CN113682960B - Visual tower crane control system and control method - Google Patents
Visual tower crane control system and control method Download PDFInfo
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- CN113682960B CN113682960B CN202111043086.2A CN202111043086A CN113682960B CN 113682960 B CN113682960 B CN 113682960B CN 202111043086 A CN202111043086 A CN 202111043086A CN 113682960 B CN113682960 B CN 113682960B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000000007 visual effect Effects 0.000 title claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 71
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 238000005452 bending Methods 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000000903 blocking effect Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Classifications
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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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- 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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
A visual tower crane control system and a control method relate to the technical field of building machinery control. The visual tower crane control system comprises a tower crane, a suspended object auxiliary support component, a safety monitoring component, a PC (personal computer) and a singlechip; the suspended object auxiliary support component comprises a camera A, a camera B, a camera C and a millimeter wave radar; the safety monitoring assembly comprises a laser ranging module, a flat arm deformation detection module, a tower body inclination detection module and a wind power detection module. A tower crane control method is applied to the visual tower crane control system and comprises a risk treatment method and a visual control method. According to the invention, through the combination of the millimeter wave radar and the cameras, the view field and the obstacle distribution situation around the crane are obtained, and the operator can accurately grasp the environment information of the operation site based on the images obtained by the cameras and the radar images obtained by the millimeter wave radar, so that the crane can be accurately controlled remotely in a ground control room, and the working intensity of the operator is reduced.
Description
Technical Field
The invention relates to the technical field of building machinery control, in particular to a visual tower crane control system and a control method.
Background
A presently conventional tower crane structure is shown in fig. 3, and includes a tower foundation 11, a tower body 12, a flat arm 13, a first driving device (not shown), a trolley 15, a second driving device (not shown), and a crane assembly. The tower foundation 11 is fixedly installed on the ground. The tower body 12 is fixedly connected to the upper end of the tower foundation 11. The flat arm 13 is rotatably connected to the upper end of the tower body 12 through a first driving device, the flat arm 13 rotates on a horizontal plane under the driving of the first driving device, the flat arm 13 is bounded by rotation connection points, and two ends are respectively a balance arm segment 131 and a crane arm segment 132. The trolley 15 is movably connected to the boom section 132 of the flat arm 13 through a second driving device, and the trolley 15 is driven by the second driving device to perform reciprocating linear motion along the boom section 132 of the flat arm 13. The lifting assembly comprises a steel cable 171, a third driving device (not shown in the figure) and a lifting hook 173, wherein the steel cable 171 is arranged at the lower end of the trolley 15 and is associated with the trolley 15 through the third driving device, the lifting hook is connected at the lower end of the steel cable 171, and the lifting hook 173 is controlled to vertically lift and move by controlling the wire winding or unwinding of the steel cable 171 through the third driving device.
The tower crane driver needs to control the tower crane in the trolley positioned at the high altitude, on one hand, the high altitude operation of the driver has a certain potential safety hazard, and the high altitude operation of the driver is in a highly stressed state for a long time, so that the fatigue is easy to generate; on the other hand, when the object is hung, the object is hung in an auxiliary mode of observing by the naked eyes of a driver, analyzing the experience of the driver, enabling ground personnel to contact the driver through an interphone, and the like, so that the mode is rough and original, and the efficiency and the success rate of hanging the object depend on the personal ability of the driver to a great extent; on the other hand, when the driver controls the tower crane to execute various actions, a certain misoperation probability exists, and if the driver collides with an obstacle or hurts people due to misoperation, the result is not considered.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a visual tower crane control system and a control method, which solve the problems that the existing tower crane control mode is rough and original, the efficiency of lifting articles is difficult to ensure and a certain misoperation probability exists.
The technical scheme of the invention is as follows: the visual tower crane control system comprises a tower crane; the tower crane comprises a tower foundation, a tower body, a flat arm, a first driving device, a trolley, a second driving device and a suspended object component; the tower footing is fixedly arranged on the ground; the tower body is fixedly connected to the upper end of the tower foundation; the flat arm is rotatably connected to the upper end of the tower body through a first driving device, the flat arm rotates on a horizontal plane under the driving of the first driving device, the flat arm is bounded by a rotation connection point, and the two ends of the flat arm are respectively a balance arm section and a crane arm section; the trolley is movably connected to the lifting arm section of the flat arm through a second driving device, and is driven by the second driving device to do reciprocating linear motion along the lifting arm section of the flat arm; the lifting assembly comprises a steel cable, a third driving device and a lifting hook, wherein the steel cable is arranged at the lower end of the trolley and is associated with the trolley through the third driving device, the lifting hook is connected at the lower end of the steel cable, and the wire winding or the wire releasing of the steel cable is controlled through the third driving device so as to control the lifting hook to vertically lift;
the device also comprises a suspended object auxiliary supporting component, a safety monitoring component, a PC and a singlechip;
the suspended object auxiliary support component comprises a camera A, a camera B, a camera C and a millimeter wave radar; the camera A is arranged on the tower body and used for acquiring the ground and aerial vision around the tower body, the camera B is arranged at the lower end of the crane arm section and used for acquiring the vision of the lower area of the crane arm section, and the camera C is arranged at the lower end of the trolley and used for acquiring the vision of the lifting hook and the position right below the lifting hook; the millimeter wave radar is arranged at the lower end of the crane arm section and is used for acquiring the obstacle distribution condition of the lower area of the crane arm section;
the safety monitoring assembly comprises a laser ranging module, a flat arm deformation detection module, a tower body inclination detection module and a wind power detection module; the two laser ranging modules are respectively arranged on two opposite side walls of the boom section of the flat arm, the light emission directions of the two laser ranging modules are parallel to the boom section and extend towards the tail end of the boom section, and the two laser ranging modules are used for detecting whether a barrier exists on the rotating path of the boom section; the flat arm deformation detection module is arranged at the lower end of the lifting arm section and is used for detecting the bending deformation degree of the lifting arm section; the tower body inclination detection module is arranged on the tower body and is used for detecting the bending deformation degree of the tower body; the wind power detection module is arranged on the tower body and/or the flat arm and is used for detecting the wind power level;
the PC is respectively in communication connection with the camera A, the camera B, the camera C and the millimeter wave radar, and is used for visually displaying images acquired by the camera A, the camera B and the camera C and radar data acquired by the millimeter wave radar;
the signal input end of the singlechip is respectively in communication connection with the laser ranging module, the flat arm deformation detection module, the tower body inclination detection module and the wind power detection module, and the signal output end of the singlechip is respectively in communication connection with the first driving device, the second driving device, the third driving device and the PC.
The invention further adopts the technical scheme that: the PC also comprises a fast frame grabber and an image edge calculation module; the quick frame grabber is respectively connected with the camera A, the camera B and the camera C in a communication way so as to capture each frame in video images shot by the camera A, the camera B and the camera C; the image edge calculation module is in communication connection with the rapid frame grabber so as to carry out object contour tracing on the frame pictures extracted by the rapid frame grabber.
The technical scheme of the invention is as follows: the tower crane control method is applied to the visual tower crane control system and comprises a risk treatment method and a visual control method;
the visual control method comprises the following steps:
a. the method comprises the steps of obtaining the ground and aerial view of the periphery of a hung object through a camera A and a camera B, obtaining the view of a lifting hook and the view under the lifting hook through a camera C, and obtaining a radar map of the obstacle distribution condition of the periphery of the hung object through a millimeter wave radar;
b. the detection ranges of the camera A, the camera B, the camera C and the millimeter wave radar are all conical, the vertex of the cone is the position of the camera A, the camera B, the camera C and the millimeter wave radar, and the included angle formed by the central line of the cone and the horizontal plane is the detection angle; if the detection angle of the camera A is larger than that of the camera B, the detection angle of the camera C is 90 degrees, and the detection angle of the millimeter wave radar is the same as that of the camera A;
c. the camera A, the camera B and the camera C shoot images, and the radar image obtained by the millimeter wave radar are displayed in real time in different areas of one display connected with the PC or are respectively displayed on a plurality of displays connected with the PC;
the risk treatment method is as follows:
a. the wind power level around the tower crane is detected in real time through the wind power detection module, and the detection result is transmitted to the PC through the singlechip; when the wind power is greater than 6 levels, a PC machine gives an early warning to prompt an operator to stop the operation of the tower crane; when the wind power is greater than 8 levels, the single chip microcomputer directly controls the first driving device, the second driving device and the third driving device of the tower crane to stop running, so that the tower crane stops running;
b. the inclination angle of the tower body is detected in real time through the tower body inclination detection module, the inclination angle is defined as an included angle formed by the tower body and a vertical plane, and is set as r, and the r is 0 degree under the condition that the tower crane is empty; when r is within the range of-0.2 degrees and less than 0.2 degrees, the inclination angle of the tower body is within the range of a safety value; when r is more than or equal to 1 degrees or r is less than or equal to-1 degrees, the first driving device, the second driving device and the third driving device of the tower crane are directly controlled by the singlechip to stop running, so that the tower crane stops running; when r is less than or equal to-1 degrees and less than or equal to-0.2 degrees or r is less than or equal to 0.2 degrees and less than or equal to 1 degrees, the PC sends out early warning to prompt operators to stop the operation of the tower crane;
c. the bending deformation degree of the crane arm section is detected in real time through a flat arm deformation detection module, the flat arm deformation detection module is a pressure sensor, the pressure sensor is arranged at the lower end of the middle part of the crane arm section, the distance from the tail end of the crane arm section is 1/3 of the total length of the crane arm section, an alarm threshold value and a stop threshold value are set through a singlechip, and the alarm threshold value is smaller than the stop threshold value; when the tower crane is empty, the crane arm section only generates downward bending deformation under the self weight, when the tower crane lifts an object, the bending deformation degree of the crane arm section is increased under the combined action of the lifted object and the self weight, the pressure applied to the pressure sensor is correspondingly increased, and the detection value of the pressure sensor is correspondingly increased;
setting the detection value of the pressure sensor as F, when F is more than 0 and less than a, the bending deformation degree of the crane arm section is in a safety range, when a is less than or equal to F and less than b, sending out early warning by the PC machine, reminding an operator to stop the operation of the tower crane, and when F is more than or equal to b, simultaneously executing the following control by the singlechip: 1. controlling the first driving device to stop running, so that the flat arm stops rotating; 2. controlling the second driving device to act, and moving the trolley to a limit position far away from the tail end of the crane arm section so as to lighten the bending deformation degree of the crane arm section; 3. controlling the third driving device to act, so that the lifting hook is lowered, and the hung object is put back on the ground;
d. detecting whether a blocking object exists on a rotating path of the crane arm section through a laser ranging module, setting the inherent distance between the laser ranging module and the tail end of the crane arm section as s, setting the ranging value of the laser ranging module as h, indicating that the blocking object does not exist on the rotating path of the crane arm section when h is more than s, and indicating that the blocking object exists on the rotating path of the crane arm section when h is less than or equal to s;
the two laser ranging modules start ranging at the same time, and the laser ranging module with a relatively smaller ranging value at the same time point is used as a judging reference; when h is more than s+p, the crane arm section does not collide with an obstacle in the rotating process; when h is less than or equal to s+p, indicating that the boom section has risk of bumping into an obstacle in the rotating process, controlling the first driving device to stop running by the singlechip to stop rotating the flat arm;
p is a safe distance, and the value range is 0.1-0.5 m.
The invention further adopts the technical scheme that: capturing frame pictures in images by a camera A, a camera B and a camera C by a rapid frame grabber, carrying out object contour tracing on the frame pictures by an image edge calculation module, and finally presenting the pictures subjected to the object contour tracing by a display of a PC; the object contour tracing process takes the shape of an object in a picture or the color threshold change in the picture as a constraint condition.
