CN111807225A - Tower crane hook tracking and visual angle compensation system and working method - Google Patents
Tower crane hook tracking and visual angle compensation system and working method Download PDFInfo
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- CN111807225A CN111807225A CN202010661696.8A CN202010661696A CN111807225A CN 111807225 A CN111807225 A CN 111807225A CN 202010661696 A CN202010661696 A CN 202010661696A CN 111807225 A CN111807225 A CN 111807225A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A tower machine lifting hook tracking and visual angle compensation system comprises: the system comprises a data acquisition unit, a video monitoring unit and a visual angle compensation unit; the visual angle compensation unit is internally loaded with a tower crane lifting hook tracking and tracking visual angle compensation algorithm: the position of the tower crane hook is calculated through tower crane hook operation parameters acquired by the height sensor and the amplitude sensor, and the spherical camera is controlled to rotate through the operation visual angle compensation unit so as to obtain a video picture for tracking and capturing a hoisted object under the tower crane hook. The system aims at the tower crane in the traditional working state, utilizes the spherical camera to track and shoot the state picture of the tower crane hook in real time, makes up the problem of inconvenient hoisting caused by reasons such as too large distance between the tower crane and a hanging object, barrier shielding and abnormal communication of a signal worker, facilitates a driver to observe the position of the hook, and improves the working efficiency.
Description
Technical Field
The invention relates to a tower crane hook tracking and visual angle compensation system and a working method, and belongs to the technical field of tower crane construction control.
Background
In recent years, with the acceleration of the urban construction process in China, the tower crane has been widely used as a main vertical transport machine in a construction site, and how to accelerate the realization of the intellectualization of the tower crane, the digitization and the security process become urgent.
In the tower crane monitoring system at the present stage, the real-time tracking shooting of the lifting hook of the tower crane in the working state is generally realized only by a camera, and in the real building construction environment, due to the different types and shapes of lifting objects, a lifting steel wire rope with a certain length is often required to be additionally arranged under the lifting hook so as to conveniently bind and lift a long building component; in addition, different long building components need to be vertically hoisted or horizontally hoisted according to construction requirements, so that the picture of the building component shot by the camera is only a small part below the lifting hook, and the motion picture of a hoisted object (building component) cannot be completely collected.
Therefore, the tower crane needs a monitoring system and a method which can track and shoot the lifting hook in real time and can adjust and compensate the visual angle in real time aiming at different lifted objects.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention discloses a tower crane hook tracking and visual angle compensation system.
The invention also discloses a working method for tracking and compensating the visual angle by utilizing the tower crane lifting hook.
The invention aims to solve the problem that the hoisting work of the tower crane is inconvenient due to the reasons of overlarge distance between the tower crane and a hoisted object, obstacle shielding, abnormal signal communication and the like in a building construction site, assist a driver of the tower crane to improve the working efficiency and avoid safety accidents.
The technical scheme of the invention is as follows:
the utility model provides a tower machine lifting hook is trailed and visual angle compensation system which characterized in that includes: the system comprises a data acquisition unit, a video monitoring unit and a visual angle compensation unit;
the data acquisition unit includes: the height sensor is arranged at the hoisting mechanism of the tower crane, the amplitude sensor is arranged at the luffing mechanism of the tower crane and is used for acquiring the motion state of a lifting hook of the tower crane in real time so as to realize the tracking shooting of the lifting hook by a camera;
the video monitoring unit includes: the system comprises a spherical camera, a video display and a hard disk video recorder, wherein the spherical camera is used for tracking and shooting a lifting hook of the tower crane and lifting a moving picture of an object; the video display is used for displaying video pictures shot by the spherical camera in real time and is installed in a cab; the hard disk video recorder is used for coding, decoding and storing video picture data shot by the spherical camera in real time, and is installed in a cab;
the visual angle compensation unit is internally loaded with a tower crane lifting hook tracking and tracking visual angle compensation algorithm: the position of the tower crane hook is calculated through tower crane hook operation parameters acquired by the height sensor and the amplitude sensor, and the spherical camera is controlled to rotate through the operation visual angle compensation unit so as to obtain a video picture for tracking and capturing a hoisted object under the tower crane hook.
The spherical camera is arranged at the arm tip of a crane boom of the tower crane and is used for shooting and capturing video pictures of an object hoisted by the tower crane; the height sensor is used for acquiring height change parameters of an object hoisted by the tower crane, namely the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane; the amplitude sensor is used for acquiring amplitude change parameters of the tower crane luffing trolley and is arranged at a tower crane luffing mechanism; the visual angle compensation unit is installed on one side of the cab linkage table.
