Crane obstacle monitoring and early warning method and system based on binocular vision

Abstract

The invention discloses a crane obstacle monitoring and early warning method and system based on binocular vision. The method includes: step 1, building a binocular vision model, and initializing relevant parameters; step 2, acquiring images in real time and performing preprocessing; Step 3. Detect the edge of the target and extract image features; Step 4. Complete left and right image registration and segment the common area; Step 5. Repeat iterations to distinguish foreground and background; Step 6. Reconstruct 3D information and identify foreground and obstacles ; Step 7, obtain motion parameters, analyze and output early warning information. Based on the use of a binocular vision system, the present invention monitors the working environment of the crane in real time, effectively solves the problem of crane collision prevention, has the advantages of high efficiency, appropriate precision, simple system structure, and low cost, and is very suitable for online, Contactless product testing and quality control.

Description

technical field [0001] The invention relates to a crane obstacle monitoring and early warning method and system based on binocular vision. Background technique [0002] The hoisting machinery industry provides a variety of hoisting machinery and equipment for my country's metallurgy, mining, railway, shipbuilding, transportation, water conservancy and electric power industries, and is an indispensable industry in the construction of the national economy. Crane is a kind of hoisting machinery, which is a kind of machinery for cyclic and intermittent movement. Now it has been widely used in various industries of people's life, providing more convenience for people. [0003] At present, the real-time and safety of the crane is one of the hot issues of widespread concern. When the crane is in operation, under the traction of the crane arm, the heavy hammer and hanging objects will move at a certain speed. At the same time, there will be moving obstacles such as pedestrians and ...

AI Technical Summary

Problems solved by technology

When the crane is in operation, under the traction of the crane arm, the heavy hammer and hanging objects will move at a certain speed. At the same time, there will be moving obstacles such as pedestrians and UFOs on the work site. Collision between objects and obstacles is likely to have a great impact on the crane and obstacles, and even cause the crane to overturn

In addition, the external environment such as wind will also interfere with the work of the crane, which also greatly threatens the safety of the crane operation.

[0004] Aiming at the safety problem of cranes, people have conducted in-depth research and installed various protective devices on the cranes, such as overload limiters to prevent overloading of the cranes, moment limiters to prevent excessive load moments, lift limit position limiters to limit the position of the boom, The lowering limit position limiter and the running limit position limiter, etc., but none of these devices can solve the above problems

Usually, the operator understands the environment around the crane through his own vision, feeling or communication with the assistants, and cannot accurately analyze the crane and obstacles, and the obstacles themselves also have uncertainty and randomness. It is difficult to avoid collision accidents with advanced equipment and manpower

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