arm middle area
There is common factor in domain, and can cover tower arm to the image on ground；
Image procossing computing unit, it connects image acquisition units, the first camera is preset with image procossing computing unit
Real standard air line distance between the first reference scale for the first calculating benchmark A1 and second camera and the second reference scale it
Between real standard air line distance be the second calculating benchmark A2, the image that image procossing computing unit is gathered from image acquisition units
Middle choose photographs the camera picture of suspension hook as calculating picture, and obtains suspension hook bottom in calculating picture and taken the photograph with corresponding
As the extended line of the straight line line between head optical center, and the straight line line or straight line line passes through correspondence reference in picture
The scale size of chi, then on the basis of corresponding calculating benchmark, calculates the suspension hook current location height actual relative to tower arm
Parameter and range parameter are spent, wherein when image procossing computing unit will appear from the picture of the first camera of suspension hook as calculating picture
During face, calculating benchmark selection A1, when image procossing computing unit will appear from the picture of the second camera of suspension hook as calculating picture
During face, calculating benchmark selection A2；
Alarm unit, it connects image procossing computing unit, and the suspension hook present bit calculated based on image procossing computing unit
The height parameter or range parameter put relative to tower arm reality send alarm signal.
2. the monitoring system of derrick crane as claimed in claim 1, it is characterised in that described image handles computing unit meter
The step of calculating the suspension hook current location height parameter and range parameter actual relative to tower arm specifically includes：
Step 1: calculate real space in the first reference scale or the second reference scale the scale size position o with it is corresponding
Straight line line og between the g of cam lens center apart from a, and real space cathetus line og with tower arm in perpendicular
Interior occupied visual field angle x, calculation formula is：
<mrow>
<mi>a</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>l</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>h</mi>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>,</mo>
<mi>x</mi>
<mo>=</mo>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mfrac>
<mi>h</mi>
<mi>l</mi>
</mfrac>
</mrow>
Wherein, h represents image procossing computing unit from picture is calculated described in the first reference scale for obtaining or the second reference scale
Scale size, l represents the first calculating benchmark A1 or the second calculating benchmark A2；
Step 2: calculating straight between suspension hook current location and the first camera or second camera optical center in real space
Line line apart from a1, calculation formula is：
<mrow>
<msub>
<mi>a</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<mi>a</mi>
<mo>*</mo>
<msub>
<mi>pxa</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mi>p</mi>
<mi>x</mi>
<mi>a</mi>
</mrow>
</mfrac>
</mrow>
Wherein, pxa represent calculate picture in the first reference scale or the second reference scale the scale size position with it is corresponding
Graph line distance between cam lens center, pxa1Represent to calculate suspension hook bottom and corresponding shooting head mirror in picture
Graph line distance between head center, the two is by image procossing computing unit according to suspension hook bottom in the calculating picture of acquisition
The extended line of straight line line or straight line line between corresponding cam lens center is calculated；
Step 3: with the visual field angle x calculated and apart from a1It is real relative to tower arm that suspension hook current location is calculated as calculating parameter
The height parameter h on border1With range parameter l1, calculation formula is as follows：
When the picture of the first camera to photograph suspension hook is as calculating picture, range parameter l1Represent that suspension hook distance drives
The horizontal range l in cabin1'：h1=sin (x) * a1, l1=l1'=cos (x) * a1；
When the picture of the second camera to photograph suspension hook is as calculating picture, range parameter l1Represent suspension hook apart from tower arm
The horizontal range l of end1”：h1=sin (x) * a1, l1=l1"=cos (x) * a1。
3. the monitoring system of derrick crane as claimed in claim 2, it is characterised in that report is provided with the alarm unit
Alert threshold value, the alarm threshold value includes nearly spacing threshold value,
When alarm unit is based on the suspension hook current location obtained from image procossing computing unit the amplitude ginseng actual relative to tower arm
Number l1' close to the nearly spacing threshold value when, nearly spacing alarm signal is sent to remind operating personnel's suspension hook excessively near apart from tower body.