Compared with the prior art, the invention has the following advantages:
1. through the combination of millimeter wave radar and a plurality of cameras, obtain the peripheral field of vision of crane and barrier distribution condition, operating personnel can pinpoint the material and hold operation scene environmental information based on the image that the camera obtained and the radar map that the millimeter wave radar obtained, and then just can carry out long-range accurate efficient to the tower crane in ground control room, reduced operating personnel's working strength.
2. The operation state information and the external environment information of the tower crane are monitored through the safety monitoring assembly, a complete set of complete risk early warning and disposal flow is established, operators are helped to know the state information of the tower crane in real time, the safe work of the tower crane is ensured, and the safety of the operation of the tower crane is greatly improved.
The invention is further described below with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the communication connection of the components of the present invention;
fig. 3 is a schematic diagram of a conventional tower crane.
Legend description: a tower foundation 11; a tower body 12; a flat arm 13; a balance arm segment 131; a boom section 132; a first driving device 14; a trolley 15; a second driving device 16; a wire rope 171; a third drive 172; a hook 173; a camera a21; a camera B22; a camera C23; a millimeter wave radar 24; a laser ranging module 31; a flat arm deformation detection module 32; a tower inclination detection module 33; a wind detection module 34; a PC 4; a fast frame grabber 41; an image edge calculation module 42; and a singlechip 5.
Detailed Description
Example 1:
1-2, the visual tower crane control system comprises a tower crane, a suspended object auxiliary supporting component, a safety monitoring component, a PC (personal computer) and a singlechip.
The tower crane comprises a tower foundation 11, a tower body 12, a flat arm 13, a first driving device 14, a trolley 15, a second driving device 16 and a crane assembly. The tower foundation 11 is fixedly installed on the ground. The tower body 12 is fixedly connected to the upper end of the tower foundation 11. The flat arm 13 is rotatably connected to the upper end of the tower body 12 through a first driving device 14, the flat arm 13 rotates on a horizontal plane under the driving of the first driving device 14, the flat arm 13 is bounded by rotation connection points, and two ends are respectively a balance arm segment 131 and a crane arm segment 132. The trolley 15 is movably connected to the boom section 132 of the flat arm 13 through the second driving device 16, and the trolley 15 is driven by the second driving device 16 to reciprocate linearly along the boom section 132 of the flat arm 13. The lifting assembly comprises a steel cable 171, a third driving device 172 and a lifting hook 173, wherein the steel cable 171 is arranged at the lower end of the trolley 15 and is associated with the trolley 15 through the third driving device 172, the lifting hook 173 is connected at the lower end of the steel cable 171, and the lifting hook 173 is controlled to take up or pay off the steel cable 171 through the third driving device 172 so as to control the lifting hook 173 to vertically lift.
The auxiliary supporting component for the suspended object comprises a camera A21, a camera B22, a camera C23 and a millimeter wave radar 24. The camera a21 is mounted on the tower body 12 and is used for acquiring the ground and aerial view of the periphery of the tower body 12, the camera B22 is mounted at the lower end of the boom section 132 and is used for acquiring the view of the lower area of the boom section 132, and the camera C23 is mounted at the lower end of the trolley 15 and is used for acquiring the view of the lifting hook 173 and the view right below the lifting hook 173. The millimeter wave radar 24 is installed at the lower end of the boom section 132 for acquiring the obstacle distribution of the lower region of the boom section 132.
The safety monitoring assembly comprises a laser ranging module 31, a flat arm deformation detection module 32, a tower body inclination detection module 33 and a wind power detection module 34. The two laser ranging modules 31 are respectively installed on two opposite side walls of the boom section 132 of the flat arm 13, and the light emitting directions of the two laser ranging modules 31 are parallel to the boom section 132 and extend towards the tail end of the boom section 132, so as to detect whether a blocking object exists on the rotating path of the boom section 132. The flat arm deformation detection module 32 is mounted at the lower end of the boom segment 132 for detecting the degree of bending deformation of the boom segment 132. A tower inclination detection module 33 is mounted on the tower 12 for detecting the degree of bending deformation of the tower 12. A wind detection module 34 is mounted on the tower 12 for detecting wind levels.
The PC 4 is respectively in communication connection with the camera A21, the camera B22, the camera C23 and the millimeter wave radar 24, and is used for visually displaying images acquired by the camera A21, the camera B22 and the camera C23 and radar data acquired by the millimeter wave radar 24.
The signal input end of the singlechip 5 is respectively in communication connection with the laser ranging module 31, the flat arm deformation detection module 32, the tower body inclination detection module 33 and the wind power detection module 34, and the signal output end of the singlechip 5 is respectively in communication connection with the first driving device 14, the second driving device 16, the third driving device 172 and the PC 4. The singlechip 5 is in communication connection with the first driving device 14, the second driving device 16 and the third driving device 172 and is used for controlling the running state of the tower crane, and the singlechip 5 is in communication connection with the PC 4 and is used for visually displaying the monitoring data acquired by the safety monitoring component on the PC 4.
Preferably, the cameras A21, B22 and C23 are network cameras with built-in 4G modules.
Preferably, the PC 4 includes a fast frame grabber 41 and an image edge calculation module 42, and the PC 4 is respectively connected to the camera a21, the camera B22, and the camera C23 through the fast frame grabber 41, so as to capture each frame in the video images captured by the camera a21, the camera B22, and the camera C23. The image edge calculation module 42 is communicatively connected to the fast frame grabber 41 to perform object contour edge processing on the frame pictures extracted by the fast frame grabber 41.
Preferably, the fast frame grabber 41 is of the type IMPERX_VCE-CLEX01 and the image edge calculation module 42 is of the type NVIDIA JETSON TX2.
Preferably, the model of the singlechip 5 is stm32f103 zet.
A tower crane control method is applied to the visual tower crane control system and comprises a risk treatment method and a visual control method.
The visual control method comprises the following steps:
a. the view of the ground and the air around the suspended object is acquired through the camera A21 and the camera B22, the view of the hook 173 and the view right below the hook 173 is acquired through the camera C23, and the radar map of the obstacle distribution situation around the suspended object is acquired through the millimeter wave radar.
b. The detection ranges of the camera A21, the camera B22, the camera C23 and the millimeter wave radar 24 are all conical, the vertex of the cone is the position of the camera A21, the camera B22, the camera C23 and the millimeter wave radar 24, and the included angle formed by the central line of the cone and the horizontal plane is the detection angle; then, the detection angle of the camera a21 is larger than the detection angle of the camera B22, the detection angle of the camera C23 is 90 °, and the detection angle of the millimeter wave radar 24 is the same as the detection angle of the camera a 21.
c. The images captured by the camera a21, the camera B22, and the camera C23, and the radar map acquired by the millimeter wave radar 24 are displayed in real time in different areas of one display connected to the PC 4, or are displayed on a plurality of displays connected to the PC 4, respectively.
The risk treatment method is as follows:
a. the wind power level around the tower crane is detected in real time through the wind power detection module 34, and the detection result is transmitted to the PC 4 through the singlechip 5; when the wind power is greater than 6 levels, the PC 4 gives an early warning to prompt an operator to stop the operation of the tower crane; when the wind power is greater than 8 levels, the single chip microcomputer 5 directly controls the first driving device 14, the second driving device 16 and the third driving device 172 of the tower crane to stop running, so that the tower crane stops running.
b. The inclination angle of the tower body 12 is detected in real time through the tower body inclination detection module 33, the inclination angle is defined as an included angle formed by the tower body 12 and a vertical plane, and is set as r, and the r is 0 degree under the condition that the tower crane is empty (i.e. no article is hoisted on the lifting hook 173); when r is within the range of-0.2 DEG < r < 0.2 DEG, the inclination angle of the tower body 12 is within the safe value range; when r is more than or equal to 1 degrees or r is less than or equal to-1 degrees, the single chip microcomputer 5 directly controls the first driving device 14, the second driving device 16 and the third driving device 172 of the tower crane to stop running, so that the tower crane stops running; when r is less than or equal to-1 degrees and less than or equal to-0.2 degrees or r is less than or equal to 0.2 degrees and less than or equal to 1 degrees, the PC 4 sends out early warning (alarm information is displayed on a display connected with the PC) to prompt an operator to stop the operation of the tower crane.
c. The bending deformation degree of the crane arm section 132 is detected in real time through the flat arm deformation detection module 32, the flat arm deformation detection module 32 is a pressure sensor, the pressure sensor is arranged at the lower end of the middle part of the crane arm section 132, the distance from the tail end of the crane arm section 132 is 1/3 of the whole length of the crane arm section 132, an alarm threshold value and a shutdown threshold value are set through the singlechip 5, and the alarm threshold value is smaller than the shutdown threshold value; when the tower crane is empty, the boom section 132 only generates downward bending deformation under the self weight, and when the tower crane lifts an object, the bending deformation degree of the boom section 132 under the combined action of the lifted object and the self weight is increased, the pressure applied to the pressure sensor is correspondingly increased, and the detection value of the pressure sensor is correspondingly increased;
setting the detection value of the pressure sensor as F, when F is more than 0 and less than a, the bending deformation degree of the crane arm section is in a safety range, when a is less than or equal to F and less than b, sending out early warning by the PC machine, reminding an operator to stop the operation of the tower crane, and when F is more than or equal to b, simultaneously executing the following control by the singlechip: 1. controlling the first driving device 14 to stop running so as to stop the flat arm 13 from rotating; 2. controlling the second driving device 16 to act, and moving the trolley 15 to a limit position far away from the tail end of the boom section 132 so as to lighten the bending deformation degree of the boom section 132; 3. the third driving device 172 is controlled to act, so that the lifting hook 173 is lowered to place the hung object back on the ground;
when the tower crane lifts an object with the maximum weight allowed to be lifted, the pressure born by the pressure sensor is a shutdown threshold value; when the tower crane lifts an object of which the maximum weight is 80% of that allowed to be lifted, the pressure born by the pressure sensor is an alarm threshold value.
d. Detecting whether a blocking object exists on the rotating path of the crane arm segment 132 through the laser ranging module 31, setting the inherent distance between the laser ranging module 31 and the tail end of the crane arm segment 132 as s, setting the ranging value of the laser ranging module 31 as h, indicating that the blocking object does not exist on the rotating path of the crane arm segment 132 when h is more than s, and indicating that the blocking object exists on the rotating path of the crane arm segment 132 when h is less than or equal to s;
the two laser ranging modules 31 start ranging at the same time, and the laser ranging module 31 with a relatively smaller ranging value at the same time point is used as a judging reference; when h > s+p, it means that the boom segment 132 will not hit an obstacle during rotation; when h is less than or equal to s+p, indicating that the risk of collision of the crane arm segment 132 with an obstacle exists in the rotating process, controlling the first driving device 14 to stop running by the singlechip 5, and stopping rotating the flat arm 13; p is a safe distance, and the value range is 0.1-0.5 m.
Preferably, after capturing the frame pictures in the images captured by the camera a21, the camera B22 and the camera C23, the fast frame grabber 41 performs object contour tracing processing on the frame pictures by the image edge calculation module 42, and finally presents the pictures after the object contour tracing processing by the display of the PC; the object contour tracing process takes the shape of an object in a picture or the color threshold change in the picture as a constraint condition.