According to a preferred embodiment of the present invention, the viewing angle compensation unit is further provided with a viewing angle compensation button and a reset button:
when the spherical camera cannot capture the whole picture of the hoisted object due to the fact that the hoisted object is too long, an operator presses the visual angle compensation button according to the display picture of the display screen, and adjusts the shooting visual angle of the spherical camera so as to shoot the whole picture of the hoisted object; after the hoisting operation is finished, the reset button is pressed, the adjustment amount of the visual angle compensation button to the spherical camera is set to zero, and the spherical camera restores the initial shooting visual angle.
Further, the initial shooting visual angle is a shooting visual angle for tracking a lifting hook of the tower crane.
A working method for tracking a tower crane hook and compensating a visual angle of a visual angle compensation system is characterized by comprising the following steps:
1) determining the change angle of the hook of the spherical camera tracking tower crane:
in the formula (I) < theta >1The rotating angle of the spherical camera is H, the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane is collected by a height sensor, and the numerical value of the height sensor is changed along with the change of the lifting height; m is the vertical distance from the center of the spherical camera lens to the crane boom of the tower crane; l is the total length of the crane boom, L1Amplitude parameters collected by the amplitude sensor;
further, θ1Tracking an initial shooting perspective of an object for the spherical camera;
2) determining a compensation change angle of a spherical camera tracking object:
in the formula (II) < theta >2Compensating the change angle of the spherical camera for different sizes of hoisted objects; h is the vertical distance from the lifting hook of the tower crane to a lifting object, generally the length of a steel wire rope lifted on site, and the numerical value of h can be determined according to the actual situation on site; h' is the length similar to the hoisted object, and the operator can press the visual angle compensation button to manually adjust the numerical value according to the size of the hoisted object until the operator sees the full view of the hoisted object in the video display or sees the relationship between the hoisted object and the surrounding environment.
The invention has the beneficial effects that:
the system aims at the tower crane in the traditional working state, utilizes the spherical camera to track and shoot the state picture of the tower crane hook in real time, makes up the problem of inconvenient hoisting caused by reasons such as too large distance between the tower crane and a hanging object, barrier shielding and abnormal communication of a signal worker, facilitates a driver to observe the position of the hook, and improves the working efficiency. The visual angle compensation mechanism can be used for adjusting the shooting angle of the camera when the hanging object exceeds the video picture, so that a driver can conveniently observe the position of the hanging object, and the safety and the accuracy of the hanging work are improved. Meanwhile, the system can store video data, and is convenient for unified management and viewing in the future.
Drawings
FIG. 1 is a mounting distribution diagram of a tower crane hook tracking and visual angle compensation system of the invention on a tower crane;
FIG. 2 is a schematic diagram of a tower crane hook tracking and view angle compensation system of the present invention;
FIG. 3 is a schematic diagram of a working method of the tower crane hook tracking and visual angle compensation system visual angle compensation of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments and the drawings in the specification, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and all other embodiments obtained by one of ordinary skill in the art based on the embodiments of the present invention without making any creative effort fall within the protection scope of the present invention.
Examples 1,
A tower machine lifting hook tracking and visual angle compensation system comprises: the system comprises a data acquisition unit, a video monitoring unit and a visual angle compensation unit;
the data acquisition unit includes: the height sensor is arranged at the hoisting mechanism of the tower crane, the amplitude sensor is arranged at the luffing mechanism of the tower crane and is used for acquiring the motion state of a lifting hook of the tower crane in real time so as to realize the tracking shooting of the lifting hook by a camera;
the video monitoring unit includes: the system comprises a spherical camera, a video display and a hard disk video recorder, wherein the spherical camera is used for tracking and shooting a lifting hook of the tower crane and lifting a moving picture of an object; the video display is used for displaying video pictures shot by the spherical camera in real time and is installed in a cab; the hard disk video recorder is used for coding, decoding and storing video picture data shot by the spherical camera in real time, and is installed in a cab;
the visual angle compensation unit is internally loaded with a tower crane lifting hook tracking and tracking visual angle compensation algorithm: the position of the tower crane hook is calculated through tower crane hook operation parameters acquired by the height sensor and the amplitude sensor, and the spherical camera is controlled to rotate through the operation visual angle compensation unit so as to obtain a video picture for tracking and capturing a hoisted object under the tower crane hook.
The spherical camera is arranged at the arm tip of a crane boom of the tower crane and is used for shooting and capturing video pictures of an object hoisted by the tower crane; the height sensor is used for acquiring height change parameters of an object hoisted by the tower crane, namely the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane; the amplitude sensor is used for acquiring amplitude change parameters of the tower crane luffing trolley and is arranged at a tower crane luffing mechanism; the visual angle compensation unit is installed on one side of the cab linkage table.
