Vertical component hoisting control system and method

Abstract

The invention relates to a vertical component hoisting control system and method.The system comprises a front-end sensing system, a computing system, a visual terminal system, an automatic perpendicularity measuring system and a data processing system, and the front-end sensing system comprises an RGB-D camera installed on hoisting equipment; the front-end sensing system acquires a dynamic scene image in the hoisting process, the computing system establishes a three-dimensional live-action model of a scene, and the visual terminal system displays a three-dimensional picture in the hoisting process; the perpendicularity automatic measuring system comprises an electronic level meter mounted on the vertical component; the electronic level meter detects the inclination angle of the vertical component, the data processing system calculates horizontal deviation data of the vertical component, and an operator controls the hoisting equipment to complete perpendicularity adjustment of the vertical component based on the two-dimensional coordinates displayed by the visual terminal system. Based on the digital and automatic technology, dynamic three-dimensional reconstruction and perpendicularity deviation automatic measurement and calculation of the vertical component are achieved, and it is guaranteed that the whole hoisting process is safe, accurate and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering hoisting, and in particular to a vertical component hoisting control system and method. Background Art

[0002] Conventional lifting methods for vertical components require the cooperation of the lifting equipment driver, ground guide personnel and surveying personnel to complete the lifting, adjustment and fixation of the components. During the lifting and verticality adjustment stage, the ground guide personnel usually issue lifting instructions, and the lifting equipment driver lifts, shifts, avoids obstacles, and fine-tunes according to the instructions. After lifting the component to the fixed position, the verticality of the component is adjusted. The surveying personnel use measuring instruments to measure the verticality of the component and feed back the measurement results to the ground guide personnel or the lifting equipment driver. Based on this, the lifting equipment adjusts the hook position to complete an adjustment and feedback. Usually, component adjustment requires multiple adjustments and feedback, which has low lifting efficiency. In addition, information transmission and feedback are easily disturbed by the lifting environment, which reduces lifting efficiency and increases safety risks.

[0003] Although the existing hoisting control system can be combined with BIM (Building Information Model) to realize hoisting visualization, it still generally has the following problems: 1. The application scenarios are limited. Since the information collection equipment needs to be installed in an absolutely fixed position, it can only be applied to the hoisting of a fixed single building component. The lifting equipment and the building unit cannot move relative to each other. However, in actual applications, it cannot be used in the hoisting of prefabricated building components with large aspect ratios such as factories; 2. It cannot cover the entire hoisting, vertical adjustment, and fixing process. Summary of the invention

[0004] The present invention provides a vertical component hoisting control system and method to solve the above technical problems.

[0005] In order to solve the above technical problems, the present invention provides a vertical component hoisting control system, including a front-end sensing system, a computing system, a visualization terminal system, a verticality automatic measurement system and a data processing system.

[0006] The front-end sensing system includes an RGB-D camera and a mounting bracket, and the RGB-D camera is mounted on the lifting device through the mounting bracket;

[0007] The computing system and the visualization terminal system are arranged in the equipment operation room, and the computing system is respectively connected to the front-end sensor system and the visualization terminal system by signal;

[0008] The front-end sensing system acquires the dynamic scene image of the hoisting process and transmits it to the computing system, the computing system establishes a three-dimensional real scene model of the scene based on the dynamic scene image and transmits it to the visualization terminal system, and the visualization terminal system displays the three-dimensional picture of the hoisting process on the display screen;

[0009] The verticality automatic measurement system comprises an electronic level and a detector bracket, wherein the electronic level is installed on the suspended vertical member through the detector bracket;

[0010] The electronic level is connected to the data processing system by signal, and the data processing system is connected to the visualization terminal system by signal;

[0011] The electronic level detects the inclination angle of the vertical component and transmits it to the data processing system. The data processing system calculates the horizontal deviation data of the vertical component based on the inclination angle and transmits it to the visualization terminal system in the form of two-dimensional coordinates. The operator controls the lifting equipment based on the two-dimensional coordinates displayed by the visualization terminal system to complete the verticality adjustment of the vertical component.