Claims (4)
1. The visual tower crane control system comprises a tower crane; the tower crane comprises a tower foundation, a tower body, a flat arm, a first driving device, a trolley, a second driving device and a suspended object component; the tower footing is fixedly arranged on the ground; the tower body is fixedly connected to the upper end of the tower foundation; the flat arm is rotatably connected to the upper end of the tower body through a first driving device, the flat arm rotates on a horizontal plane under the driving of the first driving device, the flat arm is bounded by a rotation connection point, and the two ends of the flat arm are respectively a balance arm section and a crane arm section; the trolley is movably connected to the lifting arm section of the flat arm through a second driving device, and is driven by the second driving device to do reciprocating linear motion along the lifting arm section of the flat arm; the lifting assembly comprises a steel cable, a third driving device and a lifting hook, wherein the steel cable is arranged at the lower end of the trolley and is associated with the trolley through the third driving device, the lifting hook is connected at the lower end of the steel cable, and the wire winding or the wire releasing of the steel cable is controlled through the third driving device so as to control the lifting hook to vertically lift;
the intelligent crane is characterized by further comprising a crane auxiliary supporting component, a safety monitoring component, a PC and a singlechip;
the suspended object auxiliary support component comprises a camera A, a camera B, a camera C and a millimeter wave radar; the camera A is arranged on the tower body and used for acquiring the ground and aerial vision around the tower body, the camera B is arranged at the lower end of the crane arm section and used for acquiring the vision of the lower area of the crane arm section, and the camera C is arranged at the lower end of the trolley and used for acquiring the vision of the lifting hook and the position right below the lifting hook; the millimeter wave radar is arranged at the lower end of the crane arm section and is used for acquiring the obstacle distribution condition of the lower area of the crane arm section;
the safety monitoring assembly comprises a laser ranging module, a flat arm deformation detection module, a tower body inclination detection module and a wind power detection module; the two laser ranging modules are respectively arranged on two opposite side walls of the boom section of the flat arm, the light emission directions of the two laser ranging modules are parallel to the boom section and extend towards the tail end of the boom section, and the two laser ranging modules are used for detecting whether a barrier exists on the rotating path of the boom section; the flat arm deformation detection module is arranged at the lower end of the lifting arm section and is used for detecting the bending deformation degree of the lifting arm section; the tower body inclination detection module is arranged on the tower body and is used for detecting the bending deformation degree of the tower body; the wind power detection module is arranged on the tower body and is used for detecting the wind power level;
the PC is respectively in communication connection with the camera A, the camera B, the camera C and the millimeter wave radar, and is used for visually displaying images acquired by the camera A, the camera B and the camera C and radar data acquired by the millimeter wave radar;
the signal input end of the singlechip is respectively in communication connection with the laser ranging module, the flat arm deformation detection module, the tower body inclination detection module and the wind power detection module, and the signal output end of the singlechip is respectively in communication connection with the first driving device, the second driving device, the third driving device and the PC.
2. The visual tower crane control system of claim 1, wherein: the PC also comprises a fast frame grabber and an image edge calculation module; the quick frame grabber is respectively connected with the camera A, the camera B and the camera C in a communication way so as to capture each frame in video images shot by the camera A, the camera B and the camera C; the image edge calculation module is in communication connection with the rapid frame grabber so as to carry out object contour tracing on the frame pictures extracted by the rapid frame grabber.
3. A tower crane control method applied to the visual tower crane control system of claim 2, comprising a risk handling method and a visual control method;
the visual control method comprises the following steps:
a. the method comprises the steps of obtaining the ground and aerial view of the periphery of a hung object through a camera A and a camera B, obtaining the view of a lifting hook and the view under the lifting hook through a camera C, and obtaining a radar map of the obstacle distribution condition of the periphery of the hung object through a millimeter wave radar;
b. the detection ranges of the camera A, the camera B, the camera C and the millimeter wave radar are all conical, the vertex of the cone is the position of the camera A, the camera B, the camera C and the millimeter wave radar, and the included angle formed by the central line of the cone and the horizontal plane is the detection angle; if the detection angle of the camera A is larger than that of the camera B, the detection angle of the camera C is 90 degrees, and the detection angle of the millimeter wave radar is the same as that of the camera A;
