CN109405804A - Operation householder method and system - Google Patents
Operation householder method and system Download PDFInfo
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- CN109405804A CN109405804A CN201811307667.0A CN201811307667A CN109405804A CN 109405804 A CN109405804 A CN 109405804A CN 201811307667 A CN201811307667 A CN 201811307667A CN 109405804 A CN109405804 A CN 109405804A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
This disclosure relates to a kind of operation householder method and system.Operation householder method includes: to be shot by carrying the aircraft (50) of picture pick-up device (10) to operating area where operating equipment (60), to establish initial working space threedimensional model；By range scanners (20) being at least partly scanned to operating area where the operating equipment (60), at least part of space surveying and mapping data of the operating area is obtained；The space surveying and mapping data and the initial working space threedimensional model are combined, the working space threedimensional model in conjunction with after.The embodiment of the present disclosure effectively auxiliary operation person can carry out operation.
Description
Technical field
This disclosure relates to field of operation more particularly to a kind of operation householder method and system.
Background technique
Crane is the more movement hoisting machineries for executing vertical-lift and horizontal carrying heavy goods in a certain range, is also known as hung
Vehicle.Nowadays, all kinds of cranes have been widely used in the occasions such as urban architecture construction, shop equipment lifting, bridge construction.Some
Occasion, crane hanging component operating environment is complicated (such as high-voltage line, trees, wall etc.), changeable (such as the wind-powered electricity generation of hanging object shape
Flabellum, tank body etc.).
Before lifting operation, there are Hoisting Program planning and designing.During lifting operation, there are crane and
The problem of object may collide in hanging object and ambient enviroment, operator's maloperation problem.For example, hanging object and wall
Body collision, crane operating condition select and reality is inconsistent etc..Less serious case causes physical damage, heavy then car crash.
During lifting operation, crane operator's self judgment ambient enviroment is relied primarily on, by field of view limitation, behaviour
The factors such as authors experience level, operator are difficult to provide suitable Hoisting Program or operation rule in complex environment or Large-scale Hoisting
It draws.In complex environment when operation, generally requires more people and assist lifting.Support staff observes in crane surrounding different location,
When there is risk of collision, operator is reminded by phone, intercom etc..Personnel observation it is ineffective, remind not in time, operator accidentally grasp
Make, all may cause the generation of the danger such as collision, overturning.In addition, Important Project lift when, construction headquarters have collective decision-making,
The demand that supervision commander, hoisting process record.
In order to promote lifting job security and efficiency, the generation of lifting safety accident is reduced.Occur in the related technology
Some schemes image instrument in crane arm support head installation 2D/3D, shoot downwards, obtain suspension hook surrounding objects information.Pass through
Vehicular display device shows monitored picture, shows dimension of object, distance etc. by two-dimensional side view and top view.As a set of view
Auxiliary system in feel provides a visual image and some relatively simple quantized datas, joins for crane operator
It examines.
Summary of the invention
Inventor it has been investigated that, the schemes of the relevant technologies is mounted on cantilever crane head for instrument is imaged, and position is relatively fixed,
It is blocked by jib tip structure and suspension hook, therefore has blind area.Moreover, the ambient obtained only by 2D/3D camera shooting instrument
Body information can not obtain more accurate peripheral information.In addition, although visual image can provide some auxiliary for operator
Information, but operation of the operator to crane cannot be directly influenced, therefore crane is promoted in security performance without essence.
It, being capable of effectively auxiliary operation person in view of this, the embodiment of the present disclosure provides a kind of operation householder method and system
Carry out operation.
In one aspect of the present disclosure, a kind of operation householder method is provided, comprising:
Aircraft by carrying picture pick-up device shoots operating area where operating equipment, to establish initial work
Industry space three-dimensional model；
By range scanners being at least partly scanned to operating area where the operating equipment, the work is obtained
At least part of space surveying and mapping data in industry region；
The space surveying and mapping data and the initial working space threedimensional model are combined, the work in conjunction with after
Industry space three-dimensional model.
In some embodiments, the operation householder method further include:
Image recognition or artificial setting are carried out to the working space threedimensional model after the combination, being formed includes working space
The parametrization working space threedimensional model of multiple three-dimensional submodels of interior operating equipment, manipulating object and environmental objects.
In some embodiments, the operation householder method further include:
The operating equipment, which is generated, according to job task and the parametrization working space threedimensional model is directed to the work
The operation scheme of industry object.