4. the monitoring system of derrick crane as claimed in claim 3, it is characterised in that the alarm threshold value also includes far
Spacing threshold value, when alarm unit is based on the suspension hook current location obtained from image procossing computing unit the width actual relative to tower arm
Spend parameter l1" close to the remote spacing threshold value when, remote spacing alarm signal is sent to remind operating personnel's suspension hook to transport in tower arm
Row is too far.
5. the monitoring system of derrick crane as claimed in claim 4, it is characterised in that the alarm threshold value also includes height
Spacing threshold value, when alarm unit is based on the suspension hook current location obtained from image procossing computing unit the height actual relative to tower arm
Spend parameter h1During close to the high spacing threshold value, send high spacing alarm signal to remind operating personnel's suspension hook to run in tower arm
It is too high.
6. the monitoring system of derrick crane as claimed in claim 5, it is characterised in that the nearly spacing alarm signal, remote
Spacing alarm signal and high spacing alarm signal are set to different type of alarms.
7. the monitoring system of the derrick crane as described in claim any one of 1-6, it is characterised in that when tower arm is in level side
When being rotated up, the working environment image of the multiple angles of crane is also gathered by the first camera and second camera；
Wherein, described image processing computing unit also includes the building ring for collecting the first camera and second camera respectively
Border image carries out data fusion, obtains the panoramic picture of crane working environment.
8. the monitoring system of derrick crane as claimed in claim 7, it is characterised in that also include：Image-display units, its
Described image processing computing unit is connected, and the panoramic picture that image procossing computing unit is obtained is enterprising in one piece of display screen
Row display, the display screen is arranged in driving cabin for driver's viewing.
9. the monitoring system of derrick crane as claimed in claim 8, it is characterised in that obtain after panoramic picture, also wrap
Include according to the suspension hook current location calculated the height parameter and range parameter actual relative to tower arm, one tower crane operation of generation
The threedimensional model of state, then shows the tower crane operated in true environment a real-time three-dimensional on the display screen
Figure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610151625.7A CN105600693B (en) | 2016-03-16 | 2016-03-16 | A kind of monitoring system of derrick crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610151625.7A CN105600693B (en) | 2016-03-16 | 2016-03-16 | A kind of monitoring system of derrick crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105600693A CN105600693A (en) | 2016-05-25 |
| CN105600693B true CN105600693B (en) | 2017-09-26 |
Family
ID=55981134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610151625.7A Active CN105600693B (en) | 2016-03-16 | 2016-03-16 | A kind of monitoring system of derrick crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105600693B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108917614A (en) * | 2018-07-06 | 2018-11-30 | 漳州高新区远见产业技术研究有限公司 | Measure method, terminal and the computer readable storage medium of object length |
| CN109948192B (en) * | 2019-02-22 | 2023-08-04 | 江苏徐工工程机械研究院有限公司 | Hoisting operation space modeling method and system |
| CN110260832B (en) * | 2019-06-25 | 2020-10-16 | 上海市特种设备监督检验技术研究院 | Crane amplitude measuring method |
| CN113411488A (en) * | 2020-03-17 | 2021-09-17 | 长沙智能驾驶研究院有限公司 | Panoramic image generation method and device, storage medium and computer equipment |
| CN113247788B (en) * | 2021-06-01 | 2021-09-24 | 新乡职业技术学院 | Crane based on projection light self-alignment control |
| CN113044736B (en) * | 2021-06-01 | 2021-08-13 | 新乡职业技术学院 | Crane with sling stability control |
| CN113277431B (en) * | 2021-06-27 | 2022-09-16 | 赣州德业电子科技有限公司 | Tower crane anti-collision monitoring system |
