KR101811926B1 - Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same - Google Patents

Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same Download PDF

Info

Publication number
KR101811926B1
KR101811926B1 KR1020150155710A KR20150155710A KR101811926B1 KR 101811926 B1 KR101811926 B1 KR 101811926B1 KR 1020150155710 A KR1020150155710 A KR 1020150155710A KR 20150155710 A KR20150155710 A KR 20150155710A KR 101811926 B1 KR101811926 B1 KR 101811926B1
Authority
KR
South Korea
Prior art keywords
unit
unmanned aerial
aerial vehicle
unmanned
information
Prior art date
Application number
KR1020150155710A
Other languages
Korean (ko)
Other versions
KR20170053769A (en
Inventor
주영규
이용재
Original Assignee
고려대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 고려대학교 산학협력단 filed Critical 고려대학교 산학협력단
Priority to KR1020150155710A priority Critical patent/KR101811926B1/en
Publication of KR20170053769A publication Critical patent/KR20170053769A/en
Application granted granted Critical
Publication of KR101811926B1 publication Critical patent/KR101811926B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • H04N5/2257—
    • B64C2201/127—

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Processing Or Creating Images (AREA)

Abstract

The present invention relates to a driving assistance system of a tower crane using an unmanned aerial vehicle capable of providing an image of a construction site photographed by an unmanned aerial vehicle to a driver in real time, and a method of providing images of a tower crane using the same. The driving assistance system of the tower crane using the unmanned aerial vehicle of the present invention includes a unmanned aerial vehicle unit and a server module. The unmanned aerial vehicle unit includes an unmanned aerial vehicle sensing unit including an unmanned aerial vehicle driving unit for providing a flight driving force to a body of the unmanned air vehicle, an unmanned aerial vehicle image sensing unit for acquiring image information, and an unmanned aerial vehicle GPS for sensing position information of the unmanned air vehicle body And a unmanned aerial vehicle control unit for transmitting the sensed information of the building to the unmanned aerial vehicle communication unit and applying the unmanned aerial vehicle driving control signal to the unmanned air vehicle driving unit. The server module includes a server communication unit that communicates with the unmanned aerial vehicle communication unit, a server storage unit that stores the preset building information, a server control unit that compares the image information of the building detected by the unmanned air vehicle sensing unit with the preset building information, And a server output unit for outputting comparison building information that is subjected to comparison processing by the server control unit. The preset building information includes building information modeling (BIM) information.

Figure R1020150155710

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving assistance system for a tower crane using an unmanned aerial vehicle and a method for providing images of a tower crane using the same.

The present invention relates to a driving assistance system for a tower crane, and more particularly, to a driving assistance system for a tower crane, And a method of providing images of a tower crane using the same.

Generally, a tower crane is installed in the construction site to transport various materials such as reinforcing bars and H beams to the target site.

The tower crane includes a mast that has risen vertically from the ground, a jib that is horizontally installed and rotated horizontally above the mast, and a trolley that horizontally moves on the jib. A hook is installed at the end of the trolley to carry the cargo with horizontal movement and vertical movement with the trolley. In the lower part of the jib, a cab having various operating mechanisms is provided.

These tower cranes rotate the jib, place the hooks on top of the weight to be lifted while moving the trolley on the gibbles, lower the hooks to lift the towers, lift the jibs, rotate the jibs, Move to the top of the target point. Then, the hook is lowered to place the lifting water at the target point.

Such a cargo transfer operation is performed by a driver who is in a high cab by manipulating the manipulator. The tower crane driver directly controls the overall operation of the tower crane such as the rotation of the jib, the linear movement of the trolley, the rising and falling of the hook, etc., by receiving the operation status from the ground driver through the receiver or radio.

As the construction of the building progresses, the tower crane rises in accordance with the height of the building. As a result, the driver's cab gets higher from the ground, the driver's viewpoint is farther away from the ground, and the range of blind areas where the driver's vision is obscured by the building due to the progress of the elevation increases.

The driver of the tower crane relies entirely on the signaling of the signal or the radios to the trolley and hook up or down operation in the blind spot. That is, a conventional method of operating a tower crane requires the driver to be instructed to operate the signal in a state in which the driver is not able to observe the ground condition at high distances far from the ground or at all. Therefore, it is difficult for the driver to actively drive and the operation is very inconvenient, and the efficiency of the operation is greatly reduced, and the risk of safety accidents is high.

To solve these problems, Korean Utility Model Registration No. 0191025 (Oct. 8, 2000), a CCTV camera having a zoom function is attached to a trolley horizontally moving on a jib of a tower crane, and a member or a hook A technique for preventing a collision with an obstacle itself is disclosed. Such a conventional technique is a method of driving a driver to prevent collision between an overhang member and an obstacle by transmitting image information shot by a CCTV camera in the cab in real time.