In some embodiments, when generating the operation scheme, by the seat of the parametrization working space threedimensional model
Mark system is converted to the matched coordinate system of executive device operating instruction with the operating equipment.
In some embodiments, after generating the operation scheme, the operation scheme is sent remotely to be used for pair
The operating equipment carries out the engineering command scheduling center of job scheduling.
In some embodiments, the operating equipment includes lifting equipment, and the operation scheme is appointed for hoisting and hanging operation
Business.
In some embodiments, the operation householder method further include:
It is corresponding with the operating equipment to the actual condition of the operating equipment three-dimensional submodel operating condition consistency into
Row real time monitoring, and monitor operating condition it is inconsistent when alarm.
In some embodiments, the operating equipment includes lifting equipment, and the monitoring of operating condition consistency includes following at least one
Kind:
It gets on the bus in hoisting process consistency monitoring, the consistency monitoring of balance weight operating condition, cantilever crane operating condition of working condition
The consistency of consistency monitoring and supporting leg operating condition monitors.
In some embodiments, the operation householder method further include:
By the aircraft of the carrying picture pick-up device spacescan lasting to operating area where operating equipment, and according to figure
As parameter of the recognition result to multiple three-dimensional submodels of operating equipment, manipulating object and environmental objects in working space is turned into
Industry space three-dimensional model carries out real-time update.
In some embodiments, the operation householder method further include:
Calculate the distance between each three-dimensional submodel in working space；
The distance is judged according to preset alarm threshold value and restraint threshold value, the alarm threshold value is higher than the limit
Dynamic threshold value；
If the distance is lower than the alarm threshold value, and is not less than the restraint threshold value, then warning note operation is executed；
If the distance is lower than the restraint threshold value, the operating equipment is controlled, to limit the distance
The trend further to become smaller.
In some embodiments, the distance includes: the spacing of the operating equipment and the environmental objects, the operation
Object and the spacing of the environmental objects and/or the spacing of the manipulating object and the operating equipment.
In some embodiments, the picture pick-up device includes 2D or 3D video camera.
In one aspect of the present disclosure, a kind of operation auxiliary system is provided, comprising:
Picture pick-up device, setting on board the aircraft, are configured as shooting operating area where operating equipment；
Range scanners are configured as being at least partly scanned to operating area where the operating equipment, obtain
At least part of space surveying and mapping data of the operating area；With
Work station connect with the picture pick-up device and the range scanners signal, be configured as according to receive come
From the image data of the picture pick-up device, initial working space threedimensional model is established, and in conjunction with from the range scanners
Space surveying and mapping data, with the working space threedimensional model after being combined.
In some embodiments, the work station is additionally configured to carry out the working space threedimensional model after the combination
Image recognition or artificial setting, form including operating equipment, the multiple three-dimensionals of manipulating object and environmental objects in working space
The parametrization working space threedimensional model of submodel.
In some embodiments, the work station is configured as three-dimensional according to job task and the parametrization working space
Model generates the operation scheme that the operating equipment is directed to the manipulating object.
In some embodiments, the operation auxiliary system further include:
Engineering command scheduling center is connect with the work station telecommunication, is configured as receiving the work station generation
The operation scheme, and according to the operation scheme to the operating equipment carry out job scheduling.
In some embodiments, the operating equipment includes lifting equipment, and the operation scheme is appointed for hoisting and hanging operation
Business.
In some embodiments, the work station is configured as setting the actual condition of the operating equipment with the operation
The operating condition consistency of standby corresponding three-dimensional submodel is monitored in real time, and monitor operating condition it is inconsistent when alarm.
In some embodiments, the aircraft for carrying picture pick-up device is configured as continuing operating area where operating equipment
Spacescan, the work station is configured as according to image recognition result to the operating equipment in working space, manipulating object
Real-time update is carried out with the parametrization working space threedimensional model of multiple three-dimensional submodels of environmental objects.
In some embodiments, the work station is configured as calculating between each three-dimensional submodel in working space
Distance, and the distance is judged according to preset alarm threshold value and restraint threshold value, the alarm threshold value is higher than the limit
Dynamic threshold value if the distance is lower than the alarm threshold value, and is not less than the restraint threshold value, then executes warning note operation,
If the distance is lower than the restraint threshold value, the operating equipment is controlled, is further become with limiting the distance
Small trend.
Therefore, according to the embodiment of the present disclosure, picture pick-up device is carried using aircraft, operating area is shot, so that taking the photograph
As equipment can not be limited and be obtained the image data of wider array of operating area by installation site, in conjunction with being based on image data institute
The space surveying and mapping data that the initial job space three-dimensional model and range scanners of generation scan can get the height after combining
The working space threedimensional model of precision.The operator or engineering command scheduling personnel of operating equipment can be empty in high-precision operation
Between reference information provided by threedimensional model auxiliary under carry out operation, to improve the safety and efficiency of operation.
Detailed description of the invention
The attached drawing for constituting part of specification describes embodiment of the disclosure, and together with the description for solving
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the application scenarios schematic diagram according to some embodiments of disclosure operation auxiliary system；
Fig. 2 is the flow diagram according to some embodiments of disclosure operation householder method；
Fig. 3 is that the aircraft of carrying picture pick-up device in some embodiments according to disclosure operation householder method passes through space
Scan initial working space threedimensional model schematic diagram obtained；
Fig. 4 is that range scanners pass through scanning work obtained in some embodiments according to disclosure operation householder method
The space surveying and mapping data in industry region threedimensional model schematic diagram generated；
Fig. 5 is working space threedimensional model and space initial in some embodiments according to disclosure operation householder method
Surveying and mapping data combines obtained high-precision working space threedimensional model schematic diagram；
Fig. 6 is the flow diagram according to other embodiments of disclosure operation householder method；
Fig. 7 is the flow diagram according to the still other embodiments of disclosure operation householder method；
Fig. 8 is the schematic diagram that coordinate system operation is converted in some embodiments according to disclosure operation householder method；
Fig. 9 is the signal connection schematic diagram according to some embodiments of disclosure operation auxiliary system.
It should be understood that the size of various pieces shown in attached drawing is not to draw according to actual proportionate relationship.
In addition, same or similar reference label indicates same or similar component.
Specific embodiment
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.Description to exemplary embodiment
It is merely illustrative, never as to the disclosure and its application or any restrictions used.The disclosure can be with many differences
Form realize, be not limited to the embodiments described herein.These embodiments are provided so that the disclosure is thorough and complete, and
The scope of the present disclosure is given full expression to those skilled in the art.It should also be noted that unless specifically stated otherwise, otherwise in these implementations
Component described in example and the positioned opposite of step should be construed as merely illustrative, not as limitation.
" first ", " second " used in the disclosure and similar word are not offered as any sequence, quantity or again
The property wanted, and be used only to distinguish different parts.The similar word such as " comprising " or "comprising" means the element before the word
Cover the element enumerated after the word, it is not excluded that be also covered by the possibility of other element."upper", "lower", "left", "right" etc. are only used
In indicating relative positional relationship, after the absolute position for being described object changes, then the relative positional relationship may also be correspondingly
Change.
In the disclosure, when being described to certain device between the first device and the second device, in the certain device
There may be devices between two parties between the first device or the second device, and device between two parties can also be not present.When being described to specific device
When part connects other devices, which can be directly connected to without device between two parties with the other devices, can also be with
It is not directly connected to the other devices and there is device between two parties.
All terms (including technical term or scientific term) that the disclosure uses are common with disclosure fields
The meaning that technical staff understands is identical, unless otherwise specifically defined.It is also understood that in term such as defined in the general dictionary
The meaning consistent with their meanings in the context of the relevant technologies should be interpreted as having, without application idealization or
The meaning of extremely formalization explains, unless being clearly defined herein.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
As shown in Figure 1, being the application scenarios schematic diagram according to some embodiments of disclosure operation auxiliary system.In Fig. 1
In, in some embodiments, operation auxiliary system includes: picture pick-up device 10, range scanners 20 and work station 30.Picture pick-up device
10 are arranged on aircraft 50, can carry out spacescan to 60 place operating area of operating equipment.Range scanners 20 is to institutes
State at least partly being scanned for 60 place operating area of operating equipment.Work station 30 and the picture pick-up device 10 and the ranging
The connection of 20 signal of scanner is handled for the data to picture pick-up device 10 and the acquisition of the range scanners 20.
In some embodiments, aircraft 50 can be unmanned plane, be also possible to the flight equipment of being driven by people.Camera shooting is set
Standby 10 may include 3D video camera, and the 3D rendering taken can transmit to be handled to work station 30.In further embodiments, it takes the photograph
As equipment 10 also may include that the 2D video camera that cost is cheaper, weight is lighter is shot, the 2D image taken can be passed
Work station 30 is given to be handled.
Range scanners 20 can carry out high-precision scanning to the part of operating area, be surveyed with obtaining more accurate space
Draw data.Range scanners 20 can be arranged in and the region of precise measurement is needed to pinpoint by operator according to actual needs
Scanning.In some embodiments, scanning range can be the pith in operating area, and in further embodiments, scanning
Range can also be the whole of operating area.Range scanners 20 preferably use laser scanner, can also using based on ultrasound or
Infrared scanner.
Work station 30 is preferably communicated by wireless communication mode with picture pick-up device 10 and range scanners 20.Another
In a little embodiments, work station 30 can also be communicated by wired mode with picture pick-up device 10 and range scanners 20.Work
Some processing softwares can be run by making station 30, to handle received image data and space surveying and mapping data.
With reference to Fig. 1, in some embodiments, operation auxiliary system may also include engineering command scheduling center 40.Engineering refers to
Waving control centre 40 can connect with 30 telecommunication of work station, carry out information exchange with work station 30.Engineering command scheduling
Center 40 can also be communicated with operating equipment 60, carry out job scheduling to operating equipment 60 according to the operation scheme of setting.
With reference to operation auxiliary system embodiment shown in FIG. 1, Fig. 2 shows according to some of disclosure operation householder method
The flow diagram of embodiment.In Fig. 2, operation householder method includes:
Step 100 shoots 60 place operating area of operating equipment by carrying the aircraft 50 of picture pick-up device 10,
To establish initial working space threedimensional model；
Step 200, at least partly the sweeping to the 60 place operating area of operating equipment by range scanners 20
It retouches, obtains at least part of space surveying and mapping data of the operating area；
The space surveying and mapping data and the initial working space threedimensional model are combined by step 300, are tied
Working space threedimensional model after conjunction.
In step 100, image captured by picture pick-up device 10 can transmit to work station 30, be carried out by work station 30
Reason, to establish initial working space threedimensional model.It with reference to Fig. 3, is shot, is covered to carry picture pick-up device by aircraft
Wider spatial dimension, therefore realize more comprehensive working space threedimensional model.
In step 200, range scanners 20 selectively can carry out fixed point scanning to operating area.Such as in operation area
The position setting range scanners 20 of operating equipment or manipulating object are closed in domain to be scanned to key area, to obtain essence
True space surveying and mapping data.Fig. 4 shows the three-dimensional mould that obtained operating area part scene is scanned by range scanners 20
Type.
In step 300, work station or other processing equipments can be by space surveying and mapping datas and initial working space three
Dimension module combines, to generate the working space threedimensional model with degree of precision after combining.With reference to Fig. 5, it can be seen that
After Fig. 3 and Fig. 4 is combined, the working space threedimensional model of wider spatial dimension can be obtained, and also makes operation empty
Between threedimensional model more refine and refine.From Fig. 5, can than more clearly recognize working space, operating equipment,
The various aspects information such as surrounding enviroment.
In above-mentioned operation householder method embodiment, step 100 can also be later than step 200 prior to step 200, or
It is synchronous with step 200 to carry out.In addition to initially setting up working space threedimensional model, in some embodiments, aircraft 50 can be carried
Picture pick-up device 10 carries out lasting spacescan to 60 place operating area of operating equipment by the aircraft 50.Scanning obtains
Image data can be used for the update of working space threedimensional model, to reflect the situation of change of operating area in real time.
As shown in fig. 6, being the flow diagram according to other embodiments of disclosure operation householder method.With Fig. 5 institute
The embodiment shown is compared, and the present embodiment is after step 300 further include:
Step 400 carries out image recognition or artificial setting to the working space threedimensional model after the combination, forms parameter
It is turned into industry space three-dimensional model.
Here parametrization working space threedimensional model may include operating equipment 60 in working space, manipulating object 80
With multiple three-dimensional submodels of environmental objects 70.With reference to Fig. 1, work station 30 or other processing equipments can determine by image recognition
Identifiable object in high-precision working space threedimensional model, example are used as the crane of operating equipment 60, conduct as shown in figure 1 out
The lifting cargo of manipulating object 70 and the environmental objects 70 (such as building 72 and wall 71) of lifting cargo two sides.For some
The object being beyond recognition by image recognition then can be by being manually configured.