c. the camera A, the camera B and the camera C shoot images, and the radar image obtained by the millimeter wave radar are displayed in real time in different areas of one display connected with the PC or are respectively displayed on a plurality of displays connected with the PC;
the risk treatment method is as follows:
a. the wind power level around the tower crane is detected in real time through the wind power detection module, and the detection result is transmitted to the PC through the singlechip; when the wind power is greater than 6 levels, a PC machine gives an early warning to prompt an operator to stop the operation of the tower crane; when the wind power is greater than 8 levels, the single chip microcomputer directly controls the first driving device, the second driving device and the third driving device of the tower crane to stop running, so that the tower crane stops running;
b. the inclination angle of the tower body is detected in real time through the tower body inclination detection module, the inclination angle is defined as an included angle formed by the tower body and a vertical plane, and is set as r, and the r is 0 degree under the condition that the tower crane is empty; when r is within the range of-0.2 degrees and less than 0.2 degrees, the inclination angle of the tower body is within the range of a safety value; when r is more than or equal to 1 degrees or r is less than or equal to-1 degrees, the first driving device, the second driving device and the third driving device of the tower crane are directly controlled by the singlechip to stop running, so that the tower crane stops running; when r is less than or equal to-1 degrees and less than or equal to-0.2 degrees or r is less than or equal to 0.2 degrees and less than or equal to 1 degrees, the PC sends out early warning to prompt operators to stop the operation of the tower crane;
c. the bending deformation degree of the crane arm section is detected in real time through a flat arm deformation detection module, the flat arm deformation detection module is a pressure sensor, the pressure sensor is arranged at the lower end of the middle part of the crane arm section, the distance from the tail end of the crane arm section is 1/3 of the total length of the crane arm section, an alarm threshold value and a stop threshold value are set through a singlechip, and the alarm threshold value is smaller than the stop threshold value; when the tower crane is empty, the crane arm section only generates downward bending deformation under the self weight, when the tower crane lifts an object, the bending deformation degree of the crane arm section is increased under the combined action of the lifted object and the self weight, the pressure applied to the pressure sensor is correspondingly increased, and the detection value of the pressure sensor is correspondingly increased;
setting the detection value of the pressure sensor as F, when F is more than 0 and less than a, the bending deformation degree of the crane arm section is in a safety range, when a is less than or equal to F and less than b, sending out early warning by the PC machine, reminding an operator to stop the operation of the tower crane, and when F is more than or equal to b, simultaneously executing the following control by the singlechip: 1. controlling the first driving device to stop running, so that the flat arm stops rotating; 2. controlling the second driving device to act, and moving the trolley to a limit position far away from the tail end of the crane arm section so as to lighten the bending deformation degree of the crane arm section; 3. controlling the third driving device to act, so that the lifting hook is lowered, and the hung object is put back on the ground;
d. detecting whether a blocking object exists on a rotating path of the crane arm section through a laser ranging module, setting the inherent distance between the laser ranging module and the tail end of the crane arm section as s, setting the ranging value of the laser ranging module as h, indicating that the blocking object does not exist on the rotating path of the crane arm section when h is more than s, and indicating that the blocking object exists on the rotating path of the crane arm section when h is less than or equal to s;
the two laser ranging modules start ranging at the same time, and the laser ranging module with a relatively smaller ranging value at the same time point is used as a judging reference; when h is more than s+p, the crane arm section does not collide with an obstacle in the rotating process; when h is less than or equal to s+p, indicating that the boom section has risk of bumping into an obstacle in the rotating process, controlling the first driving device to stop running by the singlechip to stop rotating the flat arm;
p is a safe distance, and the value range is 0.1-0.5 m.
4. A tower crane control method as claimed in claim 3, wherein: capturing frame pictures in images by a camera A, a camera B and a camera C by a rapid frame grabber, carrying out object contour tracing on the frame pictures by an image edge calculation module, and finally presenting the pictures subjected to the object contour tracing by a display of a PC; the object contour tracing process takes the shape of an object in a picture or the color threshold change in the picture as a constraint condition.
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| CN114065555B (en) * | 2022-01-13 | 2022-07-01 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane lane |
| CN114772489A (en) * | 2022-06-24 | 2022-07-22 | 成都易方汇智科技有限公司 | Blind hoisting monitoring system for tower crane |
| CN116395567B (en) * | 2023-02-27 | 2023-10-20 | 腾晖科技建筑智能(深圳)有限公司 | Tower crane control method and system based on camera and laser radar |
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