Visual radar monitoring equipment

Abstract

The present invention relates to the technical field of monitoring equipment, and in particular to a visual radar monitoring equipment, comprising a shell; a visual module, the visual module comprising at least one camera, the visual module being installed on a side wall of the shell, and the visual module collecting image data around a boom; a radar module, the radar module being installed on the top of the shell, and the radar module being located on a side close to the visual module, and the radar module being used to collect point cloud data around the boom; and a control processing module, the control processing module being located inside the shell, the visual module and the radar module being both connected to the control processing module, the control processing module controlling the visual module and the radar module to collect data, and the control processing module also acquiring and processing image data and point cloud data to obtain the distance between the boom and a power line, and displaying the distance in the image data.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring equipment, and in particular to a visual radar monitoring equipment. Background Art

[0002] In the inspection work of high-voltage substations, it involves the construction of cranes in the environment of high-voltage power lines. The crane driver cannot clearly observe the distance between the boom and the high-voltage wires during the construction process, so necessary protection measures must be taken during construction. General protection measures are mostly to set up safety observers next to the crane, always observe the environment around the crane boom, and quickly convey the message to the crane driver when danger is detected. This method will cause a waste of manpower, and manual communication may be inaccurate. This method cannot meet the inspection needs of modern high-voltage substations.

[0003] For this purpose, intelligent monitoring equipment is proposed to carry out power line safety detection. For example, relying on the camera installed on the boom to collect the environment around the crane boom for monitoring. This method can only monitor within a certain field of view, and there is a blind spot. When the boom moves, the blind spot of the camera also changes, and it is impossible to identify and warn of potential dangerous situations in time. In addition, the distance between the boom and the power line cannot be obtained through camera detection. In this case, it is often not as convenient and quick as the manual inspection method, but the manual inspection method has low detection accuracy and cannot achieve the effect of real-time monitoring. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention provides a visual radar monitoring device.

[0006] According to the visual radar monitoring device of the embodiment of the present invention, the visual radar monitoring device is installed on the crane boom, and the visual radar monitoring device includes:

[0007] case;

[0008] A visual module, the visual module comprising at least one camera, the visual module being mounted on a side wall of the housing, and the visual module collecting image data around the boom;

[0009] A radar module, which is installed on the top of the shell and located on a side close to the vision module, and is used to collect point cloud data around the boom;

[0010] A control processing module, wherein the control processing module is located inside the shell, the vision module and the radar module are both connected to the control processing module, the control processing module controls the vision module and the radar module to collect data, the control processing module also acquires and processes the image data and the point cloud data, obtains the distance between the boom and the power line, and displays the distance in the image data.

[0011] The beneficial effect of the present invention is that safety protection during construction is achieved by the cooperation between the visual module and the radar module. The visual module can collect graphics around the boom, and the radar can obtain the distance between the boom and the power line in real time, so as to achieve intelligent visual monitoring, thereby improving the alarm accuracy of protective measures during construction. In addition, the field of view of the radar module and the visual module are utilized, and cross-sharing is achieved in the vertical and horizontal directions. While maximizing the field of view of the equipment, the smallest blind area is achieved, meeting the requirement that the equipment can work 1m away.

[0012] According to one embodiment of the present invention, the horizontal coverage range of the vision module is β, the horizontal coverage angle range of the vision module is 120°<β≤180°, and the vertical coverage angle of the radar module is 50°~60°.

[0013] According to an embodiment of the present invention, the visual module is two cameras, and the two cameras are symmetrically arranged on a side wall of the shell with respect to a ZOY plane.

[0014] According to one embodiment of the present invention, the horizontal viewing angle of each camera is θ, and the range of the horizontal viewing angle θ is 90°<θ≤120°;

[0015] The extended lines of the optical axes of the two cameras intersect and form an angle α, and the angle α is calculated as follows:

[0016] α=β-[θ*(100%-k)]

[0017] Wherein, k is the distortion angle of the camera.

[0018] According to an embodiment of the present invention, the angle α is in the range of 60°<α<80°.

[0019] According to an embodiment of the present invention, the visual module is a camera, and the horizontal viewing angle of the camera is 120° to 180°.

[0020] According to an embodiment of the present invention, each of the cameras is tilted upward, the tilt angle is γ, and the tilt angle range is 10°<γ<30°.

[0021] According to an embodiment of the present invention, a center line of the radar module and a center line of the angle α are perpendicular.

[0022] According to one embodiment of the present invention, the control processing module is used to trigger the vision module to collect image data around the boom when the radar module beam rotates to enter the field of view of the vision module device and before leaving the field of view.

[0023] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 It is a structural schematic diagram of the best embodiment of the present invention.

[0027] Figure 2 It is a schematic diagram of hardware connection of the optimal embodiment of the present invention.

[0028] Figure 3 It is a schematic diagram of the optical path of two cameras in the XOY direction of the optimal embodiment of the present invention.

[0029] Figure 4 It is a schematic diagram of the optical path of the ZOY direction radar and camera of the optimal embodiment of the present invention.

[0030] Figure 5 It is a schematic diagram of the optical path of the optimal embodiment of the present invention in which the center of the ZOY direction radar and the focal point of the camera are on the same straight line.

[0031] In the figure: 1. Shell; 2. Vision module; 3. Radar module; 4. Control processing module. DETAILED DESCRIPTION

[0032] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] A visual radar monitoring device, the visual radar monitoring device is installed on the crane arm, such as Figure 1 and 2 As shown, the visual radar monitoring equipment includes:

[0036] Shell 1;

[0037] A visual module 2, the visual module 2 includes at least one camera, the visual module 2 is installed on a side wall of the housing 1, and the visual module 2 collects image data around the boom;

[0038] Radar module 3, which is installed on the top of the housing 1 and is located on a side close to the vision module 2. The radar module 3 is used to collect point cloud data around the boom;

[0039] Control processing module 4, control processing module 4 is located inside shell 1, vision module 2 and radar module 3 are connected to control processing module 4, control processing module 4 controls vision module 2 and radar module 3 to collect data, control processing module 4 also obtains and processes image data and point cloud data, obtains the distance between boom and power line, and displays the distance in image data.

[0040] In this embodiment, the horizontal coverage angle of the vision module 2 is β, the horizontal coverage angle range of the vision module 2 is 120°<β≤180°, and the vertical coverage angle of the radar module 3 is 50°~60°.

[0041] In this embodiment, the vision module 2 may be one camera, two cameras or three cameras.

[0042] If the visual module 2 is configured as a camera, the horizontal viewing angle of the selected camera is 120° to 180°.

[0043] If the visual module 2 is configured as two cameras, the two cameras are symmetrically arranged on a side wall of the housing 1 about the ZOY plane, and the horizontal viewing angle of each camera is θ, and the range of the horizontal viewing angle θ is 90°<θ≤120°;

[0044] The extended lines of the optical axes of the two cameras intersect and form an angle α. The calculation formula for the angle α is:

[0045] α=β-[θ*(100%-k)]

[0046] Wherein, k is the distortion angle of the camera. The range of the angle α is 60°<α<80°. Further, the two camera models adopt but are not limited to RER-USB500W07-V100, which can output video images with a maximum resolution of 2592×1944.

[0047] If the vision module 2 is configured with three cameras, ensure that the horizontal coverage angle range of the vision module 2 is 120°<β≤270°.

[0048] In this embodiment, the visual module 2 preferably has two cameras, which can avoid distortion of the edges of the captured images and improve image quality. In addition, the processing of two images is simpler than that of three images, and there is no need to deduplicate overlapping images, which simplifies the image processing steps and improves image processing efficiency.

[0049] In this embodiment, in order to further reduce the distance of the optical path blind spot between the camera and the radar, each camera is tilted upward with a tilt angle of γ, and the tilt angle range is 10°<γ<30°.

[0050] In this embodiment, the center line of the radar module 3 is perpendicular to the center line of the angle α.

[0051] In this embodiment, the radar model used by the radar module 3 is Livox Mid-360, but not limited to this. It can emit invisible light with a wavelength of 905nm to the object being measured, and by reflecting it back to the radar, 200,000 point cloud data / second are obtained. The distance of the object being measured is provided through internal calculations and algorithms, with an error of only 2cm, providing a high-precision ranging distance, and a point cloud refresh rate of 10 times per second. The data can be output quickly, and the movable object can quickly respond to the updated data with low latency, thereby increasing efficiency.

[0052] In this embodiment, the control processing module 4 is used to trigger the vision module 2 to collect image data around the boom when the light beam of the radar module 3 rotates to enter the field of view of the vision module 2 device and before leaving the field of view.

[0053] like Figure 3 As shown, the horizontal coverage angle of the visual module 2 is 180°, the visual module 2 is two cameras, the horizontal viewing angle of the camera is 120 degrees, each camera is tilted upward by 15.5°, and the vertical coverage angle of the radar module 3 is 59°. As an example, this embodiment is described in detail. When the horizontal viewing angle of the camera is 120 degrees, the distortion angle k of the camera is equal to 5.5%. Substituting the angle α into the calculation formula, the angle α is equal to 66.6°. The distance from the radar to the intersection of the two camera viewing angles is calculated as follows:

[0054]

[0055] Among them, y1 is the vertical distance from the radar to the focal point of the camera, which is set to 49.8mm. The blind spot distance y from the radar to the intersection of the two camera angles is: 139mm

[0056] In order to calculate the blind area of ​​the optical path between the camera and the radar, Figure 5 As shown in the figure, the optical path blind area y' between the camera and the radar is calculated with the radar center and the camera focal point on the same straight line. The calculation formula is:

[0057] y' / z = tan(90°-59°) = 0.6

[0058] y' / (z+z'=tanγ=tan15.5=0.277

[0059] Wherein, z' represents the distance from the focal point of the camera to the center of the radar in the z direction, z'=100mm, and z represents the distance from the maximum field of view of the camera in the z direction to the maximum field of view of the radar in the z direction.

[0060] The center of the radar and the focal point of the camera are on the same straight line. The optical path blind area distance y' between the camera and the radar is 52mm. Figure 4As shown in the figure, the actual optical path blind area distance between the camera and the radar is Y=y1+y'=101.8mm.

[0061] It can be seen that both the actual optical path blind spot distance Y between the camera and the radar, and the blind spot distance y from the radar to the intersection of the two cameras' viewing angles are far less than the requirement that the blind spot device can work beyond 1m.

[0062] It should be noted that in actual application, if the blind spot distance y from the radar to the intersection of the two cameras' viewing angles is smaller than the optical path blind spot distance Y between the actual camera and the radar, then the optical path blind spot distance Y between the actual camera and the radar is taken as the maximum blind spot of the visual radar monitoring device; if the blind spot distance y from the radar to the intersection of the two cameras' viewing angles is larger than the optical path blind spot distance Y between the actual camera and the radar, then the blind spot distance from the radar to the intersection of the two cameras' viewing angles is taken as the maximum blind spot of the visual radar monitoring device.

[0063] In summary, safety protection during construction can be achieved through the cooperation of the visual module and the radar module. The visual module can collect graphics around the boom, and the radar can obtain the distance between the boom and the power line in real time, which can realize intelligent visual monitoring, thereby improving the alarm accuracy of protective measures during construction. In addition, the field of view of the radar module and the visual module is utilized, and cross-sharing is achieved in the vertical and horizontal directions, which maximizes the field of view of the equipment while minimizing the blind spot, meeting the requirement that the equipment can work 1m away.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0065] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A visual radar monitoring device, characterized in that: The visual radar monitoring device is installed on the crane boom, and the visual radar monitoring device includes: Housing (1); A visual module (2), the visual module (2) comprising at least one camera, the visual module (2) being mounted on a side wall of the housing (1), and the visual module (2) collecting image data around the boom; A radar module (3), the radar module (3) being mounted on the top of the housing (1), and the radar module (3) being located on a side close to the vision module (2), and the radar module (3) being used to collect point cloud data around the boom; A control processing module (4), wherein the control processing module (4) is located inside the shell (1), the visual module (2) and the radar module (3) are both connected to the control processing module (4), the control processing module (4) controls the visual module (2) and the radar module (3) to collect data, and the control processing module (4) also acquires and processes the image data and the point cloud data to obtain the distance between the boom and the power line, and displays the distance in the image data.

2. The visual radar monitoring device according to claim 1, characterized in that: The horizontal coverage angle of the vision module (2) is β, the horizontal coverage angle range of the vision module (2) is 120°<β≤180°, and the vertical coverage angle of the radar module (3) is 50°~60°.

3. The visual radar monitoring device according to claim 2, characterized in that: The visual module (2) is two cameras, and the two cameras are symmetrically arranged on a side wall of the housing (1) with respect to the ZOY plane.

4. The visual radar monitoring device according to claim 3, characterized in that: The horizontal viewing angle of each camera is θ, and the range of the horizontal viewing angle θ is 90°<θ≤120°; The extended lines of the optical axes of the two cameras intersect and form an angle α, and the angle α is calculated as follows: α=β-[θ*(100%-k)] Wherein, k is the distortion angle of the camera.

5. The visual radar monitoring device according to claim 4, characterized in that: The range of the angle α is 60°<α<80°.

6. The visual radar monitoring device according to claim 2, characterized in that: The visual module (2) is a camera, and the horizontal viewing angle of the camera is 120° to 180°.

7. The visual radar monitoring device according to any one of claims 1 to 6, characterized in that: Each camera is tilted upward, the tilt angle is γ, and the tilt angle range is 10°<γ<30°.

8. The visual radar monitoring device according to claim 4, characterized in that: The center line of the radar module (3) and the center line of the angle α are perpendicular.

9. The visual radar monitoring device according to claim 1, characterized in that: The control processing module (4) is used to trigger the vision module (2) to collect image data around the boom when the light beam of the radar module (3) rotates to enter the field of view of the vision module (2) equipment and before leaving the field of view.

Images