The parametrization working space threedimensional model with multiple three-dimensional submodels is just established by step 400, this
Kind parameter, which is turned into industry space three-dimensional model, can support further work planning and security monitoring.As shown in fig. 7, being according to this public affairs
Open the flow diagram of the still other embodiments of operation householder method.Compared to embodiment shown in fig. 6, the present embodiment is in step
After 400 further include:
Step 500 generates 60 needle of operating equipment according to job task and the parametrization working space threedimensional model
For the operation scheme of the manipulating object 80.
By taking lifting equipment as an example, work station or the settable lifting planning module of other processing equipments utilize parametrization operation
Space three-dimensional model is directed to the crane hanging component scheme of hanging object to generate.It can be turned into step 400 forming parameter
When industry space three-dimensional model, the artificial setting of the parameter of hanging object, such as the size and weight of setting hanging object can be carried out
Etc. parameters.
The 3D model prestored according to model library can then be come from if there is crane 3D model by way of image recognition
The dynamic work information, such as balance weight operating condition, cantilever crane length and change angle etc. for extracting crane.If without corresponding 3D mould
Type can also add the crane model of parametrization in parametrization working space threedimensional model by manually.Furthermore it is also possible to logical
Image recognition and artificial setting two ways are crossed to obtain the parameterized model of environmental objects.
Be directed to some lifting operation task, work station or other processing equipments can according to the relevant information of hanging object come
It is automatic to obtain lifting operation starting point, and lifting operation terminal can be by human configuration or from the working space threedimensional model of parametrization
In obtain automatically.By taking wind-powered electricity generation lifting operation as an example, after tower seat, which is set, to be determined, tower, blower and blade installation site can bases
The wind-powered electricity generation model of parametrization obtains automatically.In this way, can be according to lifting operation task and acquired parametrization working space three
The Hoisting Program of dimension module generation crane.May include in Hoisting Program the branch vehicle point of crane, operation of getting on the bus recommend operating condition,
Lift path, lifting estimated time etc..
Since conventional threedimensional model is usually three-dimensional rectangular coordinate or polar coordinates, in order to by operating equipment in three-dimensional space
Motion profile be converted into the operational order of operating equipment, can be when generating operation scheme, by the parametrization working space
The coordinate system of threedimensional model is converted to the matched coordinate system of executive device operating instruction with the operating equipment 60.
By taking crane as an example, due to crane self structure movement generally have flexible, luffing, revolution, raising four kinds of masters
It acts, therefore can refer to Fig. 8 and the coordinate system of threedimensional model is converted into gib arm of crane rack coordinate.For example, first by three-dimensional right angle
Coordinate (X, Y, Z) is converted to polar coordinates (L0, β 1, β 2), then by polar coordinates (L0, β 1, β 2) be converted into cantilever crane coordinate (L1, α 1,
L2, α 2, β 1, H0, R0, H1), motion profile of the crane in three-dimensional space can easily be thus converted on crane
The movement instruction of mechanism of car.
It further include step after step 500 in some embodiments with reference to Fig. 7 to implement the operation scheme generated
Rapid 600.In step 600, the operation scheme can be sent remotely to be used to carry out job scheduling to the operating equipment 60
Engineering command scheduling center 40.The example of crane hanging component scheme, work station 30 or other processing equipments are generated for front
Hoisting Program can be remotely sent to engineering command scheduling center 40 by wirelessly or non-wirelessly mode, can also be transmitted directly to
Heavy equipment, or mobile phone as terminal or computer etc..
Based on parametrization working space threedimensional model, in some embodiments, operation householder method can also include: to institute
The operating condition consistency for stating the actual condition three-dimensional submodel corresponding with the operating equipment 60 of operating equipment 60 is supervised in real time
Control, and monitor operating condition it is inconsistent when alarm.By taking operating equipment 60 includes lifting equipment as an example, the monitoring of operating condition consistency
May include following at least one: the consistency for working condition of getting on the bus in hoisting process monitors, the consistency of balance weight operating condition monitors,
The consistency monitoring of cantilever crane operating condition and the consistency of supporting leg operating condition monitor.
Specifically, the consistency for working condition of getting on the bus in hoisting process is monitored, work station or other processing equipments
It can determine whether actual operating condition of getting on the bus meets the operation recommendation operating condition of getting on the bus of crane hanging component scheme.If the two is inconsistent,
Then capable of emitting sound-light alarm or to terminal alert, in addition can also be recorded by black box.
Consistency monitoring for balance weight operating condition, work station or other processing equipments can determine whether actual balance weight operating condition
It is whether consistent with the balance weight operating condition that is identified from threedimensional model.If the two is inconsistent, capable of emitting sound-light alarm or to
In addition terminal alert can also be recorded by black box.
Consistency monitoring for cantilever crane operating condition, work station or other processing equipments can determine whether actual cantilever crane operating condition, example
As whether the length or change angle of cantilever crane meet the cantilever crane operating condition identified from threedimensional model.If the two is inconsistent,
Capable of emitting sound-light alarm or to terminal alert, in addition can also be recorded by black box.
Consistency monitoring for supporting leg operating condition, work station or other processing equipments can determine whether actual supporting leg operating condition, example
Whether such as leg length meets the supporting leg span identified from threedimensional model.If the two is inconsistent, capable of emitting acousto-optic
It alarms or to terminal alert, in addition can also be recorded by black box.
In this process, it can be swept by the aircraft 50 space lasting to 60 place operating area of operating equipment
It retouches, and according to image recognition result to multiple three of operating equipment 60, manipulating object 80 and environmental objects 70 in working space
The parametrization working space threedimensional model for tieing up submodel carries out real-time update, to make the monitoring of operating condition consistency that can meet reality
Situation improves the safety of operation.
Based on parametrization working space threedimensional model, the space occupied using each three-dimensional submodel in threedimensional model
Size, position find out mutual minimum safe distance, and the space length prison of operating area can be realized based on calculated result
Control.In some embodiments, operation householder method can also include: between each three-dimensional submodel calculated in working space
Distance D；According to preset alarm threshold value DAWith restraint threshold value DLThe distance D is judged, the alarm threshold value DAHigher than institute
State restraint threshold value DL。
If the distance D is lower than the alarm threshold value DA, and it is not less than the restraint threshold value DL, i.e. DL≤D<DA, then hold
Row warning note operation, to notify operator in time.At this point, also operating equipment 60 can control to reduce operating speed.If
Distance D is lower than the restraint threshold value DL, i.e. D < DL, then capable of emitting alarm, and the operating equipment 60 is controlled, to lead
It limits the trend that the distance further becomes smaller dynamicly, that is, limits dangerous direction and continue to move, to realize more active
Safeguard protection.
Here distance D may include: the spacing of the operating equipment 60 and the environmental objects 70, the manipulating object
80 with the spacing of the environmental objects 70 and/or the spacing of the manipulating object 80 and the operating equipment 60.In addition to this, away from
From D can also include different work equipment between, the spacing between different work object and between varying environment object.
It can be by working for operations such as Correlation method for data processing, security monitoring, job schedulings in above-mentioned operation householder method
Stand 30 or other processing equipments realize.As needed, some operations can also be executed by engineering command scheduling center 40.
For example, in the embodiment of operation auxiliary system, range scanners 20 can be to where the operating equipment 60
Operating area is at least partly scanned, and obtains at least part of space surveying and mapping data of the operating area.And work station
30 can establish initial working space threedimensional model, and tie according to the scan data from the picture pick-up device 10 received
The space surveying and mapping data from the range scanners 20 is closed, with the working space threedimensional model after being combined.
In other embodiments of operation auxiliary system, work station 30 can also be to the working space three after the combination
Dimension module carries out image recognition or artificial setting, is formed including operating equipment 60, manipulating object 80 and the environment in working space
The parametrization working space threedimensional model of multiple three-dimensional submodels of object 70.
Based on obtained parametrization working space threedimensional model, work station 30 can also be to the reality of the operating equipment 60
The operating condition consistency of operating condition three-dimensional submodel corresponding with the operating equipment 60 is monitored in real time, and is monitoring operating condition not
It alarms when consistent.Alternatively, work station 30 can generate institute according to job task and the parametrization working space threedimensional model
State the operation scheme that operating equipment 60 is directed to the manipulating object 80.Work station 30 can be by the operation scheme teletransmission of generation
To engineering command scheduling center 40.
In order to obtain the threedimensional model of real-time update, aircraft 50 be can be configured to 60 place operating area of operating equipment
Lasting spacescan, and the work station 30 then can be according to image recognition result to the operating equipment 60 in working space, work
The parametrization working space threedimensional model of multiple three-dimensional submodels of industry object 80 and environmental objects 70 carries out real-time update.