[0012] Preferably, the front-end sensing system also includes a power I / O cable, a gigabit network cable and a DC switching power supply. The DC switching power supply is connected to the RGB-D camera through the power I / O cable to power the RGB-D camera and control the on / off of the circuit; the RGB-D camera is connected to the computing system through the gigabit network cable.

[0013] Preferably, the RGB-D camera is installed on the lifting arm of the lifting equipment.

[0014] Preferably, the dynamic scene image of the hoisting process includes the vertical components, the fixed position foundation and objects within the visible range.

[0015] Preferably, the detector bracket includes a main beam, a fixed arm, an adjusting arm, a vertical control piece, bolt fasteners and a testing platform, the vertical control piece is two angle steels, which are respectively attached to two adjacent edges on the side of the vertical member; one end of the fixed wall is fixed to the main beam, one end of the adjusting arm is slidably installed on the main beam, and the other ends of the fixed wall and the adjusting arm are respectively fixed to one of the angle steels; the fixed wall and the adjusting arm are movably connected by the bolt fasteners; the testing platform is fixed to the main beam for installing the electronic level.

[0016] Preferably, the main beam comprises a beam body and a cavity provided in the beam body and extending along the length direction, a slider is installed in the cavity, and the slider is fixedly connected to the end of the adjusting arm.

[0017] Preferably, the bolt fastener comprises an extension bolt and a nut, and the extension bolt penetrates the fixed wall and the adjustment arm in sequence and is fixed by the nut.

[0018] The present invention also provides a vertical component hoisting control method, which uses the vertical component hoisting control system as described above and includes the following steps:

[0019] Lifting preparation stage:

[0020] Step 1: Check the flatness of the bottom plane of the vertical component and the flatness of the fixed foundation;

[0021] Step 2: Select lifting equipment according to site conditions;

[0022] Hoisting stage:

[0023] Step 3: Install the RGB-D camera and conduct a test hang;

[0024] Step 4: using the lifting device to lift the vertical component until the vertical component is upright; based on the three-dimensional picture displayed by the visualization terminal system, controlling the lifting device to place the vertical component on a fixed position foundation;

[0025] Step 5: Take temporary fixing measures to fix the vertical member;

[0026] Verticality adjustment stage:

[0027] Step 6: Install the detector bracket and the electronic level on the side of the vertical member;

[0028] Step 7: The data processing system calculates the horizontal deviation data of the vertical component based on the detection result of the electronic level;

[0029] Step 8: Controlling the lifting device to complete the vertical adjustment of the vertical component based on the two-dimensional coordinates displayed by the visualization terminal system;

[0030] Step 9: Fix the vertical component, remove the electronic level and detector bracket on the vertical component, and complete the installation of the vertical component.

[0031] Preferably, in step 7, the method of converting the inclination angle of the vertical component detected by the electronic level into horizontal deviation data is:

[0032] The inclination angle of the XZ-axis plane is α, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the Y-axis direction is y=h·tanɑ;

[0033] The inclination angle of the YZ-axis plane is β, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the X-axis direction is x=h·tanβ.

[0034] Preferably, step 7 further comprises setting a deviation threshold of the horizontal deviation data, and displaying the display screen in different colors based on the relationship between the horizontal deviation displacement of the top of the vertical component and the deviation threshold.

[0035] Compared with the prior art, the vertical component hoisting control system and method provided by the present invention have the following advantages:

[0036] 1. The present invention covers the preparation stage, lifting stage and vertical adjustment stage of the entire hoisting process. Through the implementation of the three-stage control system and method, high-precision and high-efficiency hoisting of vertical components is ensured;

[0037] 2. The present invention is based on digital and automation technology, and innovatively develops dynamic three-dimensional reconstruction of components and real-time measurement, autonomous calculation and real-time feedback of verticality deviation, guiding the hoisting personnel to adjust the azimuth angle, ensuring the safety, accuracy and efficiency of the entire process of vertical component hoisting, and solving the problems of low efficiency, high labor input, many safety hazards and low degree of informatization in traditional vertical component hoisting. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a system block diagram of a vertical component hoisting control system in a specific embodiment of the present invention;

[0039] Figure 2 It is a schematic diagram of hoisting in the hoisting stage in a specific embodiment of the present invention;

[0040] Figure 3 Schematic diagram of the position relationship between the vertical component and the fixed position foundation in a specific embodiment of the present invention

[0041] Figure 4 It is a structural schematic diagram of a detector bracket in a specific embodiment of the present invention;

[0042] Figure 5 for Figure 4 aa cross-sectional view;

[0043] Figure 6 for Figure 4 bb cross-sectional view;

[0044] Figure 7 It is a structural schematic diagram of an angle steel in a specific embodiment of the present invention;

[0045] Figure 8 It is a schematic diagram of the parallel relationship between the detection plane and the horizontal cross section of the vertical member in a specific embodiment of the present invention;

[0046] Fig. 9 It is a flow chart of a vertical component hoisting control method in a specific implementation manner of the present invention;

[0047] Fig.10 It is a schematic diagram of the relationship between the inclination of the vertical component and the coordinate axis in a specific implementation manner of the present invention.

[0048] In the figure: 100-front-end sensing system, 110-RGB-D camera, 200-computing system, 300-visualization terminal system, 400-verticality automatic measurement system, 410-detector bracket, 411-main beam, 412-fixed arm, 413-adjusting arm, 414-vertical control part, 415-bolt fastener, 416-detection table, 417-angle steel, 418-cavity, 500-data processing system, 600-vertical component, 610-fixed position foundation, 620-hanging point, 630-monitoring instrument fixing position, 700-lifting equipment, 710-equipment operation room, 720-lifting arm. DETAILED DESCRIPTION

[0049] In order to describe the technical solution of the above invention in more detail, specific embodiments are listed below to demonstrate the technical effects; it should be emphasized that these embodiments are used to illustrate the present invention but not to limit the scope of the present invention.

[0050] The vertical component hoisting control system provided by the present invention is as follows: Figure 1 and Figure 2 As shown, it includes a front-end sensing system 100, a computing system 200, a visualization terminal system 300, an automatic verticality measurement system 400 and a data processing system 500, wherein:

[0051] The front-end sensing system 100 includes an RGB-D camera 110 and a mounting bracket (not shown), and the RGB-D camera 110 is mounted on the lifting device 700 through the mounting bracket.

[0052] The computing system 200 and the visualization terminal system 300 are arranged in the equipment operation room 710, and the computing system 200 is signal-connected with the front-end sensing system 100 and the visualization terminal system 300 respectively; the front-end sensing system 100 obtains the dynamic scene image of the hoisting process and transmits it to the computing system 200, and the computing system 200 establishes a three-dimensional real-scene model of the scene based on the dynamic scene image and transmits it to the visualization terminal system 300, and the visualization terminal system 300 displays a three-dimensional picture of the hoisting process on the display screen.

[0053] The automatic verticality measuring system 400 includes an electronic level (not shown) and a detector bracket 410 . The electronic level is installed on the suspended vertical member 600 through the detector bracket 410 .

[0054] The electronic level is signal-connected to the data processing system 500, and the data processing system 500 is signal-connected to the visualization terminal system 300; the electronic level detects the inclination angle of the vertical component 600 and transmits it to the data processing system 500, and the data processing system 500 calculates the horizontal deviation data of the vertical component 600 based on the inclination angle and transmits it to the visualization terminal system 300 in the form of two-dimensional coordinates, and the operator controls the lifting equipment 700 to complete the verticality adjustment of the vertical component 600 based on the two-dimensional coordinates displayed by the visualization terminal system 300.

[0055] The present invention is based on digital and automation technology, and innovatively develops dynamic three-dimensional reconstruction of components and real-time measurement, autonomous calculation and real-time feedback of verticality deviation, which guides the hoisting personnel to adjust the azimuth angle, ensuring the safety, accuracy and efficiency of the entire hoisting process of the 600 vertical components, and solves the problems of low efficiency, high labor input, many safety hazards and low degree of informatization in the traditional vertical component hoisting.

[0056] In some embodiments, the front-end sensing system further includes a power I / O cable, a gigabit network cable and a DC switching power supply. The DC switching power supply is connected to the RGB-D camera 110 through the power I / O cable to power the RGB-D camera 110. The power switch is installed in the equipment operation room 710 to control the on-off of the circuit. The RGB-D camera 110 is connected to the computing system 200 through the gigabit network cable. In this embodiment, the RGB-D camera 110 can obtain the color image (RGB) and depth information (D) of the hoisting scene. Stereolabs ZED can be used. The ZED camera is based on the principle of RGB binocular stereo vision and can be used indoors and outdoors. The farthest depth range can reach 20m, and the depth map resolution is also very high. The specifications and interfaces of the power I / O cable of the RGB-D camera 110 can select 12V / 5A power supply and connect to the vehicle power supply of the equipment. Cat 5e cable can be selected for the gigabit network cable, which can support gigabit speed in a short distance and meet the performance requirements.

[0057] In some embodiments, please refer to Figure 2 The RGB-D camera 110 is installed on the lifting arm 720 of the lifting device 700. This position has a wide view and is unobstructed, thereby improving the visual effect.

[0058] In some embodiments, please refer to Figure 3 The dynamic scene image of the hoisting process includes the vertical component 600, the fixed base 610 and objects within the visible range, ensuring the safety and efficiency of the entire hoisting process.

[0059] After receiving the real-time scene information collected by the front-end sensor system 100, the computing system 200 builds and restores the three-dimensional real scene model of the scene through a large amount of data processing and complex calculations, relying on a high-performance GPU and parallel computing framework. The computing system 200 is arranged on the lifting equipment vehicle, and is powered by an independent stable power supply to ensure the stable operation of the computing system 200. The output end of the computing system 200 is connected to the visualization terminal 300 to transmit the three-dimensional picture of the lifting scene in real time.

[0060] The visualization terminal 300 is used to display the three-dimensional model of the hoisting process in real time to guide the operator's work, and is composed of a high-definition display screen, a high-speed network cable and a power supply line. One end of the high-speed network cable is connected to the computing system 200, and the other end is connected to the high-definition display screen; the power supply line is connected to the on-board power supply of the hoisting equipment to power the high-definition display screen.

[0061] In some embodiments, the computing system 200 may use an RGB-iD SLAM system based on an RGB-D camera 110, which is particularly suitable for the RGB-D camera 110, and performs inverse depth parameterization processing on the depth map in dense alignment or keyframe fusion; the hardware configuration of the computing system 200 of the SLAM system, the CPU uses Intel Core i5-12400F, the GPU uses AMD Radeon RX 6600; the memory configuration uses 32GB RAM, which is suitable for scenarios where the SLAM system needs to be deployed mobile; the storage configuration uses 80GB SSD. The display of the visualization terminal system 300 selects a portable display, which is connected to a vehicle-mounted DC power supply, and is suitable for application scenarios that require mobile display.

[0062] In some embodiments, please refer to Figures 4 to 7 The detector bracket 410 includes a main beam 411, a fixed arm 412, an adjusting arm 413, a vertical control member 414, a bolt fastener 415 and a detection platform 416, wherein the vertical control member 414 is two angle steels 417, which are respectively attached to two adjacent edges on the side of the vertical member 600; one end of the fixed wall 412 is fixed to the main beam 411, and one end of the adjusting arm 413 is slidably installed on the main beam 411, and the other ends of the fixed wall 412 and the adjusting arm 413 are respectively fixed to one of the angle steels 417; the fixed wall 412 and the adjusting arm 413 are movably connected by the bolt fastener 415; the detection platform 416 is fixed to the main beam 411 and is used to install the electronic level, that is, the detection platform 416 is used as the working plane of the electronic level, and is integrally connected to the main beam 411, and the control detection platform 416 is parallel to the plane of the main beam 411.

[0063] In some embodiments, the bolt fastener 415 includes an extended bolt and a nut, the extended bolt sequentially penetrates the fixed wall 412 and the adjustment arm 413, and is fixed by the nut, and the adjustment nut provides a pressing force to act on the fixed arm 412 and the adjustment arm 413 to connect the detector bracket 410 with the vertical member 600. Of course, a gasket can also be set between the contact members to enhance stability.

[0064] In this embodiment, the vertical control component 414 plays two roles: first, the two right-angle sides of the angle steel 417 are fitted with the two surfaces of the vertical member 600 to ensure that the vertical control component 414 is perpendicular to the horizontal section of the vertical member 600; second, it plays a role of fixed connection: the fastening force is applied by the bolt fastener 415, which is transmitted to the vertical control component 414 through the fixed arm 412 and the adjustment arm 413, and fits tightly with the vertical member 600, thereby realizing the fixed connection between the detector bracket 410 and the vertical member 600.

[0065] Specifically, one end of the fixed arm 412 is fixedly connected to the angle steel 417, and the other end is fixedly connected to the main beam 411. It is made of square steel material, and a round hole is opened in the arm body. The hole diameter matches the extended bolt diameter of the bolt fastener 415. The fixed arm 412 plays the role of transmitting the tightening force and transmitting the parallel plane. Among them, the tightening force is transmitted, that is, the force applied by the bolt fastener 415 is transmitted to the vertical control member 414; the parallel plane is transmitted, that is, by ensuring that the two ends of the fixed arm 412 (adjusting arm 413) are respectively connected to the vertical control member 414 and the main beam 411 in two directions in a vertical and parallel manner, the horizontal section of the vertical component 600 is transmitted in parallel to the detection table 416, so that the horizontality detection of the plane of the detection table is equivalent to the horizontality detection of the cross section of the vertical component, and then it serves as the basis for judging and adjusting the verticality deviation of the vertical component 600, such as Figure 8 shown.

[0066] One end of the adjusting arm 413 is fixedly connected to the angle steel 417, and the other end is slidably connected to the main beam 411, and can slide freely in the length direction of the main beam 411. The adjusting arm 413 can be made of square steel material, and a round hole is opened in the arm body, and the hole diameter matches the lengthened bolt diameter of the bolt fastener 415. In some embodiments, the main beam 411 includes a beam body and a cavity 418 disposed in the beam body and extending along the length direction. A slider (not shown) is installed in the cavity 418, and the slider is fixedly connected to the end of the adjusting arm 413. The main beam 411 can be made of square steel material. The cavity 418 is a sliding groove opened on the beam body, which can provide a sliding track for the slider, thereby realizing the sliding of the adjusting arm 413 on the main beam 411. In addition to having the same force transmission and parallel plane transmission functions as the fixed arm 412, the adjusting arm 413 can also expand the scope of application of the detector bracket 410 to meet the requirements of components with different cross-sectional sizes.

[0067] In some embodiments, the electronic level can be a two-dimensional electronic level with Bluetooth transmission function, which can simultaneously measure the inclination angle of the component in two directions (i.e., the X-axis and Y-axis directions). This embodiment uses the Digi-Pas DWL-1500XY level. The instrument has the function of automatically reading the inclination angles in the two directions of the X and Y axes, and transmits them to the data processing system using Bluetooth technology (Bluetooth TM), meeting the use scenarios of short distance, low latency, and low power consumption. Before using the electronic level, check the working performance of the instrument, and lock the electronic level after leveling it at the construction site, and then place it on the test bench 416, and use a fixing belt to bind the electronic level to the test bench 416 to ensure the safety and stability of the equipment.

[0068] Please focus on Fig. 9 The present invention also provides a vertical component hoisting control method, which uses the vertical component hoisting control system as described above and includes the following steps:

[0069] Lifting preparation stage:

[0070] Step 1: Check the flatness of the bottom surface of the vertical member 600 and the flatness of the fixed position foundation.

[0071] Step 2: Select lifting equipment 700 according to site conditions.

[0072] Specifically, before the formal lifting, the components to be lifted, site conditions, lifting equipment, etc. are inspected, marked and confirmed. Necessary technical steps in this stage: Step 1, check the flatness of the bottom of the vertical component 600 to ensure that the bottom surface of the component is flat and the plane where the bottom surface is located is perpendicular to the axis of the component; Step 2, check the appearance of the vertical component 600 to ensure that the surface of the component is flat, the lines are straight and square, so as to facilitate the fixing and vertical adjustment of the measuring instrument, and mark the monitoring instrument fixing position 630. Preferably, each lifting shift unifies the height of the monitoring instrument fixing position 630 to facilitate the calculation of the verticality deviation; Step 3, check the flatness of the plane of the fixing position foundation 610, clean up the debris, ensure that the foundation is clean, and the horizontal plane where the foundation is located is parallel to the bottom surface of the vertical component 600 to be installed.

[0073] When it is necessary to process the flatness of the bottom of the vertical component 600 and the fixed foundation 610, preferably, for precast concrete columns, the column bottom and the fixed foundation 610 plane can be leveled with mortar materials of equal strength; for steel columns, the same strength steel can be used for welding and fixing for leveling or mechanical cutting and mechanical grinding for leveling.

[0074] Hoisting stage: This stage refers to the process of lifting and moving the vertical component 600 from the installation hoist to the fixed position foundation 610 and adjusting it to the accurate axis position, which specifically includes:

[0075] Step 3: Install the RGB-D camera 110 and conduct a test hang to check the working performance of the visualization terminal system 300, and adjust it to the designed stable state according to the operating conditions.

[0076] Step 4: Slowly start the crane arm 720, and use the lifting equipment 700 to lift the vertical component 600 until the vertical component 600 stands upright off the ground. At this time, the vertical component 600, the fixed position foundation 610 and the surrounding objects of the lifting are displayed on the display screen; based on the three-dimensional picture displayed by the visualization terminal system 300, the operator controls the crane arm 710 according to the reconstructed dynamic real scene, and performs steps such as lifting height and rotation angle. After the vertical component 600 is lifted to a certain height above the fixed position foundation 610, the vertical component 600 is allowed to stand still and stabilize, and after a stable picture is obtained, it is lowered to the fixed position foundation 610.

[0077] Step 5: The ground workers cooperate with each other to take temporary fixing measures to fix the vertical member 600.

[0078] Verticality adjustment stage: used to adjust the verticality of the temporarily fixed vertical component 600 to meet the verticality requirement of the vertical component 600 after hoisting.

[0079] Step 6: Install the detector bracket 410 on the side of the vertical member 600, ensure that the vertical control member 414 is tightly fitted with the vertical member 600, tighten the bolt fastener 415, firmly connect the detector bracket 410 with the vertical member 600, and measure and record the height h from the detection platform 416 to the hanging point 629 of the vertical member 600. Place the leveled electronic level on the detection platform 416 and firmly fix the electronic level; install the data processing system 500 in the equipment operation room 710 and connect it to the visualization terminal system 300.

[0080] Step 7: Debug the automatic verticality measurement system 400 and the data processing system 500 online, input lifting parameters, and conduct a trial lift; after the debugging and verification is completed, formally activate the data processing system 500 to calculate the horizontal deviation data of the vertical component 600 based on the detection results of the electronic level.

[0081] Specifically, please refer to Fig.10 , the method of converting the inclination angle of the vertical component 600 detected by the electronic level into horizontal deviation data is:

[0082] The inclination angle of the XZ-axis plane is α, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the Y-axis direction is y=h·tanɑ;

[0083] The inclination angle of the YZ-axis plane is β, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the X-axis direction is x=h·tanβ.

[0084] In some embodiments, a deviation threshold of the horizontal deviation data can also be set, and different colors of the corresponding display screen are displayed based on the relationship between the horizontal deviation displacement at the top of the vertical component 600 and the deviation threshold. For example, the module displays the deviation value in different colors. When the deviation value is less than the threshold, the screen is displayed in green, and when it is greater than the threshold, the screen is displayed in red to prompt vertical adjustment and provide real-time data. The data processing module 500 is connected to the visualization terminal 300 via a high-speed network cable, and the hoisting parameters such as the height h of the detection plane from the top of the component, direction, deviation threshold and other parameters are input through the computing system 200. The module can automatically calculate the deviation value and display it on the visualization terminal system 300 according to the preset coordinate relationship to provide a basis for the operator.

[0085] Step 8: The operator controls the lifting device 700 to complete the vertical adjustment of the vertical component 600 based on the two-dimensional coordinates displayed by the visualization terminal system 300 .

[0086] Step 9: Fix the vertical component 600, remove the electronic level and the detector bracket 410 on the vertical component 600, and complete the installation of the vertical component 600. Repeat the above steps to hoist and adjust each component one by one.

[0087] The present invention covers the preparation stage, lifting stage and verticality adjustment stage of the entire lifting process, integrates automatic measurement, communication and machine vision imaging technology, and cooperates with pre-measures at the lifting site. It is applied to the lifting of large-section steel columns or PC columns of buildings, which can significantly improve the lifting accuracy and lifting efficiency.

[0088] In summary, the present invention provides a control system and method for hoisting a vertical component. The system includes a front-end sensing system 100, a computing system 200, a visualization terminal system 300, an automatic verticality measurement system 400, and a data processing system 500. The front-end sensing system 100 includes an RGB-D camera 110 and a mounting bracket. The RGB-D camera 110 is mounted on a hoisting device 700 through the mounting bracket. The computing system 200 and the visualization terminal system 300 are arranged in an equipment operation room 710. The computing system 200 is respectively connected to the front-end sensing system 100 and the visualization terminal system 300 by signals. The front-end sensing system 100 acquires a dynamic scene image of the hoisting process and transmits it to the computing system 200. The computing system 200 establishes a three-dimensional real scene model of the scene based on the dynamic scene image and transmits it to the visualization terminal system 300. , the visualization terminal system 300 displays a three-dimensional picture of the hoisting process on the display screen; the verticality automatic measurement system 400 includes an electronic level and a detector bracket 410, and the electronic level is installed on the hoisted vertical component 600 through the detector bracket 410; the electronic level is connected to the data processing system 500 by signal, and the data processing system 500 is connected to the visualization terminal system 300 by signal; the electronic level detects the inclination angle of the vertical component 600 and transmits it to the data processing system 500, and the data processing system 500 calculates the horizontal deviation data of the vertical component 600 based on the inclination angle and transmits it to the visualization terminal system 300 in the form of two-dimensional coordinates, and the operator controls the lifting equipment 700 to complete the verticality adjustment of the vertical component 600 based on the two-dimensional coordinates displayed by the visualization terminal system 300. The present invention is based on digital and automation technology, and innovatively develops dynamic three-dimensional reconstruction of components and real-time measurement, autonomous calculation and real-time feedback of verticality deviation, which guides the hoisting personnel to adjust the azimuth angle, ensuring the safety, accuracy and efficiency of the entire hoisting process of the 600 vertical components, and solves the problems of low efficiency, high labor input, many safety hazards and low degree of informatization in the traditional vertical component hoisting.

[0089] Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, if these modifications and variations of the invention fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A vertical component hoisting control system, characterized in that: Including front-end sensor system, computing system, visualization terminal system, verticality automatic measurement system and data processing system, The front-end sensing system includes an RGB-D camera and a mounting bracket, and the RGB-D camera is mounted on the lifting device through the mounting bracket; The computing system and the visualization terminal system are arranged in the equipment operation room, and the computing system is respectively connected to the front-end sensor system and the visualization terminal system by signal; The front-end sensing system acquires the dynamic scene image of the hoisting process and transmits it to the computing system, the computing system establishes a three-dimensional real scene model of the scene based on the dynamic scene image and transmits it to the visualization terminal system, and the visualization terminal system displays the three-dimensional picture of the hoisting process on the display screen; The verticality automatic measurement system comprises an electronic level and a detector bracket, wherein the electronic level is installed on the suspended vertical member through the detector bracket; The electronic level is connected to the data processing system by signal, and the data processing system is connected to the visualization terminal system by signal; The electronic level detects the inclination angle of the vertical component and transmits it to the data processing system. The data processing system calculates the horizontal deviation data of the vertical component based on the inclination angle and transmits it to the visualization terminal system in the form of two-dimensional coordinates. The operator controls the lifting equipment based on the two-dimensional coordinates displayed by the visualization terminal system to complete the verticality adjustment of the vertical component.

2. The vertical component hoisting control system according to claim 1, characterized in that: The front-end sensing system also includes a power I / O cable, a gigabit network cable and a DC switching power supply. The DC switching power supply is connected to the RGB-D camera through the power I / O cable to power the RGB-D camera and control the on / off of the circuit; the RGB-D camera is connected to the computing system through the gigabit network cable.

3. The vertical component hoisting control system according to claim 1, characterized in that: The RGB-D camera is installed on the lifting arm of the lifting equipment.

4. The vertical component hoisting control system according to claim 1, characterized in that: The dynamic scene image of the hoisting process includes the vertical components, the fixed position foundation and objects within the visible range.

5. The vertical component hoisting control system according to claim 1, characterized in that: The detector bracket includes a main beam, a fixed arm, an adjusting arm, a vertical control part, bolt fasteners and a testing platform. The vertical control part is two angle steels, which are respectively attached to two adjacent edges on the side of the vertical member; one end of the fixed wall is fixed to the main beam, one end of the adjusting arm is slidably installed on the main beam, and the other ends of the fixed wall and the adjusting arm are respectively fixed to one of the angle steels; the fixed wall and the adjusting arm are movably connected by the bolt fasteners; the testing platform is fixed to the main beam and is used to install the electronic level.

6. The vertical component hoisting control system according to claim 5, characterized in that: The main beam comprises a beam body and a cavity disposed in the beam body and extending along the length direction. A slider is installed in the cavity, and the slider is fixedly connected to the end of the adjusting arm.

7. The vertical component hoisting control system according to claim 5, characterized in that: The bolt fastener comprises an extended bolt and a nut. The extended bolt penetrates the fixed wall and the adjusting arm in sequence and is fixed by the nut.

8. A method for controlling the hoisting of a vertical component, using the vertical component hoisting control system according to any one of claims 1 to 7, characterized in that: The steps include: Lifting preparation stage: Step 1: Check the flatness of the bottom plane of the vertical component and the flatness of the fixed foundation; Step 2: Select lifting equipment according to site conditions; Hoisting stage: Step 3: Install the RGB-D camera and conduct a test hang; Step 4: using the lifting device to lift the vertical member until the vertical member is upright; Based on the three-dimensional picture displayed by the visualization terminal system, control the lifting device to place the vertical component on a fixed position foundation; Step 5: Take temporary fixing measures to fix the vertical member; Verticality adjustment stage: Step 6: Install the detector bracket and the electronic level on the side of the vertical member; Step 7: The data processing system calculates the horizontal deviation data of the vertical component based on the detection result of the electronic level; Step 8: Controlling the lifting device to complete the vertical adjustment of the vertical component based on the two-dimensional coordinates displayed by the visualization terminal system; Step 9: Fix the vertical component, remove the electronic level and detector bracket on the vertical component, and complete the installation of the vertical component.

9. The vertical component hoisting control method according to claim 8, characterized in that: In step 7, the method of converting the inclination angle of the vertical component detected by the electronic level into horizontal deviation data is: The inclination angle of the XZ-axis plane is α, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the Y-axis direction is y=h·tanα; The inclination angle of the YZ-axis plane is β, and the height of the detection plane from the vertical component hanging point is h. Then the horizontal deviation displacement of the top of the vertical component in the X-axis direction is x=h·tanβ.

10. The vertical component hoisting control method according to claim 9, characterized in that: Step 7 also includes setting a deviation threshold of the horizontal deviation data, and displaying different colors of the display screen corresponding to the relationship between the horizontal deviation displacement of the top of the vertical component and the deviation threshold.

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