However, since the CCTV camera is located on the trolley, the conventional technique as described above can provide only the image information of the vertical direction to the driver. Therefore, the assistant effect of the driver on the horizontal work such as the correction of the position of the lifting member in the actual field is greatly reduced.

Korean Registered Utility Model No. 0191025 (Aug. 16, 2000) Korean Patent Publication No. 2010-0037257 (2010. 04. 09)

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the conventional art as described above, and it is an object of the present invention to provide an image of a construction site photographed by an unmanned aerial vehicle at a construction site in a cabin of a tower crane in real time, The present invention provides a driving assistance system of a tower crane using a unmanned aerial vehicle, and a method of providing an image of a tower crane using the same, which helps the driver more actively and aggressively operate the tower crane.

In order to solve the above-mentioned problems, the driving assistance system of the tower crane using the unmanned aerial vehicle of the present invention includes a unmanned aerial vehicle unit and a server module. The unmanned air vehicle body unit includes a unmanned vehicle body driving unit for providing a flying vehicle to a body of the unmanned air vehicle body, an unmanned aerial vehicle image sensing unit disposed in the unmanned air vehicle body for acquiring image information, An unmanned aerial vehicle sensing unit including GPS, a unmanned aerial vehicle communication unit for transmitting an unmanned aerial vehicle sensing signal including image information sensed by the unmanned aerial vehicle sensing unit, And a unmanned aerial vehicle control unit for transmitting an unmanned aerial vehicle drive control signal to the unmanned air vehicle driving unit. The server module includes a server communication unit for communicating with the unmanned aerial vehicle communication unit to receive the unmanned air vehicle control signal and transmitting the unmanned air vehicle control signal to the unmanned air vehicle control unit, a server storage unit for storing the preset building information, A server control unit for acquiring image information of the building sensed by the unmanned aerial vehicle sensing unit and comparing the acquired image information with the preset building information, and a server output unit for outputting the comparison building information that has been compared and processed by the server control unit. The preset building information includes building information modeling (BIM) information.

The image information acquired by the unmanned aerial vehicle image sensing unit is transmitted to the server control unit. The server control unit confirms the material of the building from the acquired image information. Based on the building information modeling (BIM) information, And superimposed image information can be formed by superimposing the succeeding mounting material information subsequent to the present final mounting material on the acquired image information.

The server control unit may output the superimposed image information through a server output unit.

The server output may include a display disposed within a construction site tower crane.

According to another aspect of the present invention, there is provided a method for providing an image of a tower crane, comprising the steps of: receiving an unmanned aerial vehicle control signal from an unmanned aerial vehicle unit by communicating with the unmanned air vehicle unit, And a server storage unit for storing pre-set building information, which is electrically connected to the server control unit and includes building information modeling (BIM) information, for operating a tower crane having a server module A providing step of providing an auxiliary system; The server control unit applies an unmanned aerial vehicle control signal including the position information of the unmanned aerial vehicle unit to the unmanned air vehicle unit through the server communication unit; An image information acquiring step of acquiring image information through an unmanned aerial vehicle image sensing unit for acquiring image information of a building based on the unmanned air vehicle control signal; And an image information output step of comparing the image information of the unmanned aerial vehicle sensing unit with the preset building information and superimposing the preset building information on the sensed image information to output the superimposed image information.

The method of claim 1, wherein the acquiring of the image information comprises: applying an unmanned aerial vehicle drive control signal to an unmanned air vehicle driving unit provided in the unmanned air vehicle unit according to position information of the unmanned air vehicle unit, A hovering step of applying a hovering control signal to the unmanned air vehicle driving unit so as to maintain a state shifted to predetermined position information in the position shifting step; And an image capturing step of capturing an image through the image sensing unit.

The image information processing step may include a BIM viewpoint image generation step of generating a BIM viewpoint image corresponding to the position information of the unmanned air vehicle unit by the server control unit, A BIM follow-up material position calculating step of calculating a BIM follow-up material position to superimpose the follow-up material information in the BIM viewpoint image on the sensed image information; And a superimposed image calculating step of superimposing the succeeding mounting material information on the BIM subsequent loading material position of the sensed image information to calculate the superimposed image.

The operation assistance system of the tower crane using the unmanned aerial vehicle according to the present invention having the above-described structure can be implemented by a building information modeling (BIM) information To provide the tower crane driver with the ability to operate the tower crane with high operational accuracy and to actively cope with sudden situations.

1 is a block diagram of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 shows an application example of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 illustrates an example of building information modeling (BIM) information that can be provided through a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
4 to 6 are control flowcharts for explaining a method of providing an image of a tower crane using a driving assist system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 7 is a diagram for explaining a step of adjusting a gimbal in an image providing method of a tower crane using a driving assist system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.
8 is a diagram illustrating an output image of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, a driving assistance system of a tower crane using an unmanned aerial vehicle according to the present invention and a method of providing images of a tower crane using the same will be described in detail with reference to the drawings.

FIG. 1 is a configuration diagram of a driving assistance system of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an application example of a driving assistance system of a tower crane using an unmanned aerial vehicle .

1 and 2, a driving assistance system 100 of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention includes a tower crane T and a tower crane T, And a server module 300 for transmitting control signals to the unmanned air vehicle unit 200 and processing image information captured by the unmanned air vehicle unit 200. [ The driving assistance system 100 of the tower crane using the unmanned aerial vehicle can provide the image of the tower crane T and its surroundings to the operation room C of the tower crane T so that the tower crane driver can check in real time have.

The unmanned aerial vehicle unit 200 includes a unmanned aerial vehicle body 210 having a flying function, an unmanned air vehicle driving unit 220, an unmanned air vehicle sensing unit 230, an unmanned air vehicle controller 240 and an unmanned air vehicle communication unit 250 . The unmanned aerial vehicle body 210 has a structure in which a unmanned aerial vehicle body having a propeller is disposed radially around a central body. Other components, such as the unmanned aerial vehicle controller 240 and the unmanned aerial vehicle sensor 230 may be disposed in the central body of the unmanned air vehicle body 210. Although the unmanned aerial vehicle unit 200 is shown as having a propeller-type unmanned aerial vehicle body 210 in which a plurality of propellers are equally arranged, the unmanned aerial vehicle unit may also be provided with various Other structures can be taken.

The unmanned aerial vehicle driving unit 220 provides a driving force for performing a hovering operation for raising or lowering the unmanned air vehicle body 210 or maintaining the position thereof. The unmanned air vehicle driving unit 220 may include a propeller and a driving motor for driving the propeller.

The unmanned aerial vehicle sensing unit 230 is coupled to the unmanned air vehicle body 210 and includes an unmanned aerial vehicle image sensor 231 for acquiring image information of the building B, (233).

The unmanned aerial vehicle GPS 232 can detect current position information and current position coordinate information of the unmanned air unit 200. In this embodiment, the component named as the unmanned aerial vehicle GPS unit 232 indicates that it has the function of detecting and acquiring the position information and the altitude information of the unmanned aerial vehicle unit 200. Optionally, an altimeter for obtaining altitude information in the height direction Z from the ground and the GPS for obtaining plane coordinate information of the land surface image (X-Y) may be provided separately.

The unmanned aerial vehicle image sensing unit 231 acquires building information, that is, image information of the building B, and various cameras can be used. The unmanned aerial laser sensor 233 measures the distance between the unmanned aerial vehicle unit 200 and the outer wall of the building B.

Unmanned aerial vehicle sensor information including building information, unmanned aerial vehicle position information, and unmanned aerial vehicle distance information such as detected unmanned aerial vehicle image information of the unmanned aerial vehicle image sensor 231, the unmanned air vehicle GPS 232 and the unmanned airborne laser sensor 233 The signal is transmitted to the unmanned aerial vehicle controller 240.

The unmanned aerial vehicle controller 240 controls the up / down / hovering operation of the unmanned air vehicle body 210 according to the unmanned aerial vehicle control signal of the server control unit 310 of the server module 300. That is, the unmanned aerial vehicle control unit 240 controls the up / down / hovering operation of the unmanned aerial vehicle by applying a driving control signal to the driving motor of the unmanned air vehicle driving unit 220. Also, the unmanned aerial vehicle sensing unit 230 senses the unmanned aerial vehicle sensing signal transmitted to the unmanned aerial vehicle control unit 240. The unmanned aerial vehicle controller 240 may store the unmanned aerial vehicle in the unmanned aerial vehicle storage unit 260 or may transmit the unmanned aerial vehicle to the server module 300 through the unmanned aerial vehicle communication unit 250. [

The unmanned aerial vehicle communication unit 250 is connected to the unmanned air vehicle control unit 240 and transmits and receives the unmanned air vehicle control information to and from the server module 300 according to the unmanned air vehicle communication control signal of the unmanned air vehicle controller 240 do. Also, the unmanned aerial vehicle communication unit 250 receives the unmanned aerial vehicle control signal from the server module 300.

1, the server module 300 includes a server control unit 310, a server storage unit 320, a server operation unit 330, a server communication unit 340, and a server output unit 350 do.

The server communication unit 340 communicates with the unmanned aerial vehicle communication unit 250 according to the server communication control signal of the server control unit 310 to receive the unmanned aerial vehicle sensing signal and transmits the unmanned air vehicle control signal to the unmanned air vehicle control unit 240.

The server storage unit 320 stores preset building information of the target building B that the unmanned air vehicle unit 200 wants to detect. Here, the preset building information refers to the presetting data including the outside wall area information of the building B, the location information on which the unmanned air vehicle unit 200 performs hovering operation, and the like to perform image sensing.

The server control unit 310 transmits / receives signals to / from the unmanned air unit 200 through the server communication unit 340. The server control unit 310 acquires building information from the unmanned aerial vehicle sensing signal of the unmanned air vehicle body unit 200 and controls the unmanned air vehicle body unit 200 to control the unmanned air vehicle body unit 200 based on preset building information stored in the server storage unit 320. [ And generates a control signal. The server control unit 310 may receive the unmanned aerial vehicle sensing information from the unmanned aerial vehicle unit 200 through the server communication unit 340, and may perform an operation for processing or comparison. The server control unit 310 receives the operation result calculated by the server operation unit 330 and can process the operation result together with the unmanned aerial vehicle detection information.

The server output unit 350 can provide the user with image information about the target building B in accordance with the output control signal of the server control unit 310. [ The server output unit 350 may be implemented as a display disposed in a cabin C of a tower crane (T) of a construction site so that a tower crane operator can confirm the image. In addition, the server output unit 350 can be implemented with various displays to provide image information to a construction site, a main office management control room, or other field workers.

More specifically, the driving assistance system 100 of the tower crane using the unmanned aerial vehicle according to the present invention acquires the image information of the building B and compares the acquired image information with the preset building information stored in the server storage unit 320 And outputs the compared building information through the server output unit 350. Here, the preset building information may include building information modeling (BIM) information.

Building Information Modeling (BIM) information refers to 3D modeling that is used in the field of architecture. It is a program that simulates a building on a computer program before building. The basic form of building information modeling (BIM) information is a 3D model and contains all the element information necessary for construction. In particular, it is possible to express the progress of the construction process according to the time, so that the user can confirm the construction of each process by 3D modeling as needed. The construction site image photographed from the unmanned aerial vehicle is primarily transmitted to the server module 300. The server module 300 matches the constructed building information modeling information (BIM) information as shown in FIG. 3, ) It is possible to visually express the correct installation position of construction members (beams, columns, braces, etc.) being carried. As shown in FIG. 3, the building information modeling (BIM) information can be displayed by inputting various equipment (tower cranes, wires, scaffolds, electric poles, etc.) , Which can reduce the risk of collisions that may occur during cargo transportation.

Building information including the acquired sensed image information is stored in the unmanned aerial vehicle storage unit 260. The unmanned aerial vehicle controller 240 maintains communication with the server communication unit 340 via the unmanned aerial vehicle communication unit 250 and the server communication unit 340 transmits the building information stored in the unmanned air vehicle sensing unit 230 to the server control unit 310, And stores the sensed building information in the server storage unit 320. The server control unit 310 may compare the sensed building information stored in the server storage unit 320 with preset preset building information and output it as a 3D modeling image.

Meanwhile, the driving assistance system 100 for a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention further includes a component for acquiring more accurate image information in the course of acquiring image information of a construction site. That is, the unmanned aerial vehicle unit 200 further includes a unmanned aerial vehicle body 210 and an unmanned aerial vehicle image sensing unit 231 for connecting the unmanned aerial vehicle image sensing unit 231 to each other.

The unmanned aerial vehicle loading unit 270 includes a gimp body 271 and a gimbal unit driving unit 272. The gimbal body 271 is a component for connecting the body 210 of the unmanned air vehicle and the image sensing unit 231 of the unmanned aerial vehicle. The gud body 271 may be constituted by a predetermined link structure or a joint structure capable of adjusting a relative position. The gimbal drive unit 272 may be embodied as a motor or the like for providing a relative rotational force between interconnected links of the gudbal body 271. The gimbal body 270 of the unmanned air vehicle body 210 can adjust the relative position between the body 210 and the unmanned object sensing unit 230 by relatively rotating the gimbal body 271 with the driving force generated by the gimbal driving unit 272 have.

In addition, the driving assistance system 100 of the tower crane using the unmanned aerial vehicle according to the present invention includes an unmanned aerial vehicle laser sensor 233 capable of sensing a distance from the building B to the unmanned air vehicle unit 200. The unmanned aerial vehicle laser sensor 233 senses the distance between the body 210 and the outer wall of the building and transmits the distance to the unmanned aerial vehicle controller 240 so that the unmanned airborne vehicle controller 240 controls the unmanned aerial vehicle unit 200 from an appropriate distance .

The unmanned aerial vehicle controller 240 applies a drive control signal to the unmanned air vehicle driver 220 based on the unmanned aerial vehicle control signal and the unmanned aerial vehicle position detection signal. The unmanned aerial vehicle control signal includes positional information of the unmanned aerial vehicle unit 200 and is transmitted from the server control unit 310. The unmanned aerial vehicle position sensing signal indicates the current position information of the unmanned aerial vehicle unit 200 sensed by the unmanned aerial vehicle GPS unit 232 of the unmanned aerial vehicle sensing unit 230. That is, the position information of the unmanned air interface unit 200 indicates a position for hovering the unmanned air interface unit 200 to acquire image information of the building B through the unmanned air interface unit 200. [ The unmanned aerial vehicle controller 240 compares the difference between the unmanned aerial vehicle position detection signal and the unmanned aerial vehicle position information and applies the unmanned aerial vehicle drive control signal to the unmanned aerial vehicle driver 220 so as to minimize the difference.

Hereinafter, a method of providing an image of a tower crane by a driving assistance system 100 of a tower crane using an unmanned aerial vehicle according to an embodiment of the present invention will be described with reference to the drawings.

First, as shown in FIG. 4, a providing step S10 is performed in which a driving assist system 100 of a tower crane using an unmanned aerial vehicle including the unmanned air vehicle unit 200 and the server module 300 is provided. The redundant description of the unmanned aerial vehicle unit 200 and the server module 300 will be omitted.

Next, an initialization step (S20) is performed in which the server control unit 310 applies the unmanned aerial vehicle control signal to the unmanned aerial vehicle body control unit 240 side of the unmanned air unit 200. In the initialization step S20, the server control unit 310 determines whether the unmanned aerial vehicle unit 200 among the preset building information stored in the server storage unit 320 has received the location information for acquiring the image information of the building B and the location information 200 to the unmanned air vehicle unit 200 through the server communication unit 340. The unmanned air vehicle control unit 200 receives the unmanned air vehicle control signal from the unmanned air vehicle unit 200 through the server communication unit 340. [

Next, the unmanned aerial vehicle controller 240 receives the unmanned aerial vehicle control signal through the unmanned aerial vehicle communication unit 250, applies a driving control signal to the unmanned aerial vehicle driving unit 220 based on the received control signal, B (step S30). At this time, the image information obtaining step S30 includes a position shifting step S31, a hovering step S32, a gimbals adjustment step S33, and a photographing step S34 as shown in Fig.

In the movement step S31, the unmanned air vehicle controller 240 controls the unmanned air vehicle controller 220 to operate the unmanned air vehicle controller 220 according to the position information of the unmanned air vehicle unit 200 included in the preset building information transmitted from the server module 300 And the position of the unmanned aerial vehicle 200 is compared with the position information of the unmanned aerial vehicle (GPS) 232 to move the unmanned aerial vehicle unit 200 to a position for photographing. At this time, the position information pointed by the unmanned aerial vehicle unit 200 simultaneously includes coordinate information on the X-Y plane with respect to the ground and height altitude information on the Z axis from the ground. If the comparison difference between the position information and the detection information of the unmanned air vehicle position detection signal is included in the preset range, it is determined that the position is occupied and the positional change may not be performed any more.

Next, the unmanned aerial vehicle controller 240 applies the unmanned aerial vehicle hovering control signal to the unmanned aerial vehicle driving unit 220 to maintain the unmanned aerial vehicle unit 200 in a state where the unmanned aerial vehicle unit 200 is moved to predetermined position information. That is, the unmanned aerial vehicle unit 200 is occupied in the fixed position without relative movement with respect to the building B, and the fixed state is maintained.

Next, the unmanned aerial vehicle controller 240 applies an unmanned aerial vehicle image control signal to the unmanned aerial vehicle image sensing unit 231 of the unmanned air vehicle sensing unit 230, A video image capturing step S34 for capturing an image is executed. At this time, the unmanned aerial vehicle laser sensor 233 senses the distance from the target building B and transmits the distance to the unmanned aerial vehicle controller 240, and this information can be stored in the unmanned air vehicle storage unit 260.

On the other hand, in the image information acquisition step S30, the gimbal adjustment step S33 may be performed before the image pickup step S34. In the gimbal adjustment step S33, the unmanned aerial vehicle controller 240 adjusts the angle of the unmanned aerial vehicle image sensing unit 231 by adjusting the unmanned aerial vehicle loading unit 270. [ In the gimbal adjustment step S33, the unmanned aerial vehicle controller 240 applies the unmanned aerial vehicle adjustment control signal to the unmanned air vehicle driving unit 220 to tilt the unmanned air unit 200 to a predetermined angle, Detects the distance between the unmanned aerial vehicle unit 200 and the building B, At this time, the gimbal drive unit 272 performs the tilting operation so that the unmanned aerial laser sensor 233 senses the distance to the distance detection interval within a certain range with the outer wall of the building. The unmanned aerial vehicle controller 240 compares the detected distances during the tilting operation of the unmanned aerial vehicle laser sensor 233 to identify angular positions corresponding to the minimum distances. The unmanned aerial vehicle image sensing unit 231 connected to the unmanned air baggage loading unit 270 by operating the gantry driving unit 272 at an angle corresponding to the minimum distance between the unmanned air bag unit 200 and the building B, As shown in FIG.

7, the gimbal driving part 272 of the unmanned air baggage loading part 270 is tilted at a predetermined angle range (-θ to θ) The gimbal body 271 having a minimum distance from the outer wall of the building B is determined to be perpendicular to the outer wall of the building B and the gimbal drive unit 272 is driven at the tilting angle position. By adjusting the position of the unmanned aerial vehicle loading unit 270 to maintain the vertical state between the unmanned aerial vehicle image sensing unit 231 and the outer wall of the building B, distortion of the photographed image can be minimized.

After the image information acquisition step S30 is completed, the server module 300 compares the building information sensed by the unmanned aerial vehicle sensing unit 230 with the preset building information stored in the server storage unit 320, An image information processing step S40 for processing the image information to be processed is executed.

6, the image information processing step S40 includes a BIM viewpoint image generating step S41, a coordinate axis matching step S42, a BIM following material position calculating step S43, an overlap image calculating step S43, S44).

First, the server control unit 310 generates a BIM viewpoint image corresponding to the position information of the unmanned air unit 200 through the BIM viewpoint image generating step S41 and the coordinate axis matching step S42, And the coordinate axes of the BIM viewpoint image are compared with each other and the coordinate axes are matched.

At this time, the server module 300 receives the GPS information from the unmanned aerial vehicle GPS unit 232 of the unmanned aerial vehicle unit 200, and converts the GPS information through a landmark. Here, the reference point is a measurement position actually installed for measurement at the construction site, and since the GPS data of the reference point can be obtained, this coordinate is used as an absolute coordinate. Secondly, the spatial coordinates of the BIM are converted into reference points. In this case, since there is no absolute standard of BIM, it is based on the reference point and the distance between buildings in the field. The measurement method is to measure the x-axis, y-axis, and z-axis distances from the reference point to the specific location of the building (B) The distance position is set as the reference point of the absolute coordinates. In this way, the GPS coordinates of the unmanned aerial vehicle unit 200 and the polar coordinates of the BIM are replaced with the same absolute coordinates through the reference point. Thirdly, after the GPS data about the position of the UAV 200 is replaced with absolute coordinates, the camera view point of the BIM is moved to the corresponding position. Through this process, the photographing position of the unmanned aerial vehicle unit 200 and the photographing position on the BIM program become the same position.

Next, a BIM follow-up material position calculation step S43 is performed to calculate a BIM follow-up material position for superimposing the follow-up material information in the BIM viewpoint image on the sensed image information, and in the superimposed image calculation step S44, And superimposes the subsequent loading material information on the BIM subsequent loading material position of the sensed image information to generate a superimposed image. In this process, the server module 300 extracts a virtual image (VI) indicating a state in which a subsequent material carried by the tower crane (T) is installed, as image information, as shown in FIG. 8, 200 can superimpose the captured image on the captured image to generate an output image (IMG) that can be easily confirmed by the tower crane driver.

The output image IMG generated in the image information output step S50 is output to a display or the like installed in the cabin C of the tower crane T so that the driver of the tower crane moves the succeeding material to the fixed position of the building B So that it can be transported accurately.

During the provision of the image of the tower crane by the driving assist system 100 of the tower crane using the unmanned aerial vehicle according to the present embodiment, the unmanned aerial vehicle unit 200 can be repositioned according to the needs of the tower crane driver or the field engineer have. When the position of the unmanned aerial vehicle unit 200 is changed, the BIM viewpoint image generation step S41 and the coordinate axis matching step S42 as described above are repeated so that the bidirectional image information is consistently synchronized.

As described above, the driving assistance system 100 of the tower crane using the unmanned aerial vehicle according to the embodiment of the present invention includes the construction site image taken using the unmanned aerial vehicle unit 200, (BIM) information to tower crane drivers, helping tower crane drivers to operate tower crane (T) with high operational accuracy. Especially, when constructing the diagrid structure, the tower crane driver can greatly help the tower crane (T) to operate.

As shown in Fig. 2, the diagrid structure is a structural system in which the outermost elevation of the building B is composed of a diagonal bird and a beam member. The diagrid structure is not only constructed by inclining a new diagonal member but also has several diagonal layers formed in a new diagonal module. To keep the slope of the diagonal new member, the member is tilted from the ground and lifted up to the tower crane (T). Since the tower crane T must keep the slope of the diagonal bird while the two diagonal birds are joined to the node, precise operation of the tower crane T is required.

Conventionally, the distance between the cabin (C) of the tower crane (T) and the junction of the diagrid node is too long for the driver to visually confirm, and the tower crane driver relies on the radio of the ground- T), the operation accuracy and operation efficiency are inferior.

On the other hand, when the driving assistance system 100 of the tower crane using the unmanned aerial vehicle according to the embodiment of the present invention is utilized, the tower crane driver can directly view image information provided by the unmanned air vehicle unit 200 in real time, The operation accuracy of the tower crane T can be improved and the operation efficiency of the tower crane T can be improved and the risk of a safety accident due to a driving error of the tower crane T can be greatly reduced.

As described above, the driving assistance system of the tower crane using the unmanned aerial vehicle and the image providing method of the tower crane using the same according to the present invention can acquire image information of the building B through the unmanned aerial vehicle unit, And output the image to the tower crane driver in a comparative manner.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100 ... Operation assistant system of tower crane using unmanned vehicle
200 ... unmanned vehicle unit 210 ... unmanned vehicle body
220 ... unmanned air vehicle driving unit 230 ... unmanned air vehicle sensing unit
231 ... unmanned aerial image sensing unit 232 ... unmanned aerial vehicle GPS
233 ... unmanned aerial laser sensor 240 ... unmanned aerial vehicle control unit
250 ... unmanned aerial vehicle communication unit 260 ... unmanned aerial vehicle storage unit
270 ... unmanned aerial vehicle loading weight 271 ... gimbal body
272 ... gimbal driving part 300 ... server module
310 ... server control unit 320 ... server storage unit
330 ... server computing unit 340 ... server communication unit
350 ... server output section

Claims (7)

delete delete delete delete An unmanned aerial vehicle including a unmanned vehicle body driving unit for providing a flying vehicle to a body of a unmanned air vehicle, an unmanned aerial vehicle image sensing unit disposed in the unmanned air vehicle body for acquiring image information, and an unmanned vehicle GPS for sensing position information of the unmanned air vehicle body And a control unit for controlling the unmanned object detecting unit to detect the unmanned object detected by the unmanned object detecting unit and the unmanned object detecting unit, And a control unit for controlling the operation of the unmanned aerial vehicle body unit, the unmanned aerial vehicle body unit, and the unmanned aerial vehicle body unit, A server control unit for processing a signal, Providing a driving assistance system of a tower crane having a server module electrically connected to a control unit and having a server storage unit for storing preset building information including building information modeling (BIM) information;
The server control unit applies an unmanned aerial vehicle control signal including the position information of the unmanned aerial vehicle unit to the unmanned air vehicle unit through the server communication unit;
An image information acquiring step of acquiring image information through an unmanned aerial vehicle image sensing unit for acquiring image information of a building based on the unmanned air vehicle control signal; And
And an image information output step of comparing image information of the unmanned aerial vehicle sensing unit with preset building information and superimposing the preset building information on the sensed image information to output superimposed image information,
The image information acquiring step includes:
According to the position information of the unmanned aerial vehicle unit, the unmanned aerial vehicle driving control signal is applied to the unmanned air vehicle driving unit provided in the unmanned air vehicle unit, and the unmanned air vehicle position detection signal of the unmanned air vehicle GPS provided in the unmanned air unit is compared with the position information A position shifting step of shifting the position by the position shifting,
A hovering step of applying a hovering control signal to the unmanned air vehicle driving unit so as to maintain a state shifted to predetermined position information in the moving step;
And an image capturing step of capturing an image through the unmanned aerial vehicle image sensing unit,
The image information acquisition step (S30) further comprises a gimmick-step adjustment step (S33) executed before the image-photographing step (S34)
In the gimbal adjustment step S33, the unmanned aerial vehicle controller 240 applies the unmanned aerial vehicle adjustment control signal to the unmanned air vehicle driver 220 to tilt the unmanned air unit 200 at a predetermined angle, The tilting operation is performed by the tilting operation of the unmanned aerial vehicle unit 200 and the unmanned aerial vehicle laser sensor 233 of the unmanned air unit 200 detects the distance between the unmanned air unit 200 and the building B, Compares the detected distances during the tilting operation of the unmanned aerial vehicle laser sensor 233 to identify the angular positions corresponding to the minimum distances to correspond to the minimum distances among the sensed distances between the unmanned air vehicle unit 200 and the building B And the position of the unmanned aerial object image sensing unit (231) is adjusted by activating the gimbal drive unit (272) at an angle that is the same as the angle of the ground. delete 6. The method of claim 5,
Wherein the image information processing step comprises:
A BIM viewpoint image generation step of the server control unit generating a BIM viewpoint image corresponding to the position information of the unmanned aerial vehicle unit,
A coordinate axis matching step of comparing coordinate axes of the sensed image information with coordinate axes of the BIM viewpoint image to match the coordinate axes;
A BIM follow-up material location calculating step of calculating a BIM follow-up material location to superimpose the follow-up material information in the BIM viewpoint image on the sensed image information;
And a superimposed image calculating step of superimposing the subsequent mounting material information on the BIM subsequent mounting material position of the sensed image information to calculate a superimposed image.
KR1020150155710A 2015-11-06 2015-11-06 Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same KR101811926B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150155710A KR101811926B1 (en) 2015-11-06 2015-11-06 Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150155710A KR101811926B1 (en) 2015-11-06 2015-11-06 Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same

