Tower crane and marker post collision detection method, device and system and storage medium
Through the methods of image acquisition and position information conversion, the problem of judging the collision position of the tower crane hook and the benchmark is solved, and the precise evaluation of the tower crane operator's control skills and safety awareness is achieved.
Patent Information
- Application Number
- CN202411574642.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-02-25
AI Technical Summary
The prior art cannot accurately determine the collision position of the tower crane hook and the benchmark, resulting in the inability to accurately score based on the specific position.
The image of the benchmark and the monitored object is obtained through the image acquisition device, the position information in the image is identified, the actual position information of the benchmark within the preset range of the car is converted into coordinates on the image, and whether the monitored object and the targeted benchmark collide.
It realizes accurate judgment of the collision between the tower crane and the benchmark, and can accurately locate the position of the benchmark that is hit, improving the accuracy of evaluating the tower crane operator's control skills and safety awareness.
Smart Images
Figure CN119516157A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of tower cranes, and in particular to a method, device, system and storage medium for detecting collision between a tower crane and a benchmark. Background Art
[0002] The practical operation skills test for tower crane operators mainly examines the actual operation ability of tower crane drivers, including the accuracy and proficiency of lifting, boom lengthening, rotation, walking and other actions. When the hook collides with the benchmark, corresponding points will be deducted.
[0003] At present, the electronic referee system mainly monitors the working condition of the tower crane. When it is detected that the tower crane is close to a previously recorded point, it is considered to have collided. In the visual referee system equipped with machine vision, the camera installed on the trolley captures the real-time picture of the operation of the monitored object, and it can be known from the picture whether the monitored object has collided with the benchmark. However, since all the benchmarks have the same appearance, the specific position of the benchmark cannot be known. Since benchmarks in different positions have different deduction standards, accurate scoring is impossible. Summary of the invention
[0004] The purpose of the embodiments of the present application is to provide a method, device, system and storage medium for detecting collision between a tower crane and a pole, so as to solve the problem that the specific position of the pole that has been collided cannot be known in the prior art.
[0005] A method for detecting a collision between a tower crane and a benchmark, wherein the tower crane includes a trolley, and the method includes:
[0006] Acquire an image including a benchmark and a monitoring object, wherein the monitoring object is hoisted on a tower crane;
[0007] Recognize the image to obtain first position information of the benchmark and second position information of the monitored object;
[0008] Convert the actual position information of the benchmark within the preset range of the trolley into the third position information on the image;
[0009] In the case where the first position information does not match the third position information, determining fourth position information of the unmatched target pole;
[0010] Whether a collision occurs between the monitoring object and the target pole is determined according to the second position information of the monitoring object and the fourth position information of the target pole.
[0011] In the embodiment of the present application, the actual position information of the benchmark within the preset range of the trolley is converted into the third position information on the image, including:
[0012] The actual position information of the benchmark within the preset range of the trolley is converted into the third position information on the image based on a preset formula, wherein the preset formula includes:
[0013] ratio·R·(S p -C p )=SC
[0014] In the formula, ratio represents the ratio of the actual length to the image pixel, R represents the rotation matrix generated by the boom angle of the tower crane, and S p Indicates the third position information, C p It represents the working center of the car on the image, S represents the actual position information of the benchmark, and C represents the actual working center of the car.
[0015] In an embodiment of the present application, the method further includes:
[0016] Acquire a first image and a second image including the same benchmark, wherein the first image and the second image are acquired at different locations;
[0017] According to the preset formulas for the first image and the second image, the working center of the car on the image is determined.
[0018] In the embodiment of the present application, determining whether the monitoring object collides with the target pole according to the second position information of the monitoring object and the fourth position information of the target pole includes:
[0019] determining whether the fourth location information is located within the second location information;
[0020] When the fourth position information is within the second position information, determining that the monitored object collides with the target pole;
[0021] When the fourth position information is not located within the second position information, it is determined that the monitored object does not collide with the target pole.