On this basis, work station 30 can calculate the distance between each three-dimensional submodel in working space, and according to
Preset alarm threshold value and restraint threshold value judge that the distance, the alarm threshold value is higher than the restraint threshold value, if
The distance is lower than the alarm threshold value, and is not less than the restraint threshold value, then warning note operation is executed, if the distance
Lower than the restraint threshold value, then the operating equipment 60 is controlled, to limit the trend that the distance further becomes smaller.
As shown in figure 9, for according to the signal connection schematic diagram of some embodiments of disclosure operation auxiliary system.With reference to figure
9, master controller transceiver can be communicated with work station and engineering command scheduling center by wireless communication in crane.Lifting
Linear transducer, angular transducer and the other sensors of each cantilever crane in machine sensing signal can be sent to master controller into
Row processing.Master controller is also connect with signals such as picture control display, basic display unit, hydraulic system and dynamical systems, so as to
Control instruction is sent to all parts.
The picture pick-up device and each laser scanner that work station can be carried from aircraft obtain data, and pass through data processing
Obtain parametrization working space threedimensional model.According to parametrization working space threedimensional model, work station can be received by wireless communication
It sends out device and the crane job scheme recommended is provided to engineering command scheduling center, and safe prison is carried out to the operation process of crane
Control.
So far, the presently disclosed embodiments is described in detail.In order to avoid covering the design of the disclosure, do not describe
Some details known in the field.Those skilled in the art as described above, completely it can be appreciated how implement here
Disclosed technical solution.
Although being described in detail by some specific embodiments of the example to the disclosure, the skill of this field
Art personnel it should be understood that above example merely to be illustrated, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel it should be understood that can not depart from the scope of the present disclosure and spirit in the case where, modify to above embodiments or
Some technical features can be equivalently replaced.The scope of the present disclosure is defined by the following claims.
Claims (20)
1. a kind of operation householder method characterized by comprising
Aircraft (50) by carrying picture pick-up device (10) shoots operating area where operating equipment (60), to establish
Initial working space threedimensional model；
By range scanners (20) being at least partly scanned to operating area where the operating equipment (60), institute is obtained
State at least part of space surveying and mapping data of operating area；
The space surveying and mapping data and the initial working space threedimensional model are combined, the operation in conjunction with after is empty
Between threedimensional model.
2. operation householder method according to claim 1, which is characterized in that further include:
Image recognition or artificial setting are carried out to the working space threedimensional model after the combination, being formed includes in working space
The parametrization working space three-dimensional mould of multiple three-dimensional submodels of operating equipment (60), manipulating object (80) and environmental objects (70)
Type.
3. operation householder method according to claim 2, which is characterized in that further include:
The operating equipment (60), which is generated, according to job task and the parametrization working space threedimensional model is directed to the work
The operation scheme of industry object (80).
4. operation householder method according to claim 3, which is characterized in that, will be described when generating the operation scheme
The coordinate system of parametrization working space threedimensional model is converted to be matched with the executive device operating instruction of the operating equipment (60)
Coordinate system.
5. operation householder method according to claim 3, which is characterized in that after generating the operation scheme, by institute
Operation scheme is stated to be sent remotely to for the engineering command scheduling center (40) to the operating equipment (60) progress job scheduling.
6. operation householder method according to claim 3, which is characterized in that the operating equipment (60) has included reseting
Standby, the operation scheme is hoisting and hanging job task.
7. operation householder method according to claim 2, which is characterized in that further include:
The operating condition of three-dimensional submodel corresponding with the operating equipment (60) to the actual condition of the operating equipment (60) is consistent
Property is monitored in real time, and monitor operating condition it is inconsistent when alarm.
8. operation householder method according to claim 7, which is characterized in that the operating equipment (60) has included reseting
Standby, the monitoring of operating condition consistency comprises at least one of the following:
Get on the bus in hoisting process working condition consistency monitoring, balance weight operating condition consistency monitoring, cantilever crane operating condition it is consistent
Property monitoring and supporting leg operating condition consistency monitor.
9. operation householder method according to claim 2, which is characterized in that further include:
It is lasting to operating area where operating equipment (60) by the aircraft (50) for carrying the picture pick-up device (10)
Shooting, and according to image recognition result to operating equipment (60), manipulating object (80) and the environmental objects (70) in working space
The parametrization working space threedimensional models of multiple three-dimensional submodels carry out real-time update.
10. operation householder method according to claim 9, which is characterized in that further include:
Calculate the distance between each three-dimensional submodel in working space；
The distance is judged according to preset alarm threshold value and restraint threshold value, the alarm threshold value is higher than the restraint threshold
Value；
If the distance is lower than the alarm threshold value, and is not less than the restraint threshold value, then warning note operation is executed；
If the distance is lower than the restraint threshold value, the operating equipment (60) is controlled, to limit the distance
The trend further to become smaller.
11. operation householder method according to claim 10, which is characterized in that the distance includes: the operating equipment
(60) spacing with the spacing of the environmental objects (70), the manipulating object (80) with the environmental objects (70) and/or institute
State the spacing of manipulating object (80) Yu the operating equipment (60).
12. a kind of operation auxiliary system, comprising:
Picture pick-up device (10) is arranged on aircraft (50), is configured as clapping operating area where operating equipment (60)
It takes the photograph；
Range scanners (20) are configured as being at least partly scanned to operating area where the operating equipment (60),
Obtain at least part of space surveying and mapping data of the operating area；With
Work station (30) is connect with the picture pick-up device (10) and the range scanners (20) signal, is configured as basis and is connect
The image data from the picture pick-up device (10) received establishes initial working space threedimensional model, and combines and come from institute
The space surveying and mapping data of range scanners (20) is stated, with the working space threedimensional model after being combined.
13. operation auxiliary system according to claim 12, which is characterized in that the picture pick-up device (10) includes 2D or 3D
Video camera.
14. operation auxiliary system according to claim 12, which is characterized in that the work station (30) is additionally configured to pair
Working space threedimensional model after the combination carries out image recognition or artificial setting, is formed and is set including the operation in working space
The parametrization working space threedimensional model of multiple three-dimensional submodels of standby (60), manipulating object (80) and environmental objects (70).
15. operation auxiliary system according to claim 14, which is characterized in that the work station (30) is configured as basis
Job task and the parametrization working space threedimensional model generate the operating equipment (60) and are directed to the manipulating object
(80) operation scheme.
16. operation auxiliary system according to claim 14, which is characterized in that further include:
Engineering command scheduling center (40) connect with the work station (30) telecommunication, is configured as receiving the work station
(30) operation scheme generated, and job scheduling is carried out to the operating equipment (60) according to the operation scheme.
17. operation auxiliary system according to claim 14, which is characterized in that the operating equipment (60) has included reseting
Standby, the operation scheme is hoisting and hanging job task.
18. operation auxiliary system according to claim 14, which is characterized in that the work station (30) is configured as to institute
The operating condition consistency for stating the actual condition three-dimensional submodel corresponding with the operating equipment (60) of operating equipment (60) carries out in fact
When monitor, and monitor operating condition it is inconsistent when alarm.
19. operation auxiliary system according to claim 14, which is characterized in that carry the described of the picture pick-up device (10)
Aircraft (50) is configured as the shooting lasting to operating area where operating equipment (60), and the work station (30) is configured as
According to image recognition result to multiple three of operating equipment (60), manipulating object (80) and environmental objects (70) in working space
The parametrization working space threedimensional model for tieing up submodel carries out real-time update.
20. operation auxiliary system according to claim 19, which is characterized in that the work station (30) is configured as calculating
The distance between each three-dimensional submodel in working space, and according to preset alarm threshold value and restraint threshold value to the distance
Judged, the alarm threshold value is higher than the restraint threshold value, if the distance is lower than the alarm threshold value, and is not less than institute
Restraint threshold value is stated, then executes warning note operation, if the distance is lower than the restraint threshold value, to the operating equipment
(60) it is controlled, to limit the trend that the distance further becomes smaller.
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| CN201811307667.0A CN109405804B (en) | 2018-11-05 | 2018-11-05 | Operation assisting method and system |
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| CN201811307667.0A CN109405804B (en) | 2018-11-05 | 2018-11-05 | Operation assisting method and system |
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| CN117962826A (en) * | 2024-03-25 | 2024-05-03 | 徐工消防安全装备有限公司 | Automatic planning method and device for fire truck getting-off operation space and fire truck |
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| CN112182696B (en) * | 2020-09-08 | 2024-05-31 | 国家电网有限公司 | Three-dimensional digital deduction method for top cover overhaul lifting operation and risk identification |
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