The visual angle compensation unit is also provided with a visual angle compensation button and a reset button:
when the spherical camera cannot capture the whole picture of the hoisted object due to the fact that the hoisted object is too long, an operator presses the visual angle compensation button according to the display picture of the display screen, and adjusts the shooting visual angle of the spherical camera so as to shoot the whole picture of the hoisted object; after the hoisting operation is finished, the reset button is pressed, the adjustment amount of the visual angle compensation button to the spherical camera is set to zero, and the spherical camera restores the initial shooting visual angle.
Further, the initial shooting visual angle is a shooting visual angle for tracking a lifting hook of the tower crane.
As shown in fig. 1, the installation position points of each device are: height sensor point 1, amplitude sensor point 2, spherical camera point 3, hard disk video recorder point 4, video display unit point 5, and visual angle compensation unit point 6. The visual angle compensation unit is installed at one side of the linkage table.
As shown in fig. 2, the system includes a data acquisition unit 100, a video monitoring unit 200, and a view angle compensation unit 300.
Further, the data acquisition unit comprises a height sensor 110 and an amplitude sensor 120, and is used for acquiring the motion state of the lifting hook of the tower crane in real time and realizing tracking shooting of the lifting hook by the camera based on the acquired data.
The spherical camera 210 is used for tracking and shooting the motion picture of the lifting hook and the lifting object; the video display 220 is installed in the cab for the operator to observe the shot picture; the hard disk video recorder 230 is used for encoding, decoding and storing video picture data shot by the dome camera in real time, and is installed in a cab.
Further, the viewing angle compensating unit 300 is provided with a viewing angle compensating button and a reset button: when the spherical camera 210 cannot capture the whole picture of the hoisted object due to the overlong hoisted object, an operator presses the visual angle compensation button according to the picture displayed by the display screen, and adjusts the shooting visual angle of the spherical camera so as to shoot the whole picture of the hoisted object; after the object is hoisted, the reset button is pressed, the adjustment amount of the spherical camera by the visual angle compensation button is set to zero, and the spherical camera restores the initial shooting visual angle.
Examples 2,
A working method for tracking a tower crane hook and compensating a visual angle of a visual angle compensation system comprises the following steps:
1) determining the change angle of the hook of the spherical camera tracking tower crane:
in the formula (I) < theta >1The rotating angle of the spherical camera is H, the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane is collected by a height sensor, and the numerical value of the height sensor is changed along with the change of the lifting height; m is the vertical distance from the center of the spherical camera lens to the crane boom of the tower crane; l is the total length of the crane boom, L1Amplitude parameters collected by the amplitude sensor;
further, θ1Tracking initial shots of objects for the dome cameraA viewing angle;
2) determining a compensation change angle of a spherical camera tracking object:
in the formula (II) < theta >2Compensating the change angle of the spherical camera for different sizes of hoisted objects; h is the vertical distance from the lifting hook of the tower crane to a lifting object, generally the length of a steel wire rope lifted on site, and the numerical value of h can be determined according to the actual situation on site; h' is the length similar to the hoisted object, and the operator can press the visual angle compensation button to manually adjust the numerical value according to the size of the hoisted object until the operator sees the full view of the hoisted object in the video display or sees the relationship between the hoisted object and the surrounding environment.
Fig. 3 is a schematic diagram of a working method of the system for view angle compensation during object hoisting according to the present invention. If the size of the lifted object is relatively small, taking a small construction material trolley as an example, the small trolley is directly hung on the lifting hook through a steel wire rope. At this time, the operator does not need to perform the viewing angle compensation by pressing the viewing angle compensation button, that is, h' is 0. The system controls the spherical camera to track and shoot the lifting hook and the trolley with the lower steel wire rope wound on the steel wire rope in real time only by acquiring the lifting height H which changes in real time, so that the system can track and shoot the hoisted object in real time and assist an operator in hoisting.
If the size of the lifted object is relatively large, the vertical lifting size is very long, and as shown in fig. 3, the large steel structure is lifted. At this time, the initial photographing angle of view (θ) of the dome camera1) The video pictures of the steel structure lower part and the surrounding environment can not be shot, an operator manually adjusts the shooting visual angle by pressing a visual angle compensation button, adds the vertical distance h from the tower crane hook to the hoisted object, and shoots the visual angle theta by increasing the value of h2Is increased. Until the video pictures of the steel structure lower part and the surrounding environment can be seen, hoisting is carried out, the values of h and h' are unchanged in the process, and the visual angle compensation system is only switched onAnd after acquiring the lifting height H which changes in real time, controlling the spherical camera to track and shoot video pictures of the lower part of the steel structure and the surrounding environment in real time. After the steel structure is hoisted, the reset button is pressed, the adjustment amount of the spherical camera is set to zero, and the spherical camera restores the initial shooting visual angle.
Furthermore, when the hoisting object is changed to hoist, if the size of the hoisted object is also relatively large, an operator can manually adjust and change the shooting visual angle according to different sizes of the hoisted object so as to completely capture the motion process picture of the hoisted object.
Claims (3)
1. The utility model provides a tower machine lifting hook is trailed and visual angle compensation system which characterized in that includes: the system comprises a data acquisition unit, a video monitoring unit and a visual angle compensation unit;
the data acquisition unit includes: the height sensor is arranged at the hoisting mechanism of the tower crane, the amplitude sensor is arranged at the luffing mechanism of the tower crane and is used for acquiring the motion state of a lifting hook of the tower crane in real time so as to realize the tracking shooting of the lifting hook by a camera;
the video monitoring unit includes: the system comprises a spherical camera, a video display and a hard disk video recorder, wherein the spherical camera is used for tracking and shooting a lifting hook of the tower crane and lifting a moving picture of an object; the video display is used for displaying video pictures shot by the spherical camera in real time and is installed in a cab; the hard disk video recorder is used for coding, decoding and storing video picture data shot by the spherical camera in real time, and is installed in a cab;
the visual angle compensation unit is internally loaded with a tower crane lifting hook tracking and tracking visual angle compensation algorithm: calculating the position of a tower crane hook according to tower crane hook operation parameters acquired by a height sensor and an amplitude sensor, and controlling a spherical camera to rotate by operating a visual angle compensation unit so as to obtain a video picture for tracking and capturing a hoisted object under the tower crane hook;
the spherical camera is arranged at the arm tip of a crane boom of the tower crane and is used for shooting and capturing video pictures of an object hoisted by the tower crane; the height sensor is used for acquiring height change parameters of an object hoisted by the tower crane, namely the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane; the amplitude sensor is used for acquiring amplitude change parameters of the tower crane luffing trolley and is arranged at a tower crane luffing mechanism; the visual angle compensation unit is installed on one side of the cab linkage table.
2. The tower crane lifting hook tracking and viewing angle compensation system as claimed in claim 1, wherein the viewing angle compensation unit is further provided with a viewing angle compensation button and a reset button:
when the spherical camera cannot capture the whole picture of the hoisted object due to the fact that the hoisted object is too long, an operator presses the visual angle compensation button according to the display picture of the display screen, and adjusts the shooting visual angle of the spherical camera so as to shoot the whole picture of the hoisted object; after the hoisting operation is finished, the reset button is pressed, the adjustment amount of the visual angle compensation button to the spherical camera is set to zero, and the spherical camera restores the initial shooting visual angle;
further, the initial shooting visual angle is a shooting visual angle for tracking a lifting hook of the tower crane.
3. A working method for tracking a tower crane hook and compensating a visual angle of a visual angle compensation system is characterized by comprising the following steps:
1) determining the change angle of the hook of the spherical camera tracking tower crane:
in the formula (I) < theta >1The rotating angle of the spherical camera is H, the vertical distance from a lifting hook of the tower crane to a lifting arm of the tower crane is collected by a height sensor, and the numerical value of the height sensor is changed along with the change of the lifting height; m is the vertical distance from the center of the spherical camera lens to the crane boom of the tower crane; l is the total length of the crane boom, L1Amplitude parameters collected by the amplitude sensor;
further, θ1Tracking an initial shooting perspective of an object for the spherical camera;
2) determining a compensation change angle of a spherical camera tracking object:
in the formula (II) < theta >2Compensating the change angle of the spherical camera for different sizes of hoisted objects; h is the vertical distance from the lifting hook of the tower crane to a hoisted object, and the numerical value of h can be determined according to the actual situation on site; h' is the length similar to the hoisted object, and the operator can press the visual angle compensation button to manually adjust the numerical value according to the size of the hoisted object until the operator sees the full view of the hoisted object in the video display or sees the relationship between the hoisted object and the surrounding environment.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113071988A (en) * | 2021-04-20 | 2021-07-06 | 济南市工程质量与安全中心 | Tower crane equipment visual simulation system based on BIM technology |
| CN113911914A (en) * | 2021-09-13 | 2022-01-11 | 杭州大杰智能传动科技有限公司 | Sensing equipment and method for automatic grabbing process of tower crane hook |
| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
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| CN103601073A (en) * | 2013-10-21 | 2014-02-26 | 四川建设机械（集团）股份有限公司 | Video monitoring system of tower crane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113071988A (en) * | 2021-04-20 | 2021-07-06 | 济南市工程质量与安全中心 | Tower crane equipment visual simulation system based on BIM technology |
| CN113911914A (en) * | 2021-09-13 | 2022-01-11 | 杭州大杰智能传动科技有限公司 | Sensing equipment and method for automatic grabbing process of tower crane hook |
| CN113911914B (en) * | 2021-09-13 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | Sensing equipment and method for automatic grabbing process of tower crane lifting hook |
| CN115784025A (en) * | 2022-10-09 | 2023-03-14 | 太原重工股份有限公司 | Video intelligent following control system for remotely operating crane hook |
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