[0022] In the embodiment of the present application, the second position information of the monitored object includes a polygon formed by connecting multiple corner point position information of the monitored object, and determining whether the fourth position information is located within the second position information includes:
[0023] Draw a ray with the fourth position information as an endpoint;
[0024] Determine the number of intersections between a ray in any direction and a polygon;
[0025] When the number of intersections is an odd number, determining that the fourth position information is located within the second position information;
[0026] When the number of intersections is not an odd number, it is determined that the fourth position information is not located within the second position information.
[0027] In the embodiment of the present application, the second position information of the monitored object includes a polygon formed by connecting multiple corner point position information of the monitored object, and determining whether the fourth position information is located within the second position information includes:
[0028] Determine the total area of a plurality of triangles formed by the fourth position information and each corner point position information;
[0029] When the total area of the plurality of triangles is equal to the area of the polygon, determining that the fourth position information is located within the second position information;
[0030] When the total area of the plurality of triangles is not equal to the area of the polygon, it is determined that the fourth position information is not located within the second position information.
[0031] In the embodiment of the present application, the preset range is twice the maximum distance between adjacent poles.
[0032] A second aspect of the present application provides a collision detection device between a tower crane and a benchmark, comprising:
[0033] a memory configured to store instructions;
[0034] The processor is configured to call instructions from the memory and implement the tower crane and benchmark collision detection method according to the first aspect when executing the instructions.
[0035] A third aspect of the present application provides a tower crane and a benchmark collision detection system, comprising:
[0036] An image acquisition device is arranged on the trolley of the engineering machinery and is used to acquire images including the benchmark and the monitored object;
[0037] According to the second aspect, there is a collision detection device for a tower crane and a pole.
[0038] A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run on a processor, the method for detecting a collision between a tower crane and a benchmark as described in the first aspect above is executed.
[0039] The above technical solution obtains the position information of the benchmark and the monitoring object on the image, as well as the benchmark position information within a preset range, through the image acquisition device, and determines whether the monitoring object collides with the benchmark by comparing the consistency of this information. It can not only intuitively monitor whether the monitoring object is in contact with the benchmark during operation, but also accurately and accurately point out the specific position of the collided benchmark based on the inconsistency of the position information. This feature plays a core role in evaluating the precise control skills and safety alertness of tower crane operators, and it can quickly provide instant feedback on any deviations or errors during operation.
[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] 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 implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:
[0042] Figure 1 A schematic diagram of a tower crane test road according to an embodiment of the present application is schematically shown;
[0043] Figure 2 A schematic diagram of a process of a tower crane and a benchmark detection method according to an embodiment of the present application is schematically shown;
[0044] Figure 3 A schematic diagram of a tower crane real coordinate system according to an embodiment of the present application is schematically shown;
[0045] Figure 4 A schematic diagram of a picture coordinate system according to an embodiment of the present application is schematically shown;
[0046] Figure 5 A schematic diagram schematically shows the third position information according to an embodiment of the present application;
[0047] Figure 6 Another schematic diagram schematically shows the third position information according to an embodiment of the present application;
[0048] Figure 7 A schematic diagram schematically shows a method of determining fourth position information and second position information according to an embodiment of the present application;
[0049] Figure 8 Another schematic diagram of determining fourth position information and second position information according to an embodiment of the present application is schematically shown.
[0050] Description of the accompanying drawings: 1-benchmark. DETAILED DESCRIPTION
[0051] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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.
[0052] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.
[0053] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0054] 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 used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.
[0055] In order to better illustrate the collision detection method provided by the embodiment of the present invention, the electronic referee system used for the actual operation skill test of tower crane operators in the prior art is briefly described. Figure 1 , Figure 1 The schematic diagram of the tower crane test road according to the embodiment of the present application is schematically shown. Figure 1 As shown, a total of 24 poles 1 surround the test road, wherein one side of the test road includes 11 poles 1 connected in sequence, and the other side of the test road includes 13 poles 1 connected in sequence, and the monitoring object moves in the space formed by the poles 1 on both sides. The poles 1 are arranged on the ground, and the monitoring object is hoisted on the tower crane by a hook. The operation of the tower crane is controlled to control the movement of the monitoring object on the test road. The electronic referee system used for the actual operation skill test of tower crane operators captures and transmits the dynamic images between the monitoring object and the poles in real time by installing a high-definition camera on the trolley of the tower crane.
[0056] However, since all the poles are exactly the same in appearance and lack unique markings or distinctions, even if the camera captures the moment when the monitored object collides with the pole, it is impossible to accurately determine which specific pole the collision occurred on. The poles at different locations are given different deduction standards based on the importance of their location and the difficulty of operation. Therefore, the inability to determine the specific location of the collision means that it is impossible to give an accurate and fair score based on the corresponding deduction standards.
[0057] Based on the above technical defects, the embodiment of the present application proposes a collision detection method between a tower crane and a benchmark. By performing image acquisition through an image acquisition device, the real coordinates of the benchmark and the monitored object are converted into coordinates on the image, and the coordinate information is compared to see if they are consistent, so as to determine whether the monitored object has collided with the benchmark. It is possible to directly observe whether the monitored object has collided with the benchmark during operation, and the position information of the collided benchmark can be accurately located. This function is crucial for evaluating the precise control ability and safety awareness of tower crane operators, and it can provide instant feedback on any deviations or mistakes during the operation.
[0058] Figure 2 The following is a schematic diagram showing a flow chart of a method for detecting a collision between a tower crane and a benchmark according to an embodiment of the present application. Figure 2 As shown, an embodiment of the present application provides a method for detecting a collision between a tower crane and a benchmark, and the method may include the following steps:
[0059] S110: Acquire an image including a benchmark and a monitoring object, wherein the monitoring object is hoisted on a tower crane.
[0060] Among them, the benchmark is set on the ground, and the monitoring object is hoisted on the tower crane through a hook. The operation of the tower crane is controlled to control the movement of the monitoring object on the test road. Benchmarks are set on both sides of the test road. If the monitoring object collides with the benchmark, corresponding points will be deducted.
[0061] It is understandable that the monitoring object can be set according to actual needs. Schematically, it can be a water tank, and the embodiments of the present application are not limited to this.
[0062] S120: Recognize the image to obtain first position information of the benchmark and second position information of the monitored object.
[0063] Image recognition is performed based on the acquired image including the benchmark and the monitoring object, and first position information of the benchmark and second position information of the monitoring object in the image are obtained based on the image coordinates.
[0064] Image recognition includes steps such as image acquisition, edge detection, feature extraction, and feature matching. The image recognition of this embodiment adopts an object detection algorithm, which can be R-CNN (Regions with Convolutional Neural Networks) or Fast R-CNN (Fast Region-based Convolutional Neural Networks) or Faster R-CNN (Faster Region-based Convolutional Neural Networks), etc., and the embodiments of the present application are not limited to this.
[0065] S130, converting the actual position information of the benchmark within the preset range of the vehicle into third position information on the image.
[0066] Among them, the distance values between adjacent benchmarks are not equal at any point, so the preset range is set to twice the farthest distance value between adjacent benchmarks, or it can be greater than twice the farthest distance value between adjacent benchmarks. By reasonably setting the size of the preset range, it can be ensured that the collected images meet actual needs while reducing system construction and operation and maintenance costs.
[0067] In an optional implementation, step 130 includes:
[0068] The actual position information of the benchmark within the preset range of the trolley is converted into the third position information on the image based on a preset formula, wherein the preset formula includes:
[0069] ratio·R·(S p -C p )=SC
[0070] In the formula, ratio represents the ratio of the actual length to the image pixel, R represents the rotation matrix generated by the boom angle of the tower crane, and S p Indicates the third position information, C p represents the working center of the car on the image, S represents the actual position information of the benchmark, and C represents the actual working center of the car. θ represents the boom rotation angle of the tower crane.
[0071] See also Figure 3 , Figure 3 A schematic diagram of a real coordinate system of a tower crane according to an embodiment of the present application is schematically shown.