Publications (2)

Publication Number Publication Date
KR20170053769A KR20170053769A (en) 2017-05-17
KR101811926B1 true KR101811926B1 (en) 2018-01-26

Family

ID=59048302

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150155710A KR101811926B1 (en) 2015-11-06 2015-11-06 Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same

Country Status (1)

Country Link
KR (1) KR101811926B1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107879260B (en) * 2017-10-11 2019-11-05 武汉科技大学 Tower crane collision avoidance system and security system based on BIM
CN108319741A (en) * 2017-12-12 2018-07-24 上海建工五建集团有限公司 Tower crane arrangement methods of comparison and selection based on BIM and system
CN108646731B (en) * 2018-04-17 2023-09-05 上海创昂智能技术有限公司 Unmanned vehicle field end control system and control method thereof
EP4317044A1 (en) * 2021-03-31 2024-02-07 Sumitomo Heavy Industries Construction Cranes Co., Ltd. Crane inspection system, inspection system, route setting program, and information terminal

Also Published As

Publication number Publication date
KR20170053769A (en) 2017-05-17

Similar Documents

Publication Publication Date Title
JP6965050B2 (en) Guide information display device and crane equipped with it and guide information display method
KR101811926B1 (en) Driving support system for tower crane using unmanned aerial vehicle and image providing method for tower crane using the same
JP6512657B2 (en) Mobile device environment presentation system
US8666571B2 (en) Flight control system for flying object
JP6895835B2 (en) Guide information display device and crane
KR102074637B1 (en) Flight Apparatus for Checking Structure
KR20160034013A (en) System and method for construction site management by using unmaned aerial vehicle
US11292699B2 (en) Remote operation terminal and work vehicle provided with remote operation terminal
US20200149248A1 (en) System and method for autonomous operation of heavy machinery
EP3681798A1 (en) Unmanned aerial vehicle and payload delivery system
CN110062744B (en) Remote operation terminal and work vehicle provided with same
JP2015037937A (en) Flight vehicle flight control system
WO2018105742A1 (en) Crane
US20220041411A1 (en) Crane inspection system and crane
CN112368229A (en) Crane with a movable crane
JP7087475B2 (en) Mobile crane with remote control terminal and remote control terminal
CN111487610A (en) Crane, positioning system and positioning method for hoisting operation of crane, and storage medium
KR101687248B1 (en) Position measuring apparatus and Automation system for the block erection process
CN112478968B (en) Elevator hoistway inspection control method, device and system and storage medium
CN110945510A (en) Method for spatial measurement by means of a measuring vehicle
WO2020122026A1 (en) Region estimation method, measurement region display system, and crane
JP2023093808A (en) Flight route normalization system, flight route normalization method, and flight route normalization program
WO2020235679A1 (en) Remote operation terminal and mobile crane provided with remote operation terminal
JP2022081069A (en) Work vehicle
US10742874B2 (en) Imaging plan generation device, imaging plan generation method, and program

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant