Crane, monitoring method, monitoring system and machine readable storage medium

Abstract

The application relates to the field of cranes, and discloses a crane, a monitoring method and system thereof, and a machine readable storage medium. The crane only needs to determine a real-time boom head height, acquire a real-time swing angle of an image acquisition device, and acquire a real-time effective overhead image recording a real-time hook overhead image through the image acquisition device. A real-time hook height can be automatically calculated by a series of preset parameters in combination with a real-time effective area proportion of the real-time hook overhead image in the real-time effective overhead image. The process only needs to use a small amount of detection equipment, and the cost is low. Considering that the hook deviates from the vertical state when a heavy object is moved, the image acquisition device is arranged to be freely swingable to expand the orientation of the image that can be acquired by the image acquisition device, improve the success rate of acquiring the real-time effective overhead image recording the real-time hook overhead image, and correct the image information deviation caused by the hook deviating from the vertical state by using the real-time swing angle, thereby improving the calculation accuracy of the real-time hook height.

Description

Technical Field

[0001] The present application belongs to the technical field of cranes, and specifically relates to a crane and a monitoring method, a monitoring system, and a machine-readable storage medium thereof. Background Art

[0002] During operation, a crane can move heavy objects by lifting, rotating, and lowering them. In theory, to ensure safe and efficient lifting operations and to facilitate rational planning of crane operating conditions to reduce unnecessary operations, it is ideal to be able to detect the lifting height of the heavy object (or the lifting height of the hook) in real time.

[0003] However, existing methods for detecting the lifting height of heavy objects generally have problems such as poor accuracy, low reliability and high cost, and are limited by usage scenarios and working conditions. Therefore, they are basically not used. As a result, the industry generally fails to effectively realize real-time detection of the lifting height of heavy objects. Summary of the Invention

[0004] The purpose of this application is to provide a crane and its monitoring method, monitoring system and machine-readable storage medium, which can realize high-precision, high-success-rate automatic real-time detection of hook height at a relatively low cost, greatly improve the safe and efficient operation capability of the crane, and are basically not restricted by usage scenarios and working conditions, and have great potential for wide application in the industry.

[0005] In order to achieve the above objectives, the present application provides a crane monitoring method, which includes:

[0006] Determine the real-time boom head height H of the boom head;

[0007] Acquiring a real-time effective overhead image recording a real-time overhead image of the hook by an image acquisition device, and acquiring a real-time swing angle θ of the image acquisition device, wherein the image acquisition device is vertically mounted on the boom head and can swing freely in the front-rear direction of the boom;

[0008] Calculate the real-time hook height h3, satisfying:

[0009] h1 is the preset height difference between the hook and the boom head when it is at the preset highest position;

[0010] h2 is the preset height difference between the hook at the preset highest position and the preset lowest position;

[0011] S1 is the preset effective area ratio of the preset lowest-level hook top view image in the preset lowest-level effective top view image at the preset reference focal length of the image acquisition device;

[0012] S2 is the real-time effective area ratio of the real-time hook top view image in the real-time effective top view image at the preset reference focal length;

[0013] S3 is the preset effective area ratio of the preset highest hook top view image in the preset highest effective top view image at the preset reference focal length.

[0014] In some embodiments, when a real-time effective overhead image recording a real-time overhead image of the hook is acquired by an image acquisition device, the image acquisition device automatically adjusts the real-time focal length according to the distance from the hook; and the crane monitoring method further includes:

[0015] Before calculating the real-time hook height h3, the real-time effective overhead image acquired by the image acquisition device at the real-time focal length is first converted into the real-time effective overhead image at the preset reference focal length.

[0016] In some embodiments, the crane monitoring method further comprises:

[0017] When the real-time swing angle θ and / or the real-time effective overhead image cannot be obtained, the lifting and lowering movement of the hook is stopped and an alarm signal is issued.

[0018] In some embodiments, the crane monitoring method further comprises:

[0019] Detecting the integrity of the real-time overhead view image of the hook;

[0020] When the integrity is greater than a first preset value, it is determined that the crane is in a normal operating state;

[0021] When the integrity is not greater than the first preset value and is greater than the second preset value for a duration of not less than the first preset time T1, the crane is judged to be in a warning operation state, the lifting speed of the hook is slowed down, and an alarm signal is issued; when the integrity is restored to be greater than the first preset value and the duration is not less than the second preset time T2, the crane is judged to have returned to a normal operation state, the lifting speed of the hook is accelerated, and the alarm signal is released;

[0022] When the integrity is not greater than the second preset value and the duration is not less than the third preset time length T3, the crane is judged to be in a restricted operation state, the lifting and lowering movement of the hook is stopped and an alarm signal is issued; when the integrity is restored to be greater than the second preset value and the duration is not less than the fourth preset time length T4, the crane is judged to have exited the restricted operation state, the hook resumes lifting and lowering movement and the alarm signal is released.

[0023] In some embodiments, the crane monitoring method further comprises:

[0024] When the real-time hook height h3 reaches the factory preset minimum height, the hook is prohibited from descending and an alarm signal is issued;

[0025] When the real-time hook height h3 reaches the factory preset maximum height, the crane is prohibited from moving in a dangerous direction and an alarm signal is issued.

[0026] In some embodiments, the crane monitoring method further comprises:

[0027] When the real-time hook height h3 exceeds the manually preset warning range, the lifting speed of the hook is slowed down and an alarm signal is issued;

[0028] When the real-time hook height h3 exceeds the manually preset maximum range, the crane is prohibited from moving in a dangerous direction and an alarm signal is issued, wherein the manually preset warning range is a subset of the manually preset maximum range.

[0029] In some embodiments, determining the real-time boom head height H of the boom head includes:

[0030] Obtaining a boom length l and a boom luffing angle α of the boom;

[0031] The real-time boom head height H is determined according to the boom length l and the boom amplitude angle α, and satisfies: H=l×sinα.

[0032] A second aspect of the present application further provides a crane monitoring system, comprising a boom length detection device, a boom luffing angle detection device, an image acquisition device, a swing angle detection device mounted on the image acquisition device, and a processing device communicating with the boom length detection device, the boom luffing angle detection device, the image acquisition device, and the swing angle detection device;

[0033] The crane monitoring system is configured to be able to execute the above-mentioned crane monitoring method through the coordinated cooperation of the boom length detection device, the boom amplitude angle detection device, the image acquisition device, the swing angle detection device and the processing device.

[0034] In some embodiments, the crane monitoring system further comprises a damping mechanism for connecting the image acquisition device to the boom head of the boom to buffer free swing of the image acquisition device.

[0035] In some embodiments, the crane monitoring system further includes an alarm device in communication with the processing device.

[0036] The third aspect of the present application further provides a crane, which includes the above-mentioned crane monitoring system.

[0037] A fourth aspect of the present application further provides a machine-readable storage medium storing instructions, wherein the instructions are used to enable a machine to execute the above-mentioned crane monitoring method.

[0038] By adopting the crane monitoring technology of the present application, it is only necessary to determine the real-time boom head height H, obtain the real-time swing angle θ of the image acquisition device installed on the boom head, and obtain the real-time effective top view image that records the real-time hook top view image through the image acquisition device. Then, the real-time hook height h3 can be automatically calculated based on a series of preset parameters and the real-time effective area ratio S2 of the real-time hook top view image in the real-time effective top view image. During the monitoring process, only a small amount of detection equipment is required, which is low in cost. In addition, considering that the hook will deviate from the vertical state when moving heavy objects, the image acquisition device is set to be able to swing freely to expand the orientation of the image it can capture, thereby improving the success rate of obtaining the real-time effective top view image that records the real-time hook top view image. At the same time, the real-time swing angle θ is used to correct the image information deviation caused by the hook deviating from the vertical state, thereby improving the calculation accuracy of the real-time hook height h3. It can be seen that the crane monitoring technology of the present application can realize high-precision, high-success rate automatic real-time detection of hook height at a relatively low cost, greatly improving the safe and efficient operation capability of the crane, and is basically not restricted by usage scenarios and working conditions, and has great potential for wide application in the industry.

[0039] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without inventive work. In the drawings:

[0041] Figure 1 This is a schematic diagram of a crane monitoring system monitoring a hook in a vertical state in a specific embodiment of the present application;

[0042] Figure 2 This is a schematic diagram of a crane monitoring method in a specific embodiment of the present application;

[0043] Figure 3 It is a top-view image acquired by an image acquisition device in a specific embodiment of the present application.

[0044] Description of Reference Numerals

[0045] 1 Image acquisition device 2 Swing angle detection device

[0046] 3 Processing equipment 4 Damping mechanism

[0047] 5. Boom head 6. Hook

[0048] 7 Rope 8 Complete top view image

[0049] 9 Effective top view image 10 Hook top view image DETAILED DESCRIPTION

[0050] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0051] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0052] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0053] Reference Figures 1 to 3 A first exemplary embodiment of the present application provides a crane monitoring method, which includes:

[0054] Determine the real-time boom head height H of the boom head 5 (the boom head 5 is connected to the hook 6 via the rope 7);

[0055] Acquire a real-time effective overhead image recording a real-time overhead image of the hook by the image acquisition device 1, and obtain a real-time swing angle θ of the image acquisition device 1, wherein the image acquisition device 1 is vertically mounted on the boom head 5 and can swing freely in the front-rear direction of the boom;

[0056] Calculate the real-time hook height h3, satisfying:

[0057] h1 is the preset height difference between the hook 6 and the boom head 5 when the hook 6 is at the preset highest position;

[0058] h2 is the preset height difference between the hook 6 at the preset highest position and the preset lowest position;

[0059] S1 is the preset effective area ratio of the preset lowest-order hook top view image in the preset lowest-order effective top view image at the preset reference focal length of the image acquisition device 1;

[0060] S2 is the real-time effective area ratio of the real-time hook top view image in the real-time effective top view image at the preset reference focal length;

[0061] S3 is the preset effective area ratio of the preset highest hook overhead image in the preset highest effective overhead image at the preset reference focal length.

[0062] It should be noted that the present application does not limit the method for determining the real-time boom head height H. For example, a distance measuring sensor may be installed on the boom head 5 for direct measurement; alternatively, the boom length and boom luffing angle may be detected first, and then the real-time boom head height H may be calculated based on a trigonometric function relationship. The boom length and boom luffing angle may be detected by the existing boom length sensor and angle sensor on the crane, respectively. Therefore, when implementing the method of the present application, there is no need to add an additional distance measuring sensor or the like to measure the real-time boom head height H.

[0063] In addition, when the image acquisition device 1 is not subjected to external force, it remains in a hanging state with the lens facing downward. The overhead image acquired by the image acquisition device 1 can be referred to as Figure 3 , wherein the area enclosed by the boundary of the complete overhead image 8 is the shooting field of view of the image acquisition device 1. When executing the method of the present application, after capturing the complete overhead image 8, the image acquisition device 1 can send the complete overhead image 8 to a device with image recognition function, such as the processing device 3. The device with image recognition function can extract the effective overhead image 9 recording the hook overhead image 10 from the complete overhead image 8 and calculate the effective area ratio of the hook overhead image 10 in the effective overhead image 9.

[0064] Of course, the image acquisition device 1 can also directly use the acquired complete overhead image 8 as the effective overhead image 9. In this case, the image acquisition device 1 is required to have a certain hook recognition function. In this way, after the image acquisition device 1 sends the complete overhead image 8 to the device with image recognition function, the device with image recognition function directly regards the complete overhead image 8 as the effective overhead image 9, and calculates the effective area ratio of the hook overhead image 10 in the effective overhead image 9.

[0065] This application does not limit the specific selection of the image acquisition device 1. For example, the image acquisition device 1 can be a high-speed fixed-focus camera or a high-speed zoom camera. The high-speed shooting function can improve the success rate and real-time performance of image acquisition.

[0066] If a high-speed zoom camera is used, the focal length can be adjusted according to the distance between the hook 6 and the lens. When the hook 6 is close to the lens, a short focal length can be used for shooting. When the hook 6 is far from the lens, a long focal length can be used for shooting. Therefore, the clarity and effectiveness of the image can be improved, ensuring that the equipment with image recognition function can accurately extract the effective overhead image 9 that records the hook overhead image 10 from the complete overhead image 8. In particular, when the hook 6 is relatively far from the lens, if a short focal length is still used for shooting, the area of ​​the hook top view image 10 in the complete top view image 8 is relatively small, and the clarity may be insufficient. At the same time, considering that under lifting operation conditions, the complete top view image 8 usually also records the top view images of other objects (such as various objects placed on the construction site floor). At this time, the outlines, structures and other detailed features of the hook top view image 10 and the top view images of other objects presented in the complete top view image 8 may be difficult to distinguish, thereby posing the risk of image recognition misjudgment, mistaking the top view images of other objects for the hook top view image 10, and failing to correctly capture the valid top view image 9 that records the hook top view image 10. Therefore, when the hook 6 is relatively far from the lens, using a long focal length for shooting can ensure that the hook top view image 10 has a larger area in the complete top view image 8, making it easier to identify and avoiding image recognition misjudgments.

[0067] Of course, in theory, as long as the computing and analysis performance of the device with image recognition capabilities is sufficiently powerful, even if the image acquisition device 1 uses a short focal length to capture the distant hook 6, the above-mentioned image recognition misjudgment can be avoided. In other words, the use of a high-speed fixed-focus camera is also feasible in this application.

[0068] As can be seen, when using a zoom shooting hook 6, the functional requirements for the image acquisition device 1 are relatively high, but the performance requirements for the device with image recognition functions are relatively low; when using a fixed-focus shooting hook 6, the functional requirements for the image acquisition device 1 are relatively low, but the performance requirements for the device with image recognition functions are relatively high. Therefore, when applying the method of this application, the equipment can be selected according to actual needs.

[0069] In addition, refer to Figure 2, point A represents the preset highest position of the hook 6, point B represents the preset lowest position of the hook 6, point C represents the real-time position of the hook 6 when it deviates from the vertical state, and point C' represents the real-time position of the hook 6 when it is in the vertical state. The preset height difference h1 between the hook 6 and the arm head 5 when it is in the preset highest position, and the preset height difference h2 between the hook 6 at the preset highest position and the preset lowest position are both manually preset values. When the above formula is used to calculate the real-time hook height h3, the preset height difference h1 and the preset height difference h2 are both regarded as fixed values ​​and substituted into the calculation. For example, the boom length and the boom amplitude angle can be adjusted to the maximum. Under this premise, the highest position that the hook 6 can reach is taken as the preset highest position A, and the position where the hook 6 just touches the ground is taken as the preset lowest position B. At this time, the preset height difference h1 and the preset height difference h2 can be directly obtained from the crane product specification and can be directly pre-stored in the device with image recognition function.

[0070] When the hook 6 is in the preset lowest position B, a preset lowest effective overhead image recording the preset lowest hook overhead image can be obtained in advance by the image acquisition device 1, and a preset effective area ratio S1 of the preset lowest effective overhead image of the preset lowest effective overhead image can be calculated and stored in advance by a device having an image recognition function. When the hook 6 is in the preset highest position A, a preset highest effective overhead image recording the preset highest hook overhead image can be obtained in advance by the image acquisition device 1, and a preset effective area ratio S3 of the preset highest effective overhead image of the preset highest effective overhead image can be calculated and stored in advance by a device having an image recognition function.

[0071] At the same focal length, the ratio of the height difference between the hook 6 at point A and point C' to the height difference between the hook 6 at point A and point B (i.e. h2) is equal to Therefore, in the above formula, Calculate the height difference between the hook 6 at point A and point C'.

[0072] It can be seen that in order to obtain the accurate height difference between the hook 6 at point A and point C', when obtaining the top view images of the hook 6 at the preset highest position A, the preset lowest position B and the real-time position respectively, whether fixed focus shooting or zoom shooting is used, in the subsequent calculation When the hook 6 is photographed at different positions, the size of each overhead image must be converted to the size at the preset reference focal length in advance according to the ratio between the shooting focal length corresponding to the hook 6 at different positions and the preset reference focal length (for example, assuming that the hook 6 is photographed at a long focal length of 100 mm to obtain a real-time effective overhead image recording the real-time hook overhead image, then after the area size of the real-time hook overhead image is converted to the area size at a short focal length of 20 mm, the area size of the real-time hook overhead image should be reduced to (1 / 5) of the original area). 2), and then respectively calculate the preset effective area ratio S1, the real-time effective area ratio S2 and the preset effective area ratio S3 under the preset reference focal length, and then substitute S1, S2 and S3 into These conversions and operations can be automatically performed by conversion and operation programs pre-stored in devices with image recognition functions.

[0073] The present application does not limit the specific setting of the preset reference focal length. For example, the focal length used when obtaining the overhead image when the hook 6 is at the preset lowest position B can be used as the preset reference focal length.

[0074] When a crane is moving a heavy object, in order to calculate the accurate real-time hook height h3, it is also necessary to consider how to minimize the deviation in image acquisition and subsequent calculations caused by the hook 6 deviating from the vertical state.

[0075] Specifically, when the hook 6 is at point C due to deviation from the vertical state, the angle between the hook 6 and the vertical is the aforementioned real-time swing angle θ, and the distance between the hook and the arm head 5 (i.e., the length of the rope 7) does not change when the hook is at points C and C'. If the real-time swing angle θ is not taken into account, the real-time hook height h3 obtained at this time is actually the height of the hook 6 when it is at point C'. This height is lower than the actual height of the hook 6 when it is at point C. If there is an object placed on the ground with a height between points C' and C, there is a risk of the hook 6 colliding with the object, and the larger the real-time swing angle θ, the greater the calculation error, and the greater the risk of the hook 6 colliding with the object. At this time, in order to reduce the risk of collision, it is required not to move the heavy object at a faster speed to limit the real-time swing angle θ, which reduces the working efficiency.

[0076] Based on the above analysis, the method of this application takes the adverse effects of the real-time swing angle θ into consideration. The calculation of the real-time swing angle θ is incorporated into the calculation, ensuring that the calculated real-time hook height h3 is the more accurate height of point C. Obviously, when the hook 6 is in the vertical position, the real-time swing angle θ is zero. At this time, points C and C' are the same point, which does not affect the accuracy of the calculation of the real-time hook height h3 when the hook 6 is in the vertical position.

[0077] This application does not limit the specific method for detecting the real-time swing angle θ. For example, a swing angle detection device (such as an angle sensor) can be installed on the image acquisition device 1. When the image acquisition device 1 swings due to the shaking of the crane operation, the swing angle detection device can detect the real-time swing angle θ accordingly.

[0078] Finally, it should be noted that in order to improve the recognition ability of the device with image recognition function to the hook 6, a large number of videos or pictures of the hook 6 in use can be pre-shot, and the hook image information is transmitted to the device. The machine learning algorithm can be preset in the device, so that the video and picture of a large number of hooks 6 in use can be learned to ensure that the hook 6 in various postures can be effectively recognized in actual application.

[0079] As can be seen from the above, by using the crane monitoring method of the present application, only the real-time boom head height H, the real-time swing angle θ of the image acquisition device 1 installed on the boom head 5, and the real-time effective overhead image recorded with the real-time hook overhead image are obtained, a series of preset parameters (h1, h2, S1, S3) can be automatically calculated from the real-time effective area ratio S2 of the real-time hook overhead image in the real-time effective overhead image. Real-time hook height h3. In the monitoring process, only a small amount of detection equipment (such as swing angle detection equipment, image acquisition device 1) is needed, which has simple structure and low cost. Considering that the hook 6 will deviate from the vertical state when moving the heavy object, the image acquisition device 1 is set to be freely swingable to expand its own image acquisition direction, improve the success rate of acquiring the real-time effective overhead image recorded with the real-time hook overhead image, and at the same time, the real-time swing angle θ is used to correct the image information deviation caused by the deviation of the hook 6 from the vertical state, and the calculation accuracy of the real-time hook height h3 is improved.

[0080] As a comparison, two existing hook height detection technologies (laser ranging method and rope length ranging method) will be listed below to better demonstrate the advantages of the present application.

[0081] First, the laser ranging method, which detects the straight-line distance from the boom head to the top of the hook or the straight-line distance from the ground to the lower plane of the heavy object, and sends the detected distance information to the control system in real time. The control system calculates the height of the boom head according to the detected boom extension length and boom elevation angle, and determines the distance between the heavy object and the boom head. When the distance is less than a certain set value, the control system limits the action of the crane in the dangerous direction and issues an audible and visual alarm.

[0082] However, its defects are very obvious. On the one hand, the single laser ranging device has a small effective area, which cannot fully describe the actual height or position of the entire heavy object, and with the increase of the number of laser ranging devices, the cost will increase. On the other hand, during the lifting operation, the change of the crane posture or the sway caused by the lifting operation may cause the measured heavy object to be out of the laser ranging route, making the ranging more difficult.

[0083] Rope length ranging measures the hook's lifting height by measuring the length of the hoisting wire rope. The onboard control unit monitors the number of wire rope hoist revolutions, angle, speed, wire rope diameter, boom extension, boom angle, and hoisting wire rope hook ratio in real time. It then calculates the actual hook lift height. When the lift height reaches the set value, the control system limits dangerous crane movements and issues an audible and visual alarm.

[0084] However, its flaws are also significant. First, the rope length ranging method involves numerous variables, requiring numerous sensors for detection, which is costly. Furthermore, the multiplication factor currently relies primarily on manual entry, leading to cumulative errors or variable errors that can cause the method to fail. Furthermore, with so many sensors, a single sensor error can lead to functional failure.

[0085] It can be seen that both the laser ranging method and the rope length ranging method have problems such as poor accuracy, low reliability and high cost, and are limited by the usage scenarios and working conditions. Therefore, they are basically not selected. As a result, the industry generally fails to effectively realize real-time detection of the lifting height of heavy objects.

[0086] In contrast, it can be seen that the crane monitoring method of the present application can achieve high-precision, high-success rate automatic real-time detection of hook height at a relatively low cost, greatly improving the safe and efficient operation capability of the crane, and is basically not restricted by usage scenarios and working conditions, and has great potential for widespread application in the industry.

[0087] In some embodiments, when the image acquisition device 1 acquires a real-time effective overhead image that records a real-time overhead image of the hook, the image acquisition device 1 automatically adjusts the real-time focal length according to the distance from the hook 6. Based on this, the crane monitoring method may further include:

[0088] Before calculating the real-time hook height h3, the real-time effective overhead image acquired by the image acquisition device 1 at the real-time focal length is first converted into a real-time effective overhead image at a preset reference focal length.

[0089] In other words, in this embodiment, the image acquisition device 1 employs automatic zoom, automatically adjusting the real-time focal length based on the distance between the hook 6 and the lens. When the hook 6 is close to the lens, a short focal length is used, while when the hook 6 is farther away, a long focal length is used. This allows for the acquisition of a high-definition and effective top-down image. When calculating the real-time hook height h3, the real-time and effective top-down image acquired by the image acquisition device 1 at the real-time focal length is converted to a real-time and effective top-down image at a preset reference focal length, ensuring accurate calculation results.

[0090] The following introduces several embodiments of using the crane monitoring method of the present application to achieve safety control. Compared with the current industry method of using a lifting height limit device to limit the lifting height of heavy objects, the present application can simplify the structure of the crane, save costs, and can adjust the limit range of the real-time hook height h3 according to actual needs.

[0091] In some embodiments, the crane monitoring method further comprises:

[0092] When the real-time swing angle θ and / or the real-time effective overhead image cannot be obtained, the lifting and lowering movement of the hook 6 is stopped and an alarm signal is issued.

[0093] For example, if the swing angle detection device 2 and / or image acquisition device 1 are abnormal, the processing device 3 cannot receive valid signals from the swing angle detection device 2 and / or image acquisition device 1, and thus cannot obtain the real-time swing angle θ and / or real-time valid overhead image. In this case, the lifting and lowering of the hook 6 must be stopped to avoid a safety accident. At the same time, the crane will issue an alarm signal to remind the operator to stop and inspect. Normal operation can only be resumed when the swing angle detection device 2 and image acquisition device 1 return to normal.

[0094] In some embodiments, the crane monitoring method further comprises:

[0095] Check the integrity of the real-time hook top view image;

[0096] When the integrity is greater than a first preset value, it is determined that the crane is in a normal operating state;

[0097] When the integrity is not greater than the first preset value and is greater than the second preset value for a duration of not less than the first preset time T1, the crane is judged to be in a warning operation state, the lifting speed of the hook 6 is slowed down, and an alarm signal is issued; when the integrity is restored to be greater than the first preset value and the duration is not less than the second preset time T2, the crane is judged to have returned to a normal operation state, the lifting speed of the hook 6 is accelerated, and the alarm signal is released;

[0098] When the integrity is not greater than the second preset value and the duration is not less than the third preset time length T3, the crane is judged to be in a restricted operation state, the lifting and lowering movement of the hook 6 is stopped and an alarm signal is issued; when the integrity is restored to a value greater than the second preset value and the duration is not less than the fourth preset time length T4, the crane is judged to have exited the restricted operation state, the hook 6 resumes lifting and lowering and the alarm signal is released.

[0099] In this embodiment, the detection of the integrity of the real-time overhead view image of the hook can be automatically performed, for example, by a program pre-stored in the processing device 3. After determining the integrity of the real-time overhead view image of the hook, the processing device 3 can control the crane to perform different actions from a safety perspective according to the above different situations, thereby greatly improving safety.

[0100] In some embodiments, the crane monitoring method further comprises:

[0101] When the real-time hook height h3 reaches the factory preset minimum height, the hook 6 is prohibited from descending and an alarm signal is issued;

[0102] When the real-time hook height h3 reaches the factory preset maximum height, the crane is prohibited from moving in the dangerous direction and an alarm signal is issued.

[0103] As their names suggest, the factory-preset minimum height and factory-preset maximum height are both factory-set height limits for the crane. This embodiment effectively compares the calculated real-time hook height h3 with the height range defined by the factory-preset minimum and maximum heights. If the real-time hook height h3 exceeds this range, the crane is controlled to perform the appropriate protective action, thereby improving lifting safety.

[0104] In some embodiments, the crane monitoring method further comprises:

[0105] When the real-time hook height h3 exceeds the manually preset warning range, the lifting speed of the hook 6 is slowed down and an alarm signal is issued;

[0106] When the real-time hook height h3 exceeds the manually preset maximum range, the crane is prohibited from moving in the dangerous direction and an alarm signal is issued, wherein the manually preset warning range is a subset of the manually preset maximum range.

[0107] In this embodiment, the manually preset warning range is specifically defined by the manually preset maximum warning height and the manually preset minimum warning height, while the manually preset maximum range is specifically defined by the manually preset maximum height and the manually preset minimum height. Since both the manually preset warning range and the manually preset maximum range are manually preset, they can be adjusted based on actual needs. For example, the ranges of the manually preset warning range and the manually preset maximum range can be adjusted through a human-computer interaction interface and then stored in the processing device 3. The adjustable manually preset warning range and manually preset maximum range help improve the crane's safety control adaptability to different operating conditions.

[0108] In some embodiments, determining the real-time boom head height H of the boom head 5 includes:

[0109] Obtain the boom length l and boom luffing angle α of the boom;

[0110] The real-time boom head height H is determined according to the boom length l and the boom luffing angle α, and satisfies: H = l × sinα.

[0111] In addition, the second exemplary embodiment of the present application also provides a crane monitoring system, which includes a boom length detection device, a boom amplitude angle detection device, an image acquisition device 1, a swing angle detection device 2 installed on the image acquisition device 1, and a processing device 3 that communicates with the boom length detection device, the boom amplitude angle detection device, the image acquisition device 1 and the swing angle detection device 2.

[0112] Specifically, the boom length detection device is used to detect the boom length l, the boom luffing angle detection device is used to detect the boom luffing angle α, the image acquisition device 1 is used to acquire a real-time effective top-view image containing a real-time hook top-view image, and the swing angle detection device 2 is used to detect the real-time swing angle θ of the image acquisition device 1 and can be mounted on the image acquisition device 1. The processing device 3 is capable of respectively acquiring the boom length l, the boom luffing angle α, the real-time effective top-view image containing the real-time hook top-view image, and the real-time swing angle θ from these devices. The crane monitoring system is capable of executing the above-described crane monitoring method through the coordinated cooperation of the boom length detection device, the boom luffing angle detection device, the image acquisition device 1, the swing angle detection device 2, and the processing device 3, thereby achieving real-time detection of the hook height and safe control of the crane.

[0113] In some embodiments, the crane monitoring system further includes a damping mechanism 4 for connecting the image acquisition device 1 to the boom head 5 of the crane arm. When the image acquisition device 1 swings freely due to the shaking of the crane operation, the damping mechanism 4 can buffer the free swing of the image acquisition device 1 to a certain extent, thereby improving the shooting stability of the image acquisition device 1.

[0114] In some embodiments, the crane monitoring system further includes an alarm device in communication with the processing device 3. During the execution of the above-described monitoring method by the crane monitoring system, when a situation requiring an alarm occurs, the processing device 3 can send a trigger signal to the alarm device, thereby controlling the alarm device to generate an alarm, such as an audible or visual alarm.

[0115] The third exemplary embodiment of the present application further provides a crane, which includes the above-mentioned crane monitoring system.

[0116] The fourth exemplary embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned crane monitoring method.

[0117] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0121] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0122] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0123] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0125] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A crane monitoring method, characterized in that: include: Determine the real-time boom head height H of the boom head (5); A real-time effective overhead image recording a real-time overhead image of the hook is acquired through an image acquisition device (1), and a real-time swing angle θ of the image acquisition device (1) is acquired, wherein the image acquisition device (1) is vertically mounted on the boom head (5) and can swing freely along the front-rear direction of the boom; Calculate the real-time hook height h3, satisfying: h1 is the preset height difference between the hook (6) and the boom head (5) when the hook (6) is at the preset highest position; h2 is the preset height difference between the hook (6) at the preset highest position and the preset lowest position; S1 is the preset effective area ratio of the preset lowest-level hook overhead image in the preset lowest-level effective overhead image at the preset reference focal length of the image acquisition device (1); S2 is the real-time effective area ratio of the real-time hook top view image in the real-time effective top view image at the preset reference focal length; S3 is the preset effective area ratio of the preset highest hook top view image in the preset highest effective top view image at the preset reference focal length.