[0072] Among them, the actual position information of the benchmark is obtained by establishing the tower crane real coordinate system, with the center point of the tower crane base on the horizontal ground as the origin, the straight line parallel to the tower crane boom direction as the y-axis, and the straight line perpendicular to the y-axis as the x-axis. The tower crane boom angle represents the rotation angle of the boom in the horizontal direction, with counterclockwise rotation as positive and clockwise rotation as negative.
[0073] See also Figure 4 , Figure 4 A schematic diagram of a picture coordinate system according to an embodiment of the present application is schematically shown.
[0074] Among them, O in the image coordinate system p 、x p Axis, y p The axis and the third position information are respectively converted from the tower crane's real coordinate system based on the scale of the real length and the image pixels.
[0075] It is worth noting that, because there are certain installation errors in the image acquisition device, it is impossible to know which part of the car corresponds to the actual working center of the car, so the working center of the car on the image is often not located in the center of the image.
[0076] In an optional implementation, the method further includes:
[0077] S210: Acquire a first image and a second image including the same benchmark, wherein the first image and the second image are acquired at different locations.
[0078] S220, determining the working center of the vehicle on the image according to a simultaneous equation of a preset formula under the first image and the second image.
[0079] Since the image acquisition device is relatively fixed relative to the boom of the tower crane, no matter how the boom and the trolley move, the working center of the trolley on the image is always a constant value.
[0080] The preset formula under the first image is:
[0081]
[0082] In the formula, S p1 represents the third position information in the first image, C1 represents the actual working center of the trolley in the first image, and R1 represents the rotation matrix generated by the boom angle of the tower crane in the first image. θ1 represents the boom rotation angle of the tower crane in the first image.
[0083] The preset formula under the second image is:
[0084]
[0085] In the formula, S p2 represents the third position information in the second image, C2 represents the actual working center of the trolley in the second image, and R2 represents the rotation matrix generated by the boom angle of the tower crane in the second image. θ2 represents the boom rotation angle of the tower crane in the second image.
[0086] According to the preset formula under the first image and the preset formula under the second image, the simultaneous equation can be obtained:
[0087]
[0088] Among them, the rotation matrix generated by the boom angle of the tower crane in the first image, the rotation matrix generated by the boom angle of the tower crane in the second image, the third position information in the first image, the third position information in the second image, the scale of the actual length and the image pixels, the actual working center of the trolley in the first image and the actual working center of the trolley in the second image are all known parameters. Substituting the known parameters into the above equation, the actual position information of the benchmark can be obtained, and then the actual position information of the benchmark is substituted into the preset formula in the first image or the preset formula in the second image to obtain the working center of the trolley on the image.
[0089] S140: When the first position information does not match the third position information, determine fourth position information of the unmatched target marker.
[0090] See also Figure 5 and Figure 6 , Figure 5 A schematic diagram schematically shows the third position information according to an embodiment of the present application, Figure 6 Another schematic diagram of the third location information according to an embodiment of the present application is schematically shown. Figure 5 There is no missing benchmark, which indicates that the first position information matches the third position information. Figure 6 There is a situation where one of the benchmarks is blocked, that is, the first position information does not match the third position information, and the blocked benchmark is the target benchmark.
[0091] S150: Determine whether a collision occurs between the monitored object and the target pole according to the second position information of the monitored object and the fourth position information of the target pole.
[0092] Among them, when obtaining an image including a benchmark and a monitoring object, in actual situations, there may be a tower crane structure in the image, such as a wire rope connected to a hook. If the fourth position information of the mismatched target benchmark is determined only by judging whether the first position information matches the third position information, there is a possibility of misjudgment, that is, there is a reason that the tower crane structure or other obstacles (such as balloons) block the benchmark in the image, rather than the first position information and the third position information do not match due to a collision between the monitoring object and the target benchmark. Therefore, it is necessary to further judge the second position information of the monitoring object and the fourth position information of the target benchmark to determine whether the monitoring object and the target benchmark collide.
[0093] This embodiment captures the image of the benchmark and the monitored object, identifies the position information of the benchmark and the monitored object in the image, and converts the actual position information of the benchmark into the corresponding position in the image coordinate system. If there is a mismatch between the two, the precise position of the target benchmark is further determined, thereby accurately identifying the specific position information of the collided benchmark, reducing the scoring error to a certain extent, and achieving accurate scoring.
[0094] In an optional implementation, step 150 includes:
[0095] S151. Determine whether the fourth location information is located within the second location information.
[0096] S152: When the fourth position information is within the second position information, determine that the monitored object collides with the target pole.
[0097] S153: When the fourth position information is not within the second position information, determine that the monitored object does not collide with the target pole.
[0098] In the embodiment of the present application, if the fourth position information is within the second position information, it means that the target pole is within the range of the monitored object and is blocked by the monitored object, so the monitored object collides with the target pole. On the contrary, if the fourth position information is not within the second position information, it means that the target pole is not within the range of the monitored object and is not blocked by the monitored object, so the monitored object does not collide with the target pole.
[0099] For step 151, the present application provides two implementation forms, which are described in detail below with reference to the accompanying drawings.
[0100] In an optional implementation, the second position information of the monitored object includes a polygon formed by connecting position information of multiple corner points of the monitored object, and step 151 includes:
[0101] S1511a. Draw a ray with the fourth position information as an endpoint.
[0102] S1512a. Determine the number of intersections between rays in any direction and the polygon.
[0103] S1513a: When the number of intersections is an odd number, determine that the fourth position information is located within the second position information.
[0104] S1514a: When the number of intersections is not an odd number, determine that the fourth position information is not located within the second position information.
[0105] See also Figure 7 , Figure 7 The schematic diagram of determining the fourth position information and the second position information according to an embodiment of the present application is schematically shown. Figure 7 As shown, taking the polygon as a quadrilateral as an example, when the fourth position information is located inside the quadrilateral, a ray is drawn in any direction with the fourth position information as the endpoint, and the number of intersections between the ray and the quadrilateral is only 1. When the fourth position information is located outside the quadrilateral, a ray is drawn in any direction with the fourth position information as the endpoint, and the number of intersections between the ray and the quadrilateral may be 0, 1, or 2.
[0106] In an optional implementation, the second position information of the monitored object includes a polygon formed by connecting position information of multiple corner points of the monitored object, and step 151 includes:
[0107] S1511b. Determine the total area of multiple triangles formed by the fourth position information and each corner point position information.
[0108] S1512b: When the total area of the plurality of triangles is equal to the area of the polygon, determine that the fourth position information is located within the second position information.
[0109] S1513b: When the total area of the plurality of triangles is not equal to the area of the polygon, determine that the fourth position information is not located within the second position information.
[0110] See also Figure 8 , Figure 8 Another schematic diagram of determining the fourth position information and the second position information according to an embodiment of the present application is schematically shown. Figure 8 As shown, taking the polygon as a quadrilateral as an example, when the fourth position information is located inside the quadrilateral, the fourth position information and the four corner points of the quadrilateral respectively form four triangles, and the sum of the areas of the four triangles is equal to the area of the quadrilateral. When the fourth position information is located outside the quadrilateral, the fourth position information and the four corner points of the quadrilateral respectively form four triangles, and the sum of the areas of the four triangles is greater than the area of the quadrilateral.
[0111] When the fourth position information is outside the second position information, the total area of the plurality of triangles is greater than the area of the polygon.
[0112] Optionally, the embodiment of the present application further provides a collision detection device between a tower crane and a benchmark, comprising:
[0113] a memory configured to store instructions;
[0114] The processor is configured to call instructions from the memory and implement any one of the above-mentioned methods for detecting collision between a tower crane and a benchmark when executing the instructions.
[0115] Optionally, the embodiment of the present application further provides a collision detection system between a tower crane and a benchmark, including:
[0116] An image acquisition device is arranged on the trolley of the engineering machinery and is used to acquire images including the benchmark and the monitored object;
[0117] According to the collision detection device between the tower crane and the benchmark as described above.
[0118] Optionally, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run on a processor, the tower crane and benchmark collision detection method as described in any one of the above items is executed.
[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
[0120] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.
[0121] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0124] 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.
[0125] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. 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 disk read-only memory (CD-ROM), digital versatile disk (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 temporary computer readable media (transitory media), such as modulated data signals and carrier waves.
[0126] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0127] The above are only 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 changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.
Claims
1. A method for detecting a collision between a tower crane and a benchmark, characterized in that: The tower crane includes a trolley, and the method includes: Acquire an image including the benchmark and the monitoring object, wherein the monitoring object is hoisted on the tower crane; Recognize the image to obtain first position information of the benchmark and second position information of the monitored object; Converting actual position information of the pole within the preset range of the vehicle into third position information on the image; In the case where the first position information does not match the third position information, determining fourth position information of the unmatched target pole; Whether a collision occurs between the monitoring object and the target pole is determined according to the second position information of the monitoring object and the fourth position information of the target pole.
2. The method according to claim 1, characterized in that The converting the actual position information of the benchmark within the preset range of the vehicle into third position information on the image includes: The actual position information of the benchmark within the preset range of the trolley is converted into the third position information on the image based on a preset formula, wherein the preset formula includes: ratio·R·(S p -C p )=S-C In the formula, ratio represents the ratio of the actual length to the image pixel, R represents the rotation matrix generated by the boom angle of the tower crane, and S p represents the third position information, C p represents the working center of the car on the image, S represents the actual position information of the benchmark, and C represents the actual working center of the car.
3. The method according to claim 2, characterized in that The method further comprises: Acquire a first image and a second image including the same benchmark, wherein the first image and the second image are acquired at different locations; According to the preset formula simultaneous equations under the first image and the second image, the working center of the vehicle on the image is determined.
4. The method according to claim 1, characterized in that: The determining, based on the second position information of the monitoring object and the fourth position information of the target pole, whether the monitoring object collides with the target pole comprises: determining whether the fourth location information is located within the second location information; When the fourth position information is within the second position information, determining that the monitored object collides with the target pole; When the fourth position information is not located within the second position information, it is determined that the monitored object does not collide with the target pole.
5. The method according to claim 4, characterized in that The second position information of the monitored object includes a polygon formed by connecting multiple corner point position information of the monitored object, and the determining whether the fourth position information is located within the second position information includes: Draw a ray with the fourth position information as an endpoint; Determine the number of intersections between the ray in any direction and the polygon; When the number of intersections is an odd number, determining that the fourth position information is located within the second position information; When the number of intersections is not an odd number, it is determined that the fourth position information is not located within the second position information.
6. The method according to claim 4, characterized in that The second position information of the monitored object includes a polygon formed by connecting multiple corner point position information of the monitored object, and the determining whether the fourth position information is located within the second position information includes: Determine the total area of a plurality of triangles formed by the fourth position information and each of the corner point position information; When the total area of the plurality of triangles is equal to the area of the polygon, determining that the fourth position information is located within the second position information; When the total area of the plurality of triangles is not equal to the area of the polygon, it is determined that the fourth position information is not located within the second position information.
7. The method according to claim 1, characterized in that The preset range is twice the maximum distance between adjacent benchmarks.
8. A collision detection device between a tower crane and a benchmark, characterized in that: include: a memory configured to store instructions; The processor is configured to call the instruction from the memory and implement the tower crane and benchmark collision detection method according to any one of claims 1 to 7 when executing the instruction.
9. A tower crane and benchmark collision detection system, characterized in that: include: An image acquisition device is arranged on the trolley of the engineering machinery and is used to acquire images including the benchmark and the monitored object; The tower crane and benchmark collision detection device according to claim 8.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is run on a processor, the method for detecting a collision between a tower crane and a benchmark according to any one of claims 1 to 7 is executed.