Tower crane environment target detection method and system based on laser radar and image fusion

Abstract

The invention provides a laser radar and image fusion tower crane environment target detection method and system, and the method comprises the steps: constructing a joint calibration model of a camera and a laser radar, and calibrating the internal parameters of the camera and the external parameters between the camera and the laser radar; performing two-dimensional image target detection on the obtained image information by adopting a target detection network to obtain a two-dimensional target object detection frame, projecting three-dimensional point cloud data into a two-dimensional image, extracting corresponding target point cloud data falling into the two-dimensional target object detection frame, and performing clustering, fine segmentation and screening on the target point cloud data to obtain a target point cloud data extraction result; and judging whether the distance between the target object and the tower crane is a safe distance, and outputting alarm information when detecting that the target object is less than the safe distance. The system is applied to the method. According to the method, the target object is detected in real time on the tower crane on the construction site, and real-time alarm is realized, so that the manpower consumption can be reduced, and the use safety of the tower crane can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of building construction, in particular to a tower crane environment target detection method based on lidar and image fusion and a tower crane environment target detection system applying the method. Background technique [0002] At present, the development of the construction industry is in full swing, and many construction equipment have been widely used. In the process of construction, tower cranes, as an important lifting equipment on construction sites, are mainly used for lifting steel bars, steel pipes and other materials used in construction. It has the characteristics of high lifting height and high operating efficiency, so it is widely used in construction. Due to the characteristics of the high lifting height of the tower crane, in such a complex working environment as the construction site, the safety problem of the tower crane construction has gradually become prominent. Perform object detectio...

AI Technical Summary

Problems solved by technology

However, traditional detection methods often use manual identification and monitoring to monitor the safety of tower crane construction on the construction site, and it is difficult to ensure the safety of life and property during construction in a timely manner. A more convenient and efficient detection method needs to be proposed

[0003] In recent years, with the development of artificial intelligence technology, many target detection algorithms have appeared based on the data processing work of a single sensor. The camera cannot obtain the depth information of the environment, so it lacks the distance information of the target, and it is difficult to accurately locate the target. In addition, the visual imaging only with the camera is often unstable due to the interference of light

LiDAR can accurately provide the depth and distance information of the target object. Its sensing method is not affected by light and bad weather, and the data collection is relatively stable. However, LiDAR only obtains point cloud data and lacks visual information such as color texture, so only It is difficult to accurately identify and detect targets with long distances and few point clouds based on radar data

Images