2. The crane monitoring method according to claim 1, characterized in that: When a real-time effective overhead image recording a real-time overhead image of the hook is acquired by the image acquisition device (1), the image acquisition device (1) automatically adjusts the real-time focal length according to the distance from the hook (6); The crane monitoring method further comprises: Before calculating the real-time hook height h3, the real-time effective overhead image acquired by the image acquisition device (1) at the real-time focal length is first converted into the real-time effective overhead image at the preset reference focal length.

3. The crane monitoring method according to claim 1, characterized in that: The crane monitoring method further comprises: When the real-time swing angle θ and / or the real-time effective overhead image cannot be obtained, the lifting and lowering movement of the hook (6) is stopped and an alarm signal is issued.

4. The crane monitoring method according to claim 1, characterized in that: The crane monitoring method further comprises: Detecting the integrity of the real-time overhead view image of the hook; When the integrity is greater than a first preset value, it is determined that the crane is in a normal operating state; When the integrity is not greater than the first preset value and is greater than the second preset value for a duration not less than the first preset time length T1, it is judged that the crane is in a warning operation state, the lifting speed of the hook (6) is slowed down, and an alarm signal is issued; when the integrity is restored to a value greater than the first preset value and the duration is not less than the second preset time length T2, it is judged that the crane has returned to a normal operation state, the lifting speed of the hook (6) is accelerated, and the alarm signal is released; When the integrity is not greater than the second preset value and the duration is not less than the third preset time length T3, it is determined that the crane is in a restricted operation state, the lifting and lowering movement of the hook (6) is stopped, and an alarm signal is issued; when the integrity is restored to a value greater than the second preset value and the duration is not less than the fourth preset time length T4, it is determined that the crane has exited the restricted operation state, the hook (6) resumes lifting and lowering movement, and the alarm signal is released.

5. The crane monitoring method according to claim 1, characterized in that: The crane monitoring method further comprises: When the real-time hook height h3 reaches the factory preset minimum height, the hook (6) is prohibited from descending and an alarm signal is issued; When the real-time hook height h3 reaches the factory preset maximum height, the crane is prohibited from moving in a dangerous direction and an alarm signal is issued.

6. The crane monitoring method according to claim 1, characterized in that: The crane monitoring method further comprises: When the real-time hook height h3 exceeds the manually preset warning range, the lifting speed of the hook (6) is slowed down and an alarm signal is issued; When the real-time hook height h3 exceeds the manually preset maximum range, the crane is prohibited from moving in a dangerous direction and an alarm signal is issued, wherein the manually preset warning range is a subset of the manually preset maximum range.

7. The crane monitoring method according to any one of claims 1 to 6, characterized in that: Determining the real-time boom head height H of the boom head (5) includes: Obtaining a boom length l and a boom luffing angle α of the boom; The real-time boom head height H is determined according to the boom length l and the boom amplitude angle α, and satisfies: H=l×sinα.

8. Crane monitoring system, characterized in that, The invention comprises a boom length detection device, a boom amplitude angle detection device, an image acquisition device (1), a swing angle detection device (2) installed on the image acquisition device (1), and a processing device (3) communicating with the boom length detection device, the boom amplitude angle detection device, the image acquisition device (1), and the swing angle detection device (2); The crane monitoring system is configured to be capable of executing the crane monitoring method according to any one of claims 1 to 7 through the coordinated cooperation of the boom length detection device, the boom amplitude angle detection device, the image acquisition device (1), the swing angle detection device (2) and the processing device (3).

9. The crane monitoring system according to claim 8, characterized in that: The crane monitoring system further comprises a damping mechanism (4) for connecting the image acquisition device (1) and the boom head (5) so as to be able to buffer the free swing of the image acquisition device (1).

10. The crane monitoring system according to claim 8, characterized in that: The crane monitoring system further comprises an alarm device in communication with the processing device (3).

11. A crane, characterized in that Comprising a crane monitoring system according to any one of claims 8 to 10.

12. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, and the instructions are used to enable a machine to execute the crane monitoring method according to any one of claims 1 to 7.

Images