| CN114408751B (en) * | 2021-12-27 | 2023-05-30 | 上海旷通科技有限公司 | Method and equipment for auxiliary positioning of lifting hook |
| CN114279343B (en) * | 2021-12-31 | 2024-07-12 | 江苏省送变电有限公司 | Double-flat-arm holding pole construction process displacement monitoring method based on computer vision |
| CN117068976B (en) * | 2023-08-04 | 2024-05-03 | 山东高速建设管理集团有限公司 | Crane construction standard safety detection method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201473235U (en) * | 2009-07-24 | 2010-05-19 | 金陵科技学院 | Stereoscopic visual security alarming system used for tower crane |
| CN103852130A (en) * | 2014-01-15 | 2014-06-11 | 北京艾力泰尔信息技术有限公司 | Water level collecting method based on image identification |
| CN104150381A (en) * | 2013-05-14 | 2014-11-19 | 黄文平 | Intelligent monitoring tower crane |
| JP2016013889A (en) * | 2014-07-01 | 2016-01-28 | 株式会社タダノ | Obstacle notification system of crane vehicle |
| CN105347211A (en) * | 2015-11-17 | 2016-02-24 | 山东聊建集团有限公司 | Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane |
-
2016
- 2016-03-16 CN CN201610151625.7A patent/CN105600693B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201473235U (en) * | 2009-07-24 | 2010-05-19 | 金陵科技学院 | Stereoscopic visual security alarming system used for tower crane |
| CN104150381A (en) * | 2013-05-14 | 2014-11-19 | 黄文平 | Intelligent monitoring tower crane |
| CN103852130A (en) * | 2014-01-15 | 2014-06-11 | 北京艾力泰尔信息技术有限公司 | Water level collecting method based on image identification |
| JP2016013889A (en) * | 2014-07-01 | 2016-01-28 | 株式会社タダノ | Obstacle notification system of crane vehicle |
| CN105347211A (en) * | 2015-11-17 | 2016-02-24 | 山东聊建集团有限公司 | Panorama-visible and controllable intelligent monitoring and protecting integrated system for tower crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105600693A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105600693B (en) | A kind of monitoring system of derrick crane | |
| CN106372854B (en) | A kind of project security management system based on BIM | |
| KR101692781B1 (en) | Drone - Sensor Interconnected Disaster Management System | |
| KR101073076B1 (en) | Fire monitoring system and method using compound camera | |
| JP4140159B2 (en) | Surveillance camera monitoring area setting apparatus and method | |
| CN109269555A (en) | System and method is monitored based on unmanned plane and the Safety of Tailings Dam of dimensional Modeling Technology | |
| CN106955443A (en) | A kind of fire handling machine people and system | |
| JP6417300B2 (en) | Specified range monitoring system | |
| CN107807575A (en) | A kind of infrared positioning AR of fireman shows the helmet and fire command system | |
| WO2016206330A1 (en) | System and method for monitoring motion status of bucket in construction vertical shaft | |
| KR20160104948A (en) | Portable guerrilla sensor and real-time slope monitoring system using the same | |
| CN106950900A (en) | A kind of switchgear house environmental monitoring system | |
| CN112530144B (en) | Method and system for warning violation behaviors of thermal power plant based on neural network | |
| CN205545533U (en) | Two mesh cloud platforms of visible light camera and thermal infrared imaging camera | |
| CN112367504A (en) | Building site safety monitoring device and control system | |
| CN107995414A (en) | Intelligent safety defense monitoring system and monitoring method | |
| CN207337157U (en) | A kind of infrared positioning AR of fireman shows the helmet and fire command system | |
| CN106657935A (en) | Coal cutter abnormal work and disaster alarm system based on images | |
| KR100978373B1 (en) | Control system for facility by using a/v record device | |
| CN110555913B (en) | Virtual imaging method and device based on industrial human-computer interface | |
| CN116630872A (en) | Building site safety monitoring method based on three-dimensional modeling | |
| KR100970503B1 (en) | Control method for facility by using a/v record device | |
| CN105262984B (en) | A kind of detector with fixing device | |
| JP2021163401A (en) | Person detection system, person detection program, leaned model generation program and learned model | |
| JP2015059754A (en) | Balloon